Target positioning method, electronic equipment and storage medium

Abstract

The embodiment of the invention discloses a target positioning method, electronic equipment and a storage medium. A target signal strength value corresponding to a to-be-positioned target is obtained, and the target signal strength value is a signal strength value of a signal which is received by the to-be-positioned target and sent by a beacon node; based on the target signal intensity value and at least one preset signal intensity range, a target distance gear corresponding to the target signal intensity value is determined, and each preset signal intensity range corresponds to a distance gear; based on the target distance gear, determining a target distance corresponding to the target signal intensity value, the target distance indicating a distance between the to-be-positioned target and a beacon node corresponding to the target signal intensity value; and calculating target position information of the to-be-positioned target based on the target distance and the position information of the beacon node. Therefore, the workload of obtaining the distance between the target and the beacon node can be reduced, the efficiency of obtaining the distance between the target and the beacon node is improved, model parameters do not need to be calculated, and the target positioning efficiency is further improved.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a target positioning method, electronic device, and storage medium. Background Art

[0002] Bluetooth positioning technology based on received signal strength indication (RSSI) has broad application prospects because it does not require additional hardware support. Existing RSSI-based target positioning methods typically use a propagation model attenuation formula to substitute the RSSI value to calculate the distance between the target and the beacon node, and then determine the target's position based on this distance.

[0003] In the process of research and practice of existing technologies, it was found that since parameters such as the loss of different materials and the attenuation coefficient of different distances in the propagation model attenuation formula are difficult to obtain accurately, and the acquisition of environmental parameters requires a large number of calculations to summarize an approximate fitting formula, therefore, using the propagation model attenuation formula based on the RSSI value to calculate the distance between the target and the beacon node often has a large measurement workload and the accuracy is difficult to control, resulting in low measurement efficiency of the distance between the target and the beacon node, and thus low target positioning efficiency. Summary of the Invention

[0004] The embodiments of the present application provide a target positioning method, electronic device, and storage medium, which can reduce the workload of obtaining the distance between the target and the beacon node, thereby improving the efficiency of obtaining the distance between the target and the beacon node, eliminating the need to calculate model parameters, and further improving the target positioning efficiency.

[0005] The present invention provides a method for locating a target, including:

[0006] Obtaining a target signal strength value corresponding to the target to be located, where the target signal strength value is a signal strength value of a signal sent by a beacon node and received by the target to be located;

[0007] Determining a target distance level corresponding to the target signal strength value based on the target signal strength value and a plurality of preset signal strength ranges, wherein each of the preset signal strength ranges corresponds to a distance level;

[0008] Determining a target distance corresponding to the target signal strength value based on the target distance gear, where the target distance indicates a distance between the target to be located and a beacon node corresponding to the target signal strength value;

[0009] Calculate the target location information of the target to be located based on the target distance and the location information of the beacon node.

[0010] Accordingly, an embodiment of the present application further provides a target positioning device, including:

[0011] an acquiring unit, configured to acquire a target signal strength value corresponding to a target to be located, wherein the target signal strength value is a signal strength value of a signal sent by a beacon node and received by the target to be located;

[0012] A first determining unit is configured to determine a target distance gear corresponding to the target signal strength value based on the target signal strength value and a plurality of preset signal strength ranges, wherein each of the preset signal strength ranges corresponds to a distance gear;

[0013] a second determining unit, configured to determine, based on the target distance gear, a target distance corresponding to the target signal strength value, where the target distance indicates a distance between the target to be located and a beacon node corresponding to the target signal strength value;

[0014] A calculation unit is used to calculate the target position information of the target to be located based on the target distance and the position information of the beacon node.

[0015] In one embodiment, the first determining unit is specifically configured to:

[0016] Get multiple preset signal strength ranges;

[0017] determining a target signal strength range matching the target signal strength value from among the plurality of preset signal strength ranges;

[0018] The distance gear corresponding to the target signal strength range is determined as the target distance gear corresponding to the target signal strength value.

[0019] In one embodiment, the number of the beacon nodes is at least three, and the computing unit is specifically configured to:

[0020] Setting the target position information of the target to be located as unknown position parameters;

[0021] Based on the unknown position parameter, the target distance and the position information of the beacon node, constructing a position distance relationship corresponding to each beacon node;

[0022] The unknown position parameters are solved based on the position distance relationship to obtain the target position information of the target to be located.

[0023] In one embodiment, the target positioning device further includes:

[0024] a gear division unit, configured to determine a plurality of initial distance gears, each of the initial distance gears corresponding to a distance range, the distance range indicating a range of distances between a preset target and a corresponding preset beacon node, the number of the preset beacon nodes being at least three;

[0025] a strength measurement unit, configured to obtain at least one received signal strength value between the preset target and the preset beacon node at each of the initial distance levels;

[0026] The range determining unit is configured to determine a preset signal strength range corresponding to each distance position based on the received signal strength value corresponding to each initial distance position.

[0027] In one embodiment, the range determination unit is specifically configured to:

[0028] For each of the initial distance gears, collecting statistics on distribution characteristic information corresponding to the received signal strength value corresponding to the initial distance gear;

[0029] Based on the distribution characteristic information, determining and removing abnormal signal strength values ​​in the received signal strength values ​​to obtain an initial received signal strength value;

[0030] Based on the initial received signal strength values ​​corresponding to the initial distance gears, a preset signal strength range corresponding to each distance gear is determined.

[0031] In one embodiment, the range determination unit is specifically configured to:

[0032] Determining, based on the received signal strength values ​​corresponding to the initial distance gears, a numerical range relationship between initial strength ranges of the received signal strength values ​​corresponding to the initial distance gears;

[0033] Based on the relationship between the numerical ranges, each of the initial distance gears is adjusted to obtain each adjusted distance gear and a preset signal strength range corresponding to each of the distance gears.

[0034] In one embodiment, the aforementioned adjustment of the initial distance gears based on the numerical range relationship to obtain the adjusted distance gears and the preset signal strength ranges corresponding to the distance gears are specifically used for:

[0035] If the initial intensity ranges do not overlap, and a range distance between the initial intensity ranges corresponding to adjacent initial distance levels is smaller than a first preset threshold, determining a range adjustment value for the initial intensity ranges corresponding to the adjacent initial distance levels based on the range distance;

[0036] Based on the range adjustment value, the initial intensity range corresponding to the adjacent initial distance gears is expanded to obtain each adjusted distance gear and a preset signal intensity range corresponding to each distance gear.

[0037] In one embodiment, the aforementioned adjustment of the initial distance gears based on the numerical range relationship to obtain the adjusted distance gears and the preset signal strength ranges corresponding to the distance gears are specifically used for:

[0038] If the initial intensity ranges do not overlap, and the range spacing between the initial intensity ranges corresponding to adjacent initial distance gears is greater than a second preset threshold, the distance ranges corresponding to the adjacent initial distance gears are narrowed to obtain the adjusted distance gears and the preset signal strength range corresponding to each distance gear.

[0039] In one embodiment, the aforementioned adjustment of the initial distance gears based on the numerical range relationship to obtain the adjusted distance gears and the preset signal strength ranges corresponding to the distance gears are specifically used for:

[0040] If the initial intensity ranges overlap, the distance range corresponding to the initial distance level is increased to obtain an adjusted distance level and a preset signal intensity range corresponding to each distance level.

[0041] In addition, an embodiment of the present application also provides an electronic device, including a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of any one of the target positioning methods provided in the embodiments of the present application.

[0042] In addition, an embodiment of the present application also provides a computer-readable storage medium, including a computer program. When the computer program is run on an electronic device, the computer program is used to enable the electronic device to perform the steps of any one of the target positioning methods provided in the embodiments of the present application.

[0043] In addition, an embodiment of the present application also provides a computer program product, including a computer program, which is stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device performs the steps of any one of the target positioning methods provided in the embodiments of the present application.

[0044] The embodiment of the present application obtains the target signal strength value corresponding to the target to be located, the target signal strength value is the signal strength value of the signal sent by the beacon node received by the target to be located; based on the target signal strength value and at least one preset signal strength range, the target distance gear corresponding to the target signal strength value is determined, and each preset signal strength range corresponds to a distance gear; based on the target distance gear, the target distance corresponding to the target signal strength value is determined, and the target distance indicates the distance between the target to be located and the beacon node corresponding to the target signal strength value; based on the target distance gear and the position information of the beacon node, the target position information of the target to be located is calculated. In this way, by pre-configuring multiple distance gears and corresponding preset signal strength ranges, the corresponding target distance gear can be determined according to the target signal strength value of the signal sent by the beacon node received by the target to be located, and then the distance between the target to be located and the beacon node can be quickly determined according to the target distance gear, thereby reducing the workload of obtaining the distance between the target and the beacon node, thereby improving the efficiency of obtaining the distance between the target and the beacon node, and eliminating the need to calculate model parameters, further improving the efficiency of target positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0046] Figure 1 This is a schematic diagram of an implementation scenario of a target positioning method provided in an embodiment of the present application;

[0047] Figure 2 This is a flow chart of a target positioning method provided in an embodiment of the present application;

[0048] Figure 3 is a schematic structural diagram of a target positioning device provided in an embodiment of the present application;

[0049] Figure 4 It is a structural diagram of the electronic device provided in the embodiment of the present application. DETAILED DESCRIPTION

[0050] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without making creative efforts are within the scope of protection of this application.

[0051] At the same time, in the description of the embodiments of this application, the terms "first", "second", etc. are used only to distinguish the description and should not be understood as indicating or implying relative importance. Therefore, the features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of the embodiments of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0052] The embodiments of the present application provide a target positioning method, electronic device, and storage medium. The target positioning device can be integrated into an electronic device, which can be a server, a terminal, or other device.

[0053] Among them, the server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, network acceleration services (Content Delivery Network, CDN), and basic cloud computing services such as big data and artificial intelligence platforms. Terminals may include but are not limited to smart bracelets, mobile phones, computers, intelligent voice interaction devices, smart home appliances, vehicle-mounted terminals, aircraft, etc. The terminal and the server can be directly or indirectly connected through wired or wireless communication, and this application does not impose any restrictions on this.

[0054] See also Figure 1 , taking the target positioning device integrated into the electronic device as an example, Figure 1 A schematic diagram of an implementation scenario of the target positioning method provided in an embodiment of the present application, wherein the electronic device can be a terminal, for example, a terminal device with a Bluetooth connection function, and the electronic device can obtain a target signal strength value corresponding to the target to be positioned, where the target signal strength value is the signal strength value of the signal sent by the beacon node and received by the target to be positioned; based on the target signal strength value and at least one preset signal strength range, the target distance level corresponding to the target signal strength value is determined, and each preset signal strength range corresponds to a distance level; based on the target distance level, the target distance corresponding to the target signal strength value is determined, and the target distance indicates the distance between the target to be positioned and the beacon node corresponding to the target signal strength value; based on the target distance and the position information of the beacon node, the target position information of the target to be positioned is calculated.

[0055] It should be noted that Figure 1The schematic diagram of the target location method implementation environment scenario shown is merely an example. The implementation environment scenario of the target location method described in the embodiments of this application is intended to more clearly illustrate the technical solutions of the embodiments of this application and does not constitute a limitation of the technical solutions provided in the embodiments of this application. Persons skilled in the art will appreciate that with the evolution of data processing and the emergence of new business scenarios, the technical solutions provided in this application are equally applicable to similar technical problems.

[0056] The solutions provided in the embodiments of the present application are specifically described by the following embodiments. It should be noted that the description order of the following embodiments does not limit the preferred order of the embodiments.

[0057] This embodiment will be described from the perspective of a target positioning device. The target positioning device may be integrated into an electronic device, which may be a server or a terminal. This application does not limit this.

[0058] See also Figure 2 , Figure 2 : is a flow chart of a target positioning method provided in an embodiment of the present application. The target positioning method includes:

[0059] In step 101, a target signal strength value corresponding to a target to be located is obtained.

[0060] The target signal strength value may be a signal strength value of a signal sent by a beacon node and received by the target to be located.

[0061] Among them, the target to be located can be a target whose position is to be determined, for example, the target to be located can be an electronic device with a Bluetooth connection function, for example, it can include Bluetooth devices such as Bluetooth bracelets, Bluetooth headphones, Bluetooth watches, Bluetooth speakers, mobile phones, etc. The target signal strength value can be the value of the received signal strength (Received Signal Strength Indication, referred to as RSSI) measured by the target to be located, and the received signal strength can be the signal strength obtained by measuring the signal sent by the beacon node received by the target to be located. The present application provides a positioning technology that determines the distance between the signal point and the receiving point according to the strength of the received signal, and then performs positioning calculations based on the corresponding data. The beacon node can also be called an anchor node, which can be a core component based on wireless sensor network positioning technology. The position of the beacon node itself is known, and the transmission power of the signal sent by the beacon node is also known.

[0062] Among them, there can be multiple ways to obtain the target signal strength value corresponding to the target to be located. For example, in a target positioning system including the target to be located and beacon nodes, the number of beacon nodes is at least three, and the placement positions of the beacon nodes are not in a straight line. In this way, the beacon nodes can be controlled to send signals to the target to be located, so that the target to be located can receive the signals sent by each beacon node, and measure the received signal strength values ​​of the received signals to obtain the signal strength values ​​corresponding to the signals sent by each beacon node, that is, the target signal strength value corresponding to the target to be located is obtained.

[0063] In step 102 , a target distance level corresponding to the target signal strength value is determined based on the target signal strength value and at least one predetermined signal strength range.

[0064] Each preset signal strength range corresponds to a distance level.

[0065] Among them, the preset signal strength range can be the range of received signal strength values ​​corresponding to a plurality of pre-set distance gears. The distance gears respectively correspond to a distance range, and the distance range is the range of the distance between the target and the beacon node. For example, the distance range may include distance ranges such as 0-1 meters, 1-2 meters, and 2-3 meters, and may also include distance ranges such as 0-0.5 meters, 0.5-1 meters, 1-1.5 meters, and 1.5-2 meters. The distance range corresponding to the specific distance gear can be set according to actual needs, and the embodiment of the present application is not limited here. The target distance gear can be the distance gear corresponding to the target signal strength value, that is, the target distance gear is used to determine the distance between the sender of the signal corresponding to the target signal strength value and the target to be located.

[0066] Optionally, the accuracy of determining the distance between the target and the beacon node can be improved by dividing the distance range into smaller ranges, thereby improving the target positioning accuracy.

[0067] Optionally, each distance level may be assigned a corresponding distance value. When the distance level corresponding to the target to be located is determined, the distance value corresponding to the distance level may be determined as the distance between the target to be located and the corresponding beacon node. For example, the distance value corresponding to each distance level may be a value within the distance range corresponding to the distance level, for example, a middle value within the distance range corresponding to the distance level.

[0068] For example, when the distance gear is gear 1 corresponding to the distance range of 0-1 meters, the distance value corresponding to the distance gear can be the midpoint of the distance range corresponding to gear 1, that is, 0.5 meters. That is, when it is determined that the distance gear corresponding to the target to be located is gear 1, the distance value 0.5 meters corresponding to the distance gear can be determined as the distance between the target to be located and the corresponding beacon node. For another example, when the distance gear is gear 2 corresponding to the distance range of 1-2 meters, the distance value corresponding to the distance gear can be the midpoint of the distance range corresponding to gear 2, that is, 1.5 meters. That is, when it is determined that the distance gear corresponding to the target to be located is gear 2, the distance value 1.5 meters corresponding to the distance gear can be determined as the distance between the target to be located and the corresponding beacon node.

[0069] Among them, based on the target signal strength value and multiple preset signal strength ranges, there can be multiple ways to determine the target distance gear corresponding to the target signal strength value. For example, multiple preset signal strength ranges can be obtained; a target signal strength range that matches the target signal strength value can be determined in the multiple preset signal strength ranges; and the distance gear corresponding to the target signal strength range is determined as the target distance gear corresponding to the target signal strength value.

[0070] Among them, the target signal strength range can be a preset signal strength range in which the target signal strength value is located. For example, taking the unit of the received signal strength value as decibel milliwatt (dBm) as an example, assuming that the preset signal strength range includes signal strength ranges such as [-95dBm, -85dBm), [-85dBm, -75dBm), and [-75dBm, -65dBm), each preset signal strength range corresponds to a distance gear. If the target signal strength value is -68dBm, which falls within the preset signal strength range [-75dBm, -65dBm), then the preset signal strength range [-75dBm, -65dBm] can be determined as the target signal strength range that matches the target signal strength value, so that the distance gear corresponding to the preset signal strength range [-75dBm, -65dBm] can be determined as the target distance gear corresponding to the target signal strength value.

[0071] In one embodiment, multiple distance levels meeting the requirements and the corresponding preset signal strength ranges for each distance level can be pre-determined. For example, multiple initial distance levels can be determined, each corresponding to a distance range indicating the range of distances between a preset target and a corresponding preset beacon node, with the number of preset beacon nodes being at least three. At least one received signal strength value between the preset target and the preset beacon node at each initial distance level is obtained; and based on the received signal strength values ​​corresponding to each initial distance level, the corresponding preset signal strength range for each distance level is determined.

[0072] The initial distance gear may be an initially divided distance gear, and the preset target may be a target used to determine the distance gear and the preset signal strength range corresponding to each distance gear, for example, a Bluetooth device with Bluetooth connection functionality. The preset beacon node may be a beacon node that sends a signal to the preset target, and is used to assist in determining the distance gear and the preset signal strength range corresponding to each distance gear. The at least one received signal strength value at each initial distance gear may be a received signal strength value obtained by measuring a signal sent by the preset beacon node via the preset target when the distance between the preset target and the preset beacon node is within the distance range corresponding to the initial preset gear.

[0073] Among them, the distance range is for the distance range between the preset target and one of the preset beacon nodes. Since the number of preset beacon nodes corresponding to the preset target is greater than or equal to 3, it is necessary to determine the distance range between the preset target and each preset beacon node separately.

[0074] Specifically, distance calculation by propagation model attenuation formula is a common technique in the current industry. However, the actual application scenarios are diverse. In the actual working environment, due to the irregular distribution of various materials such as glass, metal, and cement walls, it is impossible to obtain an accurate propagation model attenuation formula, and thus it is impossible to accurately measure the distance between the target and the beacon node. In the embodiment of the present application, in the process of obtaining the preset signal strength range corresponding to each distance gear, each measurement point can be selected as a preset target in the current actual working environment, and the corresponding preset beacon node can be set. Under the condition that the distance between the preset target and the preset beacon node has been determined, the signal strength of the signal received by the measurement point is measured, and the corresponding relationship between the above-mentioned determined distance and the signal strength of the received signal is preset. In this way, the target positioning method provided by the embodiment of the present application can perform the above-mentioned steps of determining the preset signal strength range corresponding to each distance gear for each different actual working environment, and can more specifically preset a data correspondence that is more appropriate to the current actual working environment, so that the final target positioning result can be more accurate, effectively overcoming the problems existing in the prior art.

[0075] Optionally, there may be multiple ways to determine the preset signal strength range corresponding to each distance gear based on the received signal strength value corresponding to each initial distance gear. For example, in order to improve the accuracy of the final distance gears and the corresponding preset signal strength ranges, abnormal values ​​in the received strength signal values ​​measured at each initial distance gear may be removed.

[0076] For example, for each initial distance gear, the distribution characteristic information corresponding to the received signal strength value corresponding to the initial distance gear can be counted; based on the distribution characteristic information, the abnormal signal strength value in the received signal strength value is determined and removed to obtain the initial received signal strength value; based on the initial received signal strength value corresponding to each initial distance gear, the preset signal strength range corresponding to each distance gear is determined.

[0077] The distribution characteristic information may be information indicating the numerical distribution of received signal strength values ​​corresponding to the initial range gear, and may include, for example, a mean and a standard deviation, or a percentile value of the received signal strength values ​​corresponding to the initial range gear. The abnormal signal strength value may be an abnormal received signal strength value among the received signal strength values. The initial received signal strength value may be a received signal strength value from which the abnormal signal strength value has been removed.

[0078] Optionally, among the received signal strength values ​​at each initial range level, the received signal strength values ​​that do not conform to the Gaussian distribution may be determined as abnormal signal strength values.

[0079] In one embodiment, a plurality of initial distance gears can be first divided. For example, the possible distance between the preset target and the preset beacon node can be divided into a plurality of discrete gears (such as 0.5 meters or 1 meter divided into one gear) to obtain a plurality of initial distance gears. For example, a plurality of initial distance gears can be determined with a division step of 1 meter, which can include a distance range of 0 to 1 meter for gear 1, a distance range of 1 to 2 meters for gear 2, and so on. When obtaining the received signal strength value corresponding to each initial distance gear, the distance value between the preset target and the preset beacon node can be the middle value of the distance range corresponding to the corresponding initial distance gear, for example, the distance value corresponding to gear 1 is 0.5 meters, the distance value corresponding to gear 2 is 1.5 meters, and so on. Then, RSSI data collection and Gaussian filtering can be performed. For example, in each gear, a large number of received signal strength values ​​can be collected through actual measurement to obtain RSSI sample data.

[0080] Optionally, it can be assumed that when the preset target is in a certain gear, its RSSI value obeys a Gaussian distribution (i.e., a normal distribution). In this way, the distribution characteristics of the received signal strength value at each gear can be statistically analyzed to determine and remove abnormal values. For example, the mean μ and standard deviation σ of the received signal strength value at each gear can be calculated, so that the abnormal received signal strength value can be determined based on the mean and standard deviation, thereby determining the correct value range of RSSI at each gear. For example, 100 RSSI values ​​(i.e., received signal strength values) are measured in gear 1. At the same time, the mean of all RSSI values ​​at gear 1 is calculated to be -65dBm, and the standard deviation is 3dBm. If the coverage range of two standard deviations is taken, RSSI values ​​with strength values ​​not in the range of -71dBm to -59dBm can be determined as abnormal signal strength values. The abnormal signal strength values ​​are filtered out, and the corresponding preset signal strength range for this gear is obtained to be -71dBm to -59dBm.

[0081] Optionally, there are multiple ways to determine the preset signal strength range corresponding to each distance gear based on the received signal strength value corresponding to each initial distance gear. For example, based on the received signal strength value corresponding to each initial distance gear, the numerical range relationship between the initial strength ranges of the received signal strength values ​​corresponding to each initial distance gear can be determined; based on the numerical range relationship, each initial distance gear is adjusted to obtain the adjusted distance gears and the preset signal strength range corresponding to each distance gear.

[0082] Among them, the initial strength range can be a numerical range composed of received signal strength values ​​corresponding to the initial distance gears, and the numerical range relationship can be a relationship between the initial strength ranges corresponding to each initial distance gear, for example, it can include overlapping relationships, spacing sizes and other relationships.

[0083] Optionally, the numerical range relationship may include three situations, for example, the situation where the initial intensity ranges do not overlap, and the range spacing between the initial intensity ranges corresponding to adjacent initial distance gears is less than a first preset threshold, the situation where the initial intensity ranges do not overlap, and the range spacing between the initial intensity ranges corresponding to adjacent initial distance gears is greater than a second preset threshold, and the situation where the initial intensity ranges overlap. In different situations, the initial distance gear or the initial intensity range corresponding to the initial distance gear can be adjusted differently, so as to obtain a suitable, accurate, and effective distance gear, as well as a preset signal strength range corresponding to each distance gear.

[0084] Among them, there can be multiple ways to adjust the gear position of each initial distance gear based on the numerical range relationship to obtain the adjusted distance gear positions and the preset signal strength range corresponding to each distance gear position. For example, if there is no overlap in the initial intensity ranges, and the range spacing between the initial intensity ranges corresponding to adjacent initial distance gear positions is less than the first preset threshold, the range adjustment value for the initial intensity range corresponding to the adjacent initial distance gear positions can be determined based on the range spacing. Based on the range adjustment value, the initial intensity range corresponding to the adjacent initial distance gear positions is expanded to obtain the adjusted distance gear positions and the preset signal strength range corresponding to each distance gear position.

[0085] The first preset threshold can be a pre-set threshold. When the range spacing between the initial intensity ranges corresponding to adjacent initial distance gears is less than the first preset threshold, the initial intensity ranges corresponding to the adjacent initial distance gears can be considered continuous and connected end to end, indicating that the division of the initial distance gears at this time is reasonable. It is not necessary to adjust the initial distance gears, and only the initial intensity ranges corresponding to the initial distance gears need to be fine-tuned. Assuming that the initial distance gears include gear 1, gear 2, and gear 3, the distance range of gear 1 is 0-1 meters, the distance range of gear 2 is 1-2 meters, and the distance range of gear 3 is 2-3 meters, then gears 1 and gear 2 are adjacent initial distance gears, and gears 2 and gear 3 are adjacent initial distance gears. The range spacing can be the difference between the received signal strength value with the highest intensity at the smaller gear and the received signal strength value with the lowest intensity at the larger gear, among the adjacent initial distance gears. The range adjustment value can be determined based on the range spacing, for example, it can be half of the range spacing.

[0086] For example, assuming that the first prediction threshold is 1dBm, the range spacing corresponding to adjacent initial distance gears within the range of 1dBm can be considered to be connected end to end. Then, the RSSI values ​​within the range spacing can be divided equally into the initial strength range of the RSSI values ​​corresponding to the adjacent initial distance gears. For example, if the range spacing is 0.8dBm, the RSSI values ​​of the adjacent distances are expanded by 0.4dB respectively, as the RSSI value distribution range corresponding to the last adjacent initial distance gear. For example, assuming that there are adjacent initial distance gears (such as gear 1 and gear 2) with a range spacing of 0.8dBm, where the initial strength range of gear 1 is -50dBm to -40dBm, and the initial strength range of gear 2 is -40.8dBm to -30dBm, then the range adjustment value can be determined to be 0.4dB, and the range of gear 1 and gear 2 is expanded according to the range adjustment value, so that the preset signal strength range corresponding to the adjusted gear 1 is -50dBm to -40.4dBm, and the preset signal strength range corresponding to the adjusted gear 2 is -40.4dBm to -30dBm.

[0087] Optionally, there are multiple ways to adjust the initial distance gears based on the numerical range relationship to obtain the adjusted distance gears and the preset signal strength ranges corresponding to each distance gear. For example, if there is no overlap in the initial intensity ranges, and the range spacing between the initial intensity ranges corresponding to adjacent initial distance gears is greater than a second preset threshold, the distance ranges corresponding to the adjacent initial distance gears are narrowed to obtain the adjusted distance gears and the preset signal strength ranges corresponding to each distance gear.

[0088] Among them, the second preset threshold can be a pre-set threshold. When the range spacing between the initial intensity ranges corresponding to adjacent initial distance gears is greater than the second preset threshold, it can be considered that the initial intensity ranges corresponding to the adjacent initial distance gears are scattered, and it can be indicated that the division of the initial distance gears at this time is unreasonable. This situation is caused by the excessive distance range of the initial distance gear, and it is necessary to reduce the distance range of the initial distance gear, that is, to increase the number of gears. For example, the distance range of the gear is reduced from 0-1 meter and 1-2 meters to 0-0.5 meters, 0.5-0.1 meters, etc., until the initial intensity ranges corresponding to the adjusted distance gears do not overlap, and the range spacing between the initial intensity ranges corresponding to adjacent initial distance gears is less than the first preset threshold. Then, the range adjustment value is determined according to the range spacing, and then based on the range adjustment value, the initial intensity ranges corresponding to the adjacent initial distance gears are expanded to obtain the final distance gears and the preset signal strength ranges corresponding to each distance gear.

[0089] Optionally, there are multiple ways to adjust the initial distance gears based on the numerical range relationship to obtain the adjusted distance gears and the preset signal strength ranges corresponding to each distance gear. For example, if there is overlap in the initial strength ranges, the distance range corresponding to the initial distance gear can be increased to obtain the adjusted distance gear and the preset signal strength range corresponding to each distance gear.

[0090] Among them, if the initial intensity ranges corresponding to each initial distance gear overlap, it can be considered that the initial intensity ranges corresponding to adjacent initial distance gears are mixed, which can indicate that the division of the initial distance gears at this time is unreasonable. This situation is caused by the fact that the division spacing of the initial distance gears is too small, and it is necessary to increase the distance range corresponding to the initial distance gear. For example, the distance range of the gear is increased from 0-1 meter and 1-2 meters to 0-1.5 meters, 1.5-3 meters, etc., until the initial intensity ranges corresponding to the adjusted distance gears do not overlap, and the range spacing between the initial intensity ranges corresponding to adjacent initial distance gears is less than the first preset threshold, and then, the range adjustment value is determined according to the range spacing, and then based on the range adjustment value, the initial intensity ranges corresponding to the adjacent initial distance gears are expanded to obtain the final distance gears and the preset signal strength range corresponding to each distance gear.

[0091] In this way, based on the above three situations, the initial distance gear or the initial intensity range corresponding to the initial distance gear is adjusted accordingly, and a more accurate distance gear and the corresponding preset signal strength range can be obtained. Therefore, based on the distance gear and the corresponding preset signal strength range, the distance between the target and the beacon node can be accurately determined, thereby improving the accuracy of target positioning.

[0092] In step 103 , based on the target distance level, a target distance corresponding to the target signal strength value is determined.

[0093] The target distance may indicate the distance between the target to be located and a beacon node corresponding to the target signal strength value. The beacon node corresponding to the target signal strength value may refer to a beacon node that transmits a signal corresponding to the target signal strength value. A target distance may be determined for each beacon node that transmits a signal to communicate with the target to be located.

[0094] Among them, based on the target distance gear, there can be multiple ways to determine the target distance corresponding to the target signal strength value. For example, each distance gear can be configured with a corresponding distance value. For example, the distance value can be the middle value of the distance range corresponding to the distance gear. In this way, the distance value corresponding to the target distance gear can be determined as the target distance corresponding to the target signal strength value.

[0095] In step 104, the target position information of the target to be located is calculated based on the target distance and the position information of the beacon node.

[0096] The location information of the beacon node may be information indicating the location of the beacon node, and the target location information may be information indicating the location of the target to be located.

[0097] Optionally, in order to calculate the position of the target to be located, the number of beacon nodes corresponding to the target to be located may be at least three.

[0098] Among them, there are many ways to calculate the target position information of the target to be located based on the target distance and the position information of the beacon node. For example, the target position information of the target to be located can be set as an unknown position parameter; based on the unknown position parameter, the target distance and the position information of the beacon node, the position distance relationship corresponding to each beacon node is constructed; based on the position distance relationship, the unknown position parameter is solved to obtain the target position information of the target to be located.

[0099] The position-distance relationship equation may be information indicating a relationship between the target position information of the target to be located, the position information of the beacon node, and the target distance, and may be, for example, an equation. The relationship between the target position information of the target to be located, the position information of the beacon node, and the target distance is such that the distance between the target position information and the position information is equal to the target distance.

[0100] There are many ways to solve the unknown position parameters based on the position distance relationship to obtain the target position information of the target to be located. For example, the least squares method can be used to solve the unknown position parameters based on the position distance relationship to obtain the target position information of the target to be located.

[0101] For example, assume that there are three beacon nodes, namely beacon node 1, beacon node 2 and beacon node 3, where the location information of beacon node 1 is (x1, y1), and its corresponding target distance is d1; the location information of beacon node 2 is (x2, y2), and its corresponding target distance is d2; the location information of beacon node 3 is (x3, y3), and its corresponding target distance is d3. Assuming that the target position information of the target to be located is the unknown position parameter (x, y), the position distance relationship corresponding to each beacon node can be obtained as follows:

[0102] (x-x1) 2 +(y-y1) 2 =d1 2 (1)

[0103] (x-x2) 2 +(y-y2) 2 =d2 2 (2)

[0104] (x-x3) 2 +(y-y3) 2 =d3 2 (3)

[0105] In this way, by combining these three position distance relationship equations, the errors of these three equations are minimized through the least squares method (also known as the least squares positioning algorithm), so that the optimal estimated coordinates (x, y) can be obtained, that is, the target position information of the target to be located is obtained.

[0106] In one embodiment, the Bluetooth positioning technology based on received signal strength (RSSI) has a wide range of application prospects because it does not require additional hardware support. The distance between the target and the beacon node can be obtained based on the RSSI value measured by the target to be positioned (hereinafter referred to as the "target"), and then the position of the target can be obtained based on the distance. For example, assuming that the number of beacon nodes is 3 and they are not arranged in a straight line, the commonly used method for Bluetooth positioning technology based on RSSI is to use trilateral positioning and least squares positioning. Since the RSSI value has errors, when the trilateral positioning method is applied, the three positioning circles will not intersect at one point accurately, resulting in the inability to solve the trilateral positioning method. The least squares positioning method can still obtain higher positioning accuracy when there are certain errors in the distance measurement. However, when applying the least squares positioning method for Bluetooth positioning, how to obtain the distance between the target and the beacon node based on the observed RSSI value is a more important issue.

[0107] In one embodiment, the RSSI value can be substituted into the propagation model attenuation formula to obtain the corresponding distance. However, since the propagation model attenuation formula contains coefficients such as the loss of different materials and the attenuation coefficient at different distances, it is difficult to accurately obtain. Therefore, the distance calculated based on the RSSI value using the propagation model attenuation formula often has uncertain errors. Furthermore, it is difficult to accurately calibrate the coefficients such as the loss of different materials and the attenuation system. Furthermore, obtaining environmental parameters requires extensive calculations to summarize the fitting formula, which is only an approximation. The errors calculated at different locations vary, making engineering applications more complex and processing efficiency poor.

[0108] To this end, a target positioning method provided in an embodiment of the present application can be used. By performing simple testing and data processing before target positioning, the distance between the target and the beacon node can be accurately and controllably obtained based on the RSSI value observed by the target during use. This distance is then substituted into the least squares positioning method to calculate the position of the target. Since the least squares positioning method can still achieve high positioning accuracy even when there is a certain error in the distance measurement, the reasonable division of distance gears and the use of the embodiment of the present application can achieve better positioning accuracy, which has broad engineering application prospects.

[0109] Specifically, the distance between the target and the beacon node can be graded according to experience in advance, the range of RSSI values ​​for the corresponding gears can be obtained, a mapping relationship between RSSI value and distance can be established, and then Gaussian filtering can be used to remove outliers. Therefore, in actual use, a more accurate distance value can be determined based on the distance gear corresponding to the observed RSSI value. This can effectively avoid the original complex model parameters. At the same time, the calculation error is reduced and the error is controllable, so better positioning accuracy can be obtained, effectively improving the target positioning efficiency. At the same time, it is easy to implement in engineering and has broad engineering application prospects.

[0110] As can be seen from the above, the embodiment of the present application obtains the target signal strength value corresponding to the target to be located, the target signal strength value is the signal strength value of the signal sent by the beacon node received by the target to be located; based on the target signal strength value and at least one preset signal strength range, the target distance gear corresponding to the target signal strength value is determined, and each preset signal strength range corresponds to a distance gear; based on the target distance gear, the target distance corresponding to the target signal strength value is determined, and the target distance indicates the distance between the target to be located and the beacon node corresponding to the target signal strength value; based on the target distance and the position information of the beacon node, the target position information of the target to be located is calculated. In this way, by pre-configuring multiple distance gears and corresponding preset signal strength ranges, the corresponding target distance gear can be determined according to the target signal strength value of the signal sent by the beacon node received by the target to be located, and then the distance between the target to be located and the beacon node can be quickly determined according to the target distance gear, thereby reducing the workload of obtaining the distance between the target and the beacon node, thereby improving the efficiency of obtaining the distance between the target and the beacon node, without the need to calculate model parameters, and further improving the target positioning efficiency.

[0111] In order to better implement the above method, an embodiment of the present invention further provides a target positioning device, which can be integrated into an electronic device, and the electronic device can be a terminal.

[0112] For example, Figure 3 FIG. 2 is a schematic diagram of the structure of a target positioning device provided in an embodiment of the present application. The target positioning device may include an acquisition unit 201, a first determination unit 202, a second determination unit 203, and a calculation unit 204, as follows:

[0113] An acquiring unit 201 is configured to acquire a target signal strength value corresponding to a target to be located, where the target signal strength value is a signal strength value of a signal sent by a beacon node and received by the target to be located;

[0114] A first determining unit 202 is configured to determine a target distance gear corresponding to the target signal strength value based on the target signal strength value and a plurality of preset signal strength ranges, wherein each preset signal strength range corresponds to a distance gear;

[0115] A second determining unit 203 is configured to determine a target distance corresponding to a target signal strength value based on a target distance level, where the target distance indicates a distance between a target to be located and a beacon node corresponding to the target signal strength value;

[0116] The calculation unit 204 is configured to calculate the target location information of the target to be located based on the target distance and the location information of the beacon node.

[0117] In one embodiment, the first determining unit 202 is specifically configured to:

[0118] Get multiple preset signal strength ranges;

[0119] determining a target signal strength range matching the target signal strength value among a plurality of preset signal strength ranges;

[0120] The distance gear corresponding to the target signal strength range is determined as the target distance gear corresponding to the target signal strength value.

[0121] In one embodiment, the number of beacon nodes is at least three, and the calculation unit 204 is specifically configured to:

[0122] Set the target position information of the target to be located as unknown position parameters;

[0123] Based on the unknown position parameters, target distance and the position information of the beacon node, the position distance relationship corresponding to each beacon node is constructed;

[0124] The unknown position parameters are solved based on the position distance relationship to obtain the target position information of the target to be located.

[0125] In one embodiment, the target positioning device further includes:

[0126] a gear division unit, configured to determine a plurality of initial distance gears, each initial distance gear corresponding to a distance range, the distance range indicating a range of distances between a preset target and a corresponding preset beacon node, the number of the preset beacon nodes being at least three;

[0127] A strength measurement unit, configured to obtain at least one received signal strength value between a preset target and a preset beacon node at each initial distance level;

[0128] The range determination unit is configured to determine a preset signal strength range corresponding to each distance gear based on the received signal strength value corresponding to each initial distance gear.

[0129] In one embodiment, the range determination unit is specifically configured to:

[0130] For each initial distance gear, statistics are collected on the distribution characteristic information of the received signal strength value corresponding to the initial distance gear;

[0131] Based on the distribution characteristic information, determining and removing abnormal signal strength values ​​in the received signal strength values ​​to obtain an initial received signal strength value;

[0132] Based on the initial received signal strength values ​​corresponding to the initial distance gears, a preset signal strength range corresponding to each distance gear is determined.

[0133] In one embodiment, the range determination unit is specifically configured to:

[0134] Determining, based on the received signal strength values ​​corresponding to the respective initial distance levels, a numerical range relationship between initial strength ranges of the received signal strength values ​​corresponding to the respective initial distance levels;

[0135] Based on the relationship between the numerical ranges, each initial distance gear is adjusted to obtain each adjusted distance gear and a preset signal strength range corresponding to each distance gear.

[0136] In one embodiment, the aforementioned adjustment of each initial distance gear based on the relationship between the numerical ranges to obtain each adjusted distance gear and the preset signal strength range corresponding to each distance gear are specifically used for:

[0137] If the initial intensity ranges do not overlap, and the range spacing between initial intensity ranges corresponding to adjacent initial distance levels is smaller than a first preset threshold, determining range adjustment values ​​for the initial intensity ranges corresponding to the adjacent initial distance levels based on the range spacing;

[0138] Based on the range adjustment value, the initial intensity ranges corresponding to adjacent initial distance gears are expanded to obtain the adjusted distance gears and the preset signal intensity ranges corresponding to the distance gears.

[0139] In one embodiment, the aforementioned adjustment of each initial distance gear based on the relationship between the numerical ranges to obtain each adjusted distance gear and the preset signal strength range corresponding to each distance gear are specifically used for:

[0140] If there is no overlap in the initial intensity ranges, and the range spacing between the initial intensity ranges corresponding to adjacent initial distance gears is greater than the second preset threshold, the distance ranges corresponding to the adjacent initial distance gears are narrowed to obtain the adjusted distance gears and the preset signal strength range corresponding to each distance gear.

[0141] In one embodiment, the aforementioned adjustment of each initial distance gear based on the relationship between the numerical ranges to obtain each adjusted distance gear and the preset signal strength range corresponding to each distance gear are specifically used for:

[0142] If there is overlap in the initial strength ranges, the distance range corresponding to the initial distance level is increased to obtain the adjusted distance level and the preset signal strength range corresponding to each distance level.

[0143] As can be seen from the above, in the embodiment of the present application, the acquisition unit 201 acquires the target signal strength value corresponding to the target to be located, where the target signal strength value is the signal strength value of the signal sent by the beacon node received by the target to be located; the first determination unit 202 determines the target distance level corresponding to the target signal strength value based on the target signal strength value and at least one preset signal strength range, where each preset signal strength range corresponds to a distance level; the second determination unit 203 determines the target distance corresponding to the target signal strength value based on the target distance level, where the target distance indicates the distance between the target to be located and the beacon node corresponding to the target signal strength value; and the calculation unit 204 calculates the target position information of the target to be located based on the target distance and the position information of the beacon node. In this way, by pre-configuring multiple distance levels and corresponding preset signal strength ranges, the corresponding target distance level can be determined based on the target signal strength value of the signal sent by the beacon node received by the target to be located, and then the distance between the target to be located and the beacon node can be quickly determined based on the target distance level, thereby reducing the workload of obtaining the distance between the target and the beacon node, thereby improving the efficiency of obtaining the distance between the target and the beacon node, eliminating the need to calculate model parameters, and further improving the efficiency of target positioning.

[0144] Accordingly, an embodiment of the present application further provides an electronic device, which may be a terminal, such as a smartphone, a tablet computer, a laptop computer, a touch screen, a game console, a personal computer (PC), a personal digital assistant (PDA), or the like. Alternatively, the electronic device may be a server.

[0145] like Figure 4 As shown, Figure 4 Schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 300 includes a processor 301 having one or more processing cores, a memory 302 having one or more computer-readable storage media, and a computer program stored in the memory 302 and executable on the processor. The processor 301 is electrically connected to the memory 302. It will be understood by those skilled in the art that the electronic device structure shown in the figure does not constitute a limitation of the electronic device, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0146] The processor 301 is the control center of the electronic device 300. It connects the various parts of the entire electronic device 300 using various interfaces and lines. It executes various functions of the electronic device 300 and processes data by running or loading software programs and / or units stored in the memory 302 and calling data stored in the memory 302. The processor 301 can be a processor CPU, a graphics processor GPU, a network processor (NP), etc., and can implement or execute the various methods, steps, and logic blocks disclosed in the embodiments of this application.

[0147] In the embodiment of the present application, the processor 301 in the electronic device 300 loads instructions corresponding to one or more application processes into the memory 302 according to the following steps, and the processor 301 runs the application stored in the memory 302 to implement various functions, such as:

[0148] Obtain a target signal strength value corresponding to the target to be located, where the target signal strength value is a signal strength value of a signal sent by a beacon node and received by the target to be located; determine a target distance level corresponding to the target signal strength value based on the target signal strength value and at least one preset signal strength range, where each preset signal strength range corresponds to a distance level; determine a target distance corresponding to the target signal strength value based on the target distance level, where the target distance indicates the distance between the target to be located and the beacon node corresponding to the target signal strength value; calculate target position information of the target to be located based on the target distance and the position information of the beacon node.

[0149] This solution can obtain the target signal strength value corresponding to the target to be located, where the target signal strength value is the signal strength value of the signal sent by the beacon node received by the target to be located; determine the target distance gear corresponding to the target signal strength value based on the target signal strength value and at least one preset signal strength range, where each preset signal strength range corresponds to a distance gear; determine the target distance corresponding to the target signal strength value based on the target distance gear, where the target distance indicates the distance between the target to be located and the beacon node corresponding to the target signal strength value; and calculate the target position information of the target to be located based on the target distance and the position information of the beacon node. In this way, by pre-configuring multiple distance gears and corresponding preset signal strength ranges, the corresponding target distance gear can be determined based on the target signal strength value of the signal sent by the beacon node received by the target to be located, and then the distance between the target to be located and the beacon node can be quickly determined based on the target distance gear, thereby reducing the workload of obtaining the distance between the target and the beacon node, thereby improving the efficiency of obtaining the distance between the target and the beacon node, and eliminating the need to calculate model parameters, further improving the efficiency of target positioning.

[0150] Furthermore, various functions implemented by running the application stored in the memory 302 can also be described in the aforementioned embodiments and will not be repeated here.

[0151] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0152] Optional, such as Figure 4 As shown, the electronic device 300 further includes: a touch screen 303, a radio frequency circuit 304, an audio circuit 305, an input unit 306, and a power supply 307. Among them, the processor 301 is electrically connected to the touch screen 303, the radio frequency circuit 304, the audio circuit 305, the input unit 306, and the power supply 307 respectively. Those skilled in the art will understand that Figure 4 The electronic device structure shown in the figure does not constitute a limitation to the electronic device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0153] The touch display screen 303 can be used to display a graphical user interface and receive user operations generated by the graphical user interface. The touch display screen 303 may include a display panel and a touch panel. Among them, the display panel can be used to display information input by the user or information provided to the user and various graphical user interfaces of the electronic device, and these graphical user interfaces can be composed of graphics, text, icons, videos and any combination thereof. Optionally, a liquid crystal display (LCD), an organic light emitting diode (OLED) or the like can be used to configure the display panel. The touch panel can be used to collect user touch operations on or near it (such as operations performed by the user using any suitable object or accessory such as a finger, stylus or the like on or near the touch panel), and generate corresponding operation instructions, and the operation instructions execute corresponding programs. Optionally, the touch panel may include two parts: a touch detection device and a touch controller. Among them, the touch detection device detects the user's touch direction, detects the signal brought by the touch operation, and transmits the signal to the touch controller; the touch controller receives the touch information from the touch detection device, converts it into the touch point coordinates, and then sends it to the processor 301, and can receive the command sent by the processor 301 and execute it. The touch panel can cover the display panel. When the touch panel detects a touch operation on or near it, it is transmitted to the processor 301 to determine the type of touch event, and then the processor 301 provides a corresponding visual output on the display panel according to the type of touch event. In an embodiment of the present application, the touch panel and the display panel can be integrated into the touch display screen 303 to realize the input and output functions. However, in some embodiments, the touch panel and the touch panel can be used as two independent components to realize the input and output functions. That is, the touch display screen 303 can also be used as part of the input unit 306 to realize the input function.

[0154] The radio frequency circuit 304 may be used to transmit and receive radio frequency signals, so as to establish wireless communication with a network device or other electronic devices through wireless communication, and to transmit and receive signals with the network device or other electronic devices.

[0155] The audio circuit 305 can be used to provide an audio interface between the user and the electronic device through a speaker and microphone. The audio circuit 305 can convert the received audio data into an electrical signal and transmit it to the speaker, which then converts it into a sound signal for output. On the other hand, the microphone converts the collected sound signal into an electrical signal, which is received by the audio circuit 305 and converted into audio data. The audio data is then output to the processor 301 for processing, and then sent to another electronic device through the radio frequency circuit 304, or the audio data is output to the memory 302 for further processing. The audio circuit 305 may also include an earphone jack to provide communication between external headphones and the electronic device.

[0156] The input unit 306 may be configured to receive input target video and generate keyboard, mouse, joystick, optical or trackball signal input related to user settings and function control.

[0157] Power supply 307 is used to supply power to various components of electronic device 300. Optionally, power supply 307 can be logically connected to processor 301 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. Power supply 307 can also include one or more DC or AC power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and other arbitrary components.

[0158] although Figure 4 Not shown, the electronic device 300 may further include a camera, a sensor, a wireless fidelity module, a Bluetooth module, etc., which will not be described in detail here.

[0159] In the above embodiments, the descriptions of each embodiment have their own emphasis. For parts not described in detail in one embodiment, please refer to the relevant descriptions of other embodiments. It should be noted that the electronic device provided in the embodiments of this application and the target positioning method in the above embodiments are based on the same concept. The specific implementation process is detailed in the above method embodiments and will not be repeated here.

[0160] As can be seen from the above, the electronic device provided by the embodiment of the present application can obtain the target signal strength value corresponding to the target to be located, the target signal strength value is the signal strength value of the signal sent by the beacon node received by the target to be located; based on the target signal strength value and at least one preset signal strength range, determine the target distance gear corresponding to the target signal strength value, each preset signal strength range corresponds to a distance gear; based on the target distance gear, determine the target distance corresponding to the target signal strength value, the target distance indicates the distance between the target to be located and the beacon node corresponding to the target signal strength value; based on the target distance and the position information of the beacon node, calculate the target position information of the target to be located. In this way, by pre-configuring multiple distance gears and corresponding preset signal strength ranges, the corresponding target distance gear can be determined according to the target signal strength value of the signal sent by the beacon node received by the target to be located, and then the distance between the target to be located and the beacon node can be quickly determined according to the target distance gear, reducing the workload of obtaining the distance between the target and the beacon node, thereby improving the efficiency of obtaining the distance between the target and the beacon node, without the need to calculate model parameters, and further improving the target positioning efficiency.

[0161] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be accomplished by instructions, or by controlling related hardware through instructions. The instructions may be stored in a computer-readable storage medium and loaded and executed by a processor.

[0162] To this end, an embodiment of the present application provides a computer-readable storage medium, which includes a computer program. When the computer program is run on an electronic device, the computer program is used to cause the electronic device to perform any of the target positioning methods provided in the embodiments of the present application. For example, the computer program can perform the following steps of the target positioning method:

[0163] Obtain a target signal strength value corresponding to the target to be located, where the target signal strength value is a signal strength value of a signal sent by a beacon node and received by the target to be located; determine a target distance level corresponding to the target signal strength value based on the target signal strength value and at least one preset signal strength range, where each preset signal strength range corresponds to a distance level; determine a target distance corresponding to the target signal strength value based on the target distance level, where the target distance indicates the distance between the target to be located and the beacon node corresponding to the target signal strength value; calculate target position information of the target to be located based on the target distance and the position information of the beacon node.

[0164] This solution can obtain the target signal strength value corresponding to the target to be located, where the target signal strength value is the signal strength value of the signal sent by the beacon node received by the target to be located; determine the target distance gear corresponding to the target signal strength value based on the target signal strength value and at least one preset signal strength range, where each preset signal strength range corresponds to a distance gear; determine the target distance corresponding to the target signal strength value based on the target distance gear, where the target distance indicates the distance between the target to be located and the beacon node corresponding to the target signal strength value; and calculate the target position information of the target to be located based on the target distance and the position information of the beacon node. In this way, by pre-configuring multiple distance gears and corresponding preset signal strength ranges, the corresponding target distance gear can be determined based on the target signal strength value of the signal sent by the beacon node received by the target to be located, and then the distance between the target to be located and the beacon node can be quickly determined based on the target distance gear, thereby reducing the workload of obtaining the distance between the target and the beacon node, thereby improving the efficiency of obtaining the distance between the target and the beacon node, and eliminating the need to calculate model parameters, further improving the efficiency of target positioning.

[0165] Furthermore, for the detailed steps of the above method steps, please refer to the description in the above embodiments, which will not be repeated here.

[0166] The specific implementation of the above operations can be found in the previous embodiments and will not be repeated here.

[0167] The computer-readable storage medium may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0168] Since the computer program stored in the computer-readable storage medium can execute any target positioning method provided in the embodiments of the present application, the beneficial effects that can be achieved by any target positioning method provided in the embodiments of the present application can be achieved. Please refer to the previous embodiments for details and will not be repeated here.

[0169] According to one aspect of the present application, a computer program product is also provided, including a computer program, which is stored in a computer-readable storage medium; when a processor of an electronic device reads the computer program from the computer-readable storage medium, the processor executes the computer program, so that the electronic device executes the methods provided in various optional implementations of the above embodiments.

[0170] In the above-described embodiments of the target positioning device, computer-readable storage medium, electronic device, and computer program product, the descriptions of each embodiment have their own focus. For portions not described in detail in a particular embodiment, reference can be made to the relevant descriptions of other embodiments. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes and beneficial effects of the target positioning device, computer-readable storage medium, computer program product, electronic device, and their corresponding units described above can be referred to in the description of the target positioning method in the above embodiments, and the details will not be repeated here.

[0171] The above is a detailed introduction to a target positioning method, device, electronic device, computer-readable storage medium and computer program product provided in the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present application.

Claims

1. A target positioning method, characterized in that: include: Obtaining a target signal strength value corresponding to the target to be located, where the target signal strength value is a signal strength value of a signal sent by a beacon node and received by the target to be located; Determining a target distance level corresponding to the target signal strength value based on the target signal strength value and a plurality of preset signal strength ranges, wherein each of the preset signal strength ranges corresponds to a distance level; Determining a target distance corresponding to the target signal strength value based on the target distance gear, where the target distance indicates a distance between the target to be located and a beacon node corresponding to the target signal strength value; Calculate the target location information of the target to be located based on the target distance and the location information of the beacon node.

2. The target positioning method according to claim 1, wherein: The determining, based on the target signal strength value and a plurality of preset signal strength ranges, a target distance gear corresponding to the target signal strength value includes: Get multiple preset signal strength ranges; determining a target signal strength range matching the target signal strength value from among the plurality of preset signal strength ranges; The distance gear corresponding to the target signal strength range is determined as the target distance gear corresponding to the target signal strength value.

3. The target positioning method according to claim 1, wherein: The number of the beacon nodes is at least three, and the calculating the target position information of the target to be located based on the target distance and the position information of the beacon nodes includes: Setting the target position information of the target to be located as unknown position parameters; Based on the unknown position parameter, the target distance and the position information of the beacon node, constructing a position distance relationship corresponding to each beacon node; The unknown position parameters are solved based on the position distance relationship to obtain the target position information of the target to be located.

4. The target positioning method according to any one of claims 1 to 3, characterized in that: The method further comprises: Determining a plurality of initial distance gears, each of the initial distance gears corresponding to a distance range, the distance range indicating a range of distances between a preset target and a corresponding preset beacon node, the number of the preset beacon nodes being at least three; Obtaining at least one received signal strength value between the preset target and the preset beacon node at each of the initial distance levels; Based on the received signal strength values ​​corresponding to the initial distance levels, a preset signal strength range corresponding to each distance level is determined.

5. The target positioning method according to claim 4, wherein: The determining, based on the received signal strength values ​​corresponding to the initial distance positions, a preset signal strength range corresponding to each distance position includes: For each of the initial distance gears, collecting statistics on distribution characteristic information corresponding to the received signal strength value corresponding to the initial distance gear; Based on the distribution characteristic information, determining and removing abnormal signal strength values ​​in the received signal strength values ​​to obtain an initial received signal strength value; Based on the initial received signal strength values ​​corresponding to the initial distance gears, a preset signal strength range corresponding to each distance gear is determined.

6. The target positioning method according to claim 4, wherein: The determining, based on the received signal strength values ​​corresponding to the initial distance positions, a preset signal strength range corresponding to each distance position includes: Determining, based on the received signal strength values ​​corresponding to the initial distance gears, a numerical range relationship between initial strength ranges of the received signal strength values ​​corresponding to the initial distance gears; Based on the relationship between the numerical ranges, each of the initial distance gears is adjusted to obtain each adjusted distance gear and a preset signal strength range corresponding to each of the distance gears.

7. The target positioning method according to claim 6, wherein: The step of adjusting each of the initial distance gears based on the numerical range relationship to obtain each adjusted distance gear and a preset signal strength range corresponding to each of the distance gears includes: If the initial intensity ranges do not overlap, and a range distance between the initial intensity ranges corresponding to adjacent initial distance levels is smaller than a first preset threshold, determining a range adjustment value for the initial intensity ranges corresponding to the adjacent initial distance levels based on the range distance; Based on the range adjustment value, the initial intensity range corresponding to the adjacent initial distance gears is expanded to obtain each adjusted distance gear and a preset signal intensity range corresponding to each distance gear.

8. The target positioning method according to claim 6, wherein: The step of adjusting each of the initial distance gears based on the numerical range relationship to obtain each adjusted distance gear and a preset signal strength range corresponding to each of the distance gears includes: If the initial intensity ranges do not overlap, and the range spacing between the initial intensity ranges corresponding to adjacent initial distance gears is greater than a second preset threshold, the distance ranges corresponding to the adjacent initial distance gears are narrowed to obtain the adjusted distance gears and the preset signal strength range corresponding to each distance gear.

9. The target positioning method according to claim 6, wherein: The step of adjusting each of the initial distance gears based on the numerical range relationship to obtain each adjusted distance gear and a preset signal strength range corresponding to each of the distance gears includes: If the initial intensity ranges overlap, the distance range corresponding to the initial distance level is increased to obtain an adjusted distance level and a preset signal intensity range corresponding to each distance level.

10. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the target positioning method according to any one of claims 1 to 9.

11. A storage medium, characterized in that: The method comprises a computer program, which, when run on an electronic device, is used to enable the electronic device to execute the steps of the target positioning method according to any one of claims 1 to 9.

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