Indoor positioning method, system, equipment and medium

Abstract

The invention provides an indoor positioning method, system and device and a medium, and the indoor positioning method is applied to a receiving node, and comprises the steps: receiving a data packet sent by a to-be-positioned Bluetooth device; acquiring the signal strength of the to-be-positioned Bluetooth device according to the data packet; obtaining direction information of the to-be-positioned Bluetooth device according to the phase difference between the data packet and the array antenna receiving signal; and sending the direction information and the signal intensity of the to-be-positioned Bluetooth device to a server, so that the server obtains the position of the to-be-positioned Bluetooth device. The indoor positioning method is accurate in positioning and low in cost, and can realize accurate positioning of a complex indoor environment.

Description

Technical Field

[0001] The present application belongs to the field of indoor positioning technology, and relates to an indoor positioning method, and in particular to an indoor positioning method, system, device and medium. Background Art

[0002] In today's digital and intelligent era, the development of indoor positioning technology is gaining increasing attention. Traditional GPS positioning technology suffers from issues such as signal attenuation and multipath effects in indoor environments, making it unable to meet the needs of indoor positioning. Bluetooth positioning technology, as an emerging indoor positioning technology, is gradually emerging. Bluetooth positioning technology leverages the propagation characteristics of Bluetooth signals in indoor environments and accurately locates mobile devices indoors by analyzing the relationship between signal strength and distance between multiple Bluetooth beacon nodes. Compared to traditional GPS positioning technology, Bluetooth positioning technology offers advantages such as high positioning accuracy, low cost, and ease of deployment. Therefore, it has broad application prospects in retail, logistics, indoor navigation, and other fields. Background technologies for Bluetooth positioning technology primarily include beacon node deployment, signal strength measurement, and positioning algorithms. Beacon node deployment requires consideration of signal coverage, density, and layout to ensure effective coverage of all indoor areas. Signal strength measurement uses the received Bluetooth signal strength to determine the distance between the mobile device and the beacon node, thereby achieving positioning. Positioning algorithms process the received signal strength data and calculate the mobile device's location coordinates using mathematical models.

[0003] In general, indoor Bluetooth positioning technology is an emerging technology with broad application prospects. However, the current Bluetooth positioning technology is complex to operate and has low positioning accuracy. Summary of the Invention

[0004] In view of the above-mentioned shortcomings of the prior art, the purpose of this application is to provide an indoor positioning method, system, device and medium to solve the problems of complex technical operations and low positioning accuracy of the Bluetooth positioning method in the prior art.

[0005] In the first aspect, the present application provides an indoor positioning method, which is applied to a receiving node, including: receiving a data packet sent by a Bluetooth device to be located; obtaining the signal strength of the Bluetooth device to be located based on the data packet; obtaining the direction information of the Bluetooth device to be located based on the phase difference between the data packet and the signal received by the array antenna; sending the direction information and signal strength of the Bluetooth device to be located to a server, so that the server obtains the position of the Bluetooth device to be located.

[0006] In this application, the signal strength of the Bluetooth device to be located is obtained based on the data packet sent by the Bluetooth device to be located. The direction information of the Bluetooth device to be located is obtained based on the phase difference between the data packet and the signal received by the array antenna. Then, the position of the Bluetooth device to be located is obtained based on the signal strength and direction information. This indoor positioning method is simple to operate, suitable for complex and changing indoor scenarios, and can achieve real-time and accurate positioning results.

[0007] In an implementation of the first aspect, the data packet includes arrival angle information, and obtaining the direction information of the Bluetooth device to be located based on the phase difference between the data packet and the signal received by the array antenna includes: obtaining the angle information between the Bluetooth device to be located and the array antenna based on the data packet; and obtaining the direction information of the Bluetooth device to be located based on the angle information.

[0008] In an implementation of the first aspect, obtaining the angle information between the Bluetooth device to be located and the array antenna according to the data packet includes: obtaining the polar coordinate vector of the Bluetooth device to be located and the array antenna according to the data packet; using the polar coordinate vector to obtain the amplitude and phase data of the Bluetooth device to be located relative to the array antenna; and obtaining the angle information between the Bluetooth device to be located and the array antenna according to the amplitude and phase data.

[0009] In an implementation of the first aspect, obtaining the signal strength of the Bluetooth device to be located according to the data packet includes: collecting the initial signal strength of the Bluetooth device to be located; and filtering each of the initial signal strengths to obtain the signal strength of the Bluetooth device to be located.

[0010] In an implementation of the first aspect, filtering each of the initial signal strengths to obtain the signal strength of the Bluetooth device to be located includes: filtering the initial signal strength using a cubic Kalman filter method to obtain the signal strength of the Bluetooth device to be located.

[0011] In the second aspect, the present application provides an indoor positioning method, which is applied to a server and includes: obtaining the location information of a receiving node; receiving the direction information and signal strength of the Bluetooth device to be located sent by the receiving node; and obtaining the location of the Bluetooth device to be located based on the location information of the receiving node, the direction information and the signal strength.

[0012] In an implementation method of the second aspect, it includes: filtering the signal strength of the Bluetooth device to be located to obtain the filtered signal strength; obtaining the position of the Bluetooth device to be located based on the position information of the receiving node, the direction information corresponding to the filtered signal strength and the filtered signal strength.

[0013] In the third aspect, the present application provides an indoor positioning system, which includes: a Bluetooth device to be located, configured to send a data packet to a receiving node; a receiving node, configured to receive the data packet sent by the Bluetooth device to be located, obtain the signal strength of the Bluetooth device to be located according to the data packet, obtain the direction information of the Bluetooth device to be located according to the phase difference between the data packet and the signal received by the array antenna, and send the direction information and signal strength of the Bluetooth device to be located to a server; the server, configured to obtain the position information of the receiving node, receive the direction information and signal strength of the Bluetooth device to be located sent by the receiving node, and obtain the position of the Bluetooth device to be located according to the position information of the receiving node, the direction information and the signal strength; wherein, the receiving nodes and the receiving nodes and the server are connected based on Mesh communication.

[0014] In a fourth aspect, the present application provides an electronic device, comprising: a memory for storing a computer program; and a processor for executing the computer program stored in the memory so that the electronic device performs the indoor positioning method as described in any one of the first aspect and / or the second aspect.

[0015] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the indoor positioning method described in any one of the first aspect and / or the second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1A Shown is a schematic diagram of an application scenario of the indoor positioning device described in this application.

[0017] Figure 1B Shown are structural diagrams of the client-cloud interaction scenarios in these implementations.

[0018] Figure 2 Shown is a flow chart of the indoor positioning method described in an embodiment of the present application.

[0019] Figure 3A Shown is a flow chart of the indoor positioning method described in an embodiment of the present application.

[0020] Figure 3B A schematic diagram showing a possible implementation of an embodiment of the present application is shown.

[0021] Figure 4 Shown is a flow chart of the indoor positioning method described in an embodiment of the present application.

[0022] Figure 5Shown is a flow chart of the indoor positioning method described in an embodiment of the present application.

[0023] Figure 6 Shown is a flow chart of the indoor positioning method described in an embodiment of the present application.

[0024] Figure 7A Shown is a structural diagram of the indoor positioning system described in an embodiment of the present application.

[0025] Figure 7B Shown is a structural diagram of the indoor positioning system described in an embodiment of the present application.

[0026] Figure 7C Shown is a structural diagram of the receiving node described in an embodiment of the present application.

[0027] Figure 8 Shown is a structural schematic diagram of an electronic device described in an embodiment of the present application.

[0028] Component number description

[0029] 1 Indoor positioning device

[0030] 11 Devices to be located

[0031] 12 processors

[0032] 13 Receiving Equipment

[0033] 2-end-cloud interactive system

[0034] 20 Terminal

[0035] 21 Cloud Servers

[0036] 100 Indoor Positioning System

[0037] 110 Bluetooth device to be located

[0038] 120 receiving nodes

[0039] 130 servers

[0040] 800 Electronic Equipment

[0041] 810 Memory

[0042] 820 processor

[0043] 830 Display

[0044] Steps S11 to S14

[0045] Steps S121-S122

[0046] Steps S131-S132

[0047] Steps S1311 to S1313

[0048] Steps S21 to S23 DETAILED DESCRIPTION

[0049] The following describes the embodiments of the present application through specific examples. Those skilled in the art can easily understand the other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments. The details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other unless they conflict.

[0050] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. Therefore, the illustrations only show components related to the present application and are not drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component can be changed at will, and the component layout type may also be more complicated.

[0051] Currently, there are three main types of indoor positioning technologies based on Bluetooth Low Energy (BLE): Received Signal Strength Indicator (RSSI), time difference, and Angle-of-Arrival (AOA). Since RSSI is easy to obtain and has low cost, RSSI-based positioning technology is the most commonly used technology for BLE indoor positioning. There are two main types of indoor positioning technologies based on RSSI: those based on signal propagation models and those based on fingerprint libraries. In the indoor positioning method based on the signal propagation model, the distance from the test point to the three Bluetooth signal receiving points is first calculated using the signal attenuation model. Then, circles are drawn with the three Bluetooth signal receiving points as the center and the calculated distance as the radius. The intersection of the three circles is the location of the test point. However, in complex indoor environments, this positioning is greatly affected by the multipath effect, resulting in low positioning accuracy and poor robustness. BLE indoor positioning technology based on time difference (TD) measures the time of flight (ToF) required for a radio signal to travel from the device to be located to the antenna array. This time of flight is then multiplied by the speed of the radio signal to calculate the distance from the device to be located to the access point. Using trilateration, the position of the device can be estimated. This positioning technology offers greater accuracy but also places higher demands on hardware. Otherwise, the flight time of the radio signal from the transmitter to the receiver cannot be accurately estimated, and it is significantly affected by multipath effects, making it costly to implement in real-world environments.

[0052] In order to clearly describe the technical solutions of the embodiments of the present application, the following definitions are given first:

[0053] Constant Tone Extension (CTE): In the BLE 5.1 ​​protocol, the physical layer divides channels into data channels and advertising channels. At the link layer, both channels use a single packet format. CTE is key to Bluetooth low energy positioning technology's ability to achieve angle-of-arrival positioning. All Bluetooth packets supporting direction finding carry a CTE field, appended to the end of the Bluetooth low energy positioning link layer packet.

[0054] Fusion Bluetooth Angle of Arrival (AOA): AOA technology uses the angle of arrival of the received signal to determine the location of the device. This typically requires multiple receivers to measure signals from different directions and triangulate these angles to determine the device's location.

[0055] Received Signal Strength Indicator (RSSI): RSSI is a technology that determines the location of a device based on the strength of the received signal. It estimates the distance between the device and the transmitter by measuring the signal strength attenuation in space.

[0056] Bluetooth Low Energy (BLE): A low-power, low-cost wireless communication technology that also has some applications in indoor positioning.

[0057] Cubic Kalman Filter (EKF): A nonlinear filter based on the Kalman filter, suitable for state estimation and filtering of nonlinear systems. Compared with the traditional extended Kalman filter, CKF has higher accuracy and performance.

[0058] Mesh communication: A mesh is a multi-node, decentralized, self-organizing wireless multi-hop communication network. Any wireless device node in the network can act as a router to send and receive signals and dynamically maintain connections with other nodes or multiple nodes in any manner. Wireless mesh networks can collaborate with other networks to address communication challenges in areas beyond the reach of wired networks.

[0059] At least to address the above-mentioned problems, an embodiment of the present application provides an indoor positioning method, which is applied to a receiving node, including: receiving a data packet sent by a Bluetooth device to be located; obtaining the signal strength of the Bluetooth device to be located based on the data packet; obtaining the direction information of the Bluetooth device to be located based on the phase difference between the data packet and the signal received by the array antenna; and sending the direction information and signal strength of the Bluetooth device to be located to a server, so that the server obtains the position of the Bluetooth device to be located.

[0060] In this embodiment, the signal strength of the Bluetooth device to be located is obtained based on the data packet sent by the device, the direction of the Bluetooth device to be located is obtained based on the phase difference between the data packet and the signal received by the array antenna, and the position of the Bluetooth device to be located is then determined based on the signal strength and direction information. This indoor positioning method is simple to operate, suitable for complex and changing indoor scenarios, and can achieve real-time and accurate positioning results.

[0061] Figure 1A The indoor positioning device 1 can be used to implement the indoor positioning method provided in the embodiment of the present application, but the application scenario of the indoor positioning method provided in the embodiment of the present application is not limited to Figure 1AThe indoor positioning device 1 shown. Figure 1A As shown, the indoor positioning apparatus 1 includes a device to be positioned 11, a processor 12, and a receiving device 13. The indoor positioning method provided in the embodiment of the present application can be applied to the processor 12.

[0062] in, Figure 1A The processor 12 in the embodiment can be a single processor or a processor cluster or a cloud computing center composed of multiple processors, and the specific details are not limited here. Figure 1A Only one device to be located 11, one processor 12 and two receiving devices 13 are shown in FIG, but it should be understood that Figure 1A The examples are only used to understand this solution, and the specific numbers of processors 12 and receiving devices 13 should be flexibly determined based on actual conditions.

[0063] The processor 12 may include a tablet computer, a laptop computer, a PDA, a mobile phone, a personal computer (PC), a Bluetooth device, or a monitoring device, etc., which is not limited here.

[0064] In some other implementations, the indoor positioning method described in this application can be applied to end-cloud interaction scenarios. Figure 1B Shown is a schematic diagram of the structure of the end-cloud interaction scenario in these implementation methods. Figure 1B As shown, the terminal-cloud interaction system 2 includes a terminal 20 and a cloud server 21. The terminal 20 and the cloud server 21 can communicate with each other, and the communication method is not limited to wired or wireless.

[0065] Among them, the terminal 20 can be mobile or fixed, for example, the terminal 20 can be a wireless terminal or a wired terminal. The wireless terminal can refer to a device with wireless transceiver function, which can be deployed indoors, outdoors and in industrial workshops. The terminal 20 can be a local server, a mobile phone, a tablet computer, a laptop computer, etc., which is not limited here. The cloud server 21 can include one or more servers, or one or more processing nodes, or one or more virtual machines running on the server. The cloud server 21 can also be called a server cluster, a management platform, a data processing center, etc., which is not limited in the embodiments of the present application.

[0066] The technical solutions in the embodiments of the present application will be described in detail below with reference to the accompanying drawings in the embodiments of the present application.

[0067] The following embodiments of the present application provide an indoor positioning method, for example, Figure 1A The processor 12 shown or Figure 1B It is implemented by the cloud server 21 shown. Figure 2The flowchart of the indoor positioning method described in the embodiment of the present application is shown as follows: Figure 2 As shown, the indoor positioning method includes the following steps S11 to S14.

[0068] Step S11: Receive a data packet sent by the Bluetooth device to be located. Optionally, the Bluetooth device to be located runs the BLE5.1 protocol as an initiator node, supports constant tone extension, and can send a data packet containing arrival angle information.

[0069] Step S12: Acquire the signal strength of the Bluetooth device to be located according to the data packet.

[0070] Step S13: Obtaining direction information of the Bluetooth device to be located based on the phase difference between the data packet and the signal received by the array antenna. The array antenna is configured to receive a data packet containing angle of arrival information from the Bluetooth device to be located and transmit the direction information of the Bluetooth device to be located. The direction information of the Bluetooth device to be located is the direction of the Bluetooth device to be located relative to the receiving node.

[0071] Step S14: sending the direction information and signal strength of the Bluetooth device to be located to a server, so that the server can obtain the location of the Bluetooth device to be located.

[0072] In this embodiment, the signal strength of the Bluetooth device to be located is obtained based on the data packet sent by the device, the direction of the Bluetooth device to be located is obtained based on the phase difference between the data packet and the signal received by the array antenna, and the position of the Bluetooth device to be located is then determined based on the signal strength and direction information. This indoor positioning method is simple to operate, suitable for complex and changing indoor scenarios, and can achieve real-time and accurate positioning results.

[0073] Figure 3A The flow chart of the indoor positioning method described in the embodiment of the present application is shown. Figure 3A As shown, the step S13 includes the following steps S131 to S132.

[0074] Step S131: Acquire angle information between the Bluetooth device to be located and the array antenna according to the data packet.

[0075] Step S132: Acquire direction information of the Bluetooth device to be located according to the angle information, wherein the data packet includes arrival angle information.

[0076] In some possible implementations, Figure 3B A schematic diagram showing a possible implementation of the embodiment of the present application is shown. Figure 3BAs shown, the number of array antennas is two, and the array antennas receive data packets containing arrival angle information sent by the Bluetooth device to be located (MS). Based on the data packets, the angle information θ1 and θ2 between the Bluetooth device to be located (MS) and the two array antennas BS are obtained. Based on the two angle information, the direction information of the Bluetooth device to be located (MS) is obtained. It should be noted that the number of array antennas in this application is not limited to this.

[0077] Figure 4 The flow chart of the indoor positioning method described in the embodiment of the present application is shown. Figure 4 As shown, the step S131 includes the following steps S1311 to S1313.

[0078] Step S1311: Obtain a polar coordinate vector of the Bluetooth device to be located and the array antenna according to the data packet. Optionally, the polar coordinate vector is an I / Q value received by the array antenna.

[0079] In some possible implementations, in a polar coordinate system, the magnitude of a vector is the polar axis, and the phase is the polar angle. The I / Q value is the magnitude and phase of the signal transformed from the polar coordinate system to the Cartesian coordinate system. The horizontal axis of the polar coordinate vector is used to mark the in-phase component, and the vertical axis is used to mark the out-of-phase component.

[0080] Step S1312: Acquire amplitude and phase data of the Bluetooth device to be located relative to the array antenna using the polar coordinate vector.

[0081] Step S1313: Acquire angle information between the Bluetooth device to be located and the array antenna according to the amplitude and phase data.

[0082] Figure 5 The flow chart of the indoor positioning method described in the embodiment of the present application is shown. Figure 5 As shown, the step S12 includes the following steps S121 to S122.

[0083] In step S121, the indoor positioning method includes collecting the initial signal strength of the Bluetooth device to be positioned, wherein the initial signal strength of the Bluetooth device to be positioned is the unprocessed signal strength of the Bluetooth device to be positioned.

[0084] Step S122: Filter each of the initial signal strengths to obtain the signal strength of the Bluetooth device to be located.

[0085] In some possible implementations, the traditional wireless signal propagation attenuation model is:

[0086]

[0087] Where d represents the distance between nodes, RSSI(d) represents the received signal strength value at a distance d from the transmitting point, RSSI(d0) represents the received signal strength value at a distance d0, λ represents the path attenuation factor, which is between 2 and 4, and ζ σ represents a normal random variable with standard deviation σ.

[0088] When d0=1, the above formula can be converted to:

[0089] RSSI(d)=RSSI(I)-10λlg(d)+ζ σ ,

[0090] Among them, σ The value of is relatively small and can be ignored, so we can get:

[0091] RSSI(d)=Alg(d)+B.

[0092] By collecting the corresponding relationship between multiple sets of RSSI and distance value d, the values ​​of A and B are obtained using the logarithmic fitting method, and the RSSI ranging model is established.

[0093] In one embodiment of the present application, the step S122 includes: filtering the initial signal strength using a cubic Kalman filter method to obtain the signal strength of the Bluetooth device to be located.

[0094] In some possible implementations, the RSSI acquisition process is subject to significant interference, resulting in errors if RSSI is used directly for positioning. Abnormal RSSI values ​​resulting from signal mutations are first removed using a Gaussian filter. The remaining samples are then filtered using a cubic Kalman filter to remove the influence of random noise, multipath, and other factors, thereby improving RSSI accuracy.

[0095] During the initialization phase, is the RSSI estimate at the initial moment, obtained based on the previous measurement data, and P0 is the covariance matrix at the initial moment, which represents the uncertainty of the RSSI estimate at the initial moment.

[0096] In the time update phase, the calculation formula for state prediction is:

[0097]

[0098] The formula for calculating the forecast covariance is:

[0099]

[0100] in, To predict the RSSI value at the current moment, f is the state transition function, which describes how the RSSI value changes over time, including factors such as signal attenuation and environmental noise, and u k-1 is the control input, including external factors that affect the system state, F k-1 is the Jacobian matrix of the state transfer matrix, describing the linear approximation of the state transfer function to the state, Q k-1 is the process noise covariance, which indicates the uncertainty of RSSI during the propagation process, such as environmental noise and device differences.

[0101] The calculation formula for volume points is:

[0102]

[0103] The weight calculation formula is:

[0104]

[0105] Among them, i is the volume point, and a set of volume points is generated according to the covariance matrix to approximate the integral of the nonlinear function under the Gaussian distribution. n is the dimension of the state vector. is a point on the unit hypersphere, usually obtained by recursive method or table lookup, w i is the weight of the volume point, which is used to calculate the weighted average value when calculating the integral.

[0106] The calculation formula of the volume point after propagation is:

[0107] X i =h(ζ i ),

[0108] Among them, h is the observation function, which describes how to get the observation value from the RSSI state, that is, the RSSI value reported by the Bluetooth device, X i is the volume point after propagation, which represents the predicted observation value obtained by the observation function.

[0109] The formula for calculating the mean of the predicted observations is:

[0110]

[0111] The formula for calculating the forecast observation covariance is:

[0112]

[0113] The formula for calculating the covariance between state and observation is:

[0114]

[0115] The calculation formula of Kalman gain is:

[0116]

[0117] The calculation formula for status update is:

[0118]

[0119] The formula for covariance update is:

[0120]

[0121] Among them, z k is the actual observed value, the actual RSSI value obtained by the signal strength sensor, R k is the observation noise covariance matrix, which represents the uncertainty introduced in the observation process, K k is the Kalman gain, which is used to weigh the weights of the predicted value and the observed value. is the updated RSSI estimate, which combines the information value of the predicted value and the observed value, P k|k is the updated covariance matrix, and the uncertainty of the RSSI estimate is updated. The estimated value of the current RSSI is sent to other devices along with the direction information.

[0122] Figure 6 The flow chart of the indoor positioning method described in the embodiment of the present application is shown. Figure 6 As shown, the indoor positioning method includes the following steps S21 to S23.

[0123] Step S21: Acquire the location information of the receiving node.

[0124] Step S22: receiving the direction information and signal strength of the Bluetooth device to be located sent by the receiving node.

[0125] Step S23: Acquire the position of the Bluetooth device to be located according to the position information of the receiving node, the direction information, and the signal strength.

[0126] In one embodiment of the present application, the indoor positioning method includes filtering the signal strength of the Bluetooth device to be located to obtain the filtered signal strength, and obtaining the position of the Bluetooth device to be located based on the position information of the receiving node, the direction information corresponding to the filtered signal strength, and the filtered signal strength.

[0127] Figure 7A Shown is a schematic diagram of the structure of the indoor positioning system described in the embodiment of this application. Figure 7A As shown, the indoor positioning system 100 includes a Bluetooth device to be located 110 , a receiving node 120 and a server 130 .

[0128] The Bluetooth device to be located 110 is configured to send a data packet to a receiving node.

[0129] The receiving node 120 is configured to receive the data packet sent by the Bluetooth device to be located 110, obtain the signal strength of the Bluetooth device to be located 110 based on the data packet, obtain the direction information of the Bluetooth device to be located 110 based on the phase difference between the data packet and the signal received by the array antenna, and send the direction information and signal strength of the Bluetooth device to be located 110 to the server 130.

[0130] The server 130 is configured to obtain the location information of the receiving node 120, receive the direction information and signal strength of the Bluetooth device to be located 110 sent by the receiving node 120, and obtain the location of the Bluetooth device to be located 110 based on the location information of the receiving node 120, the direction information and the signal strength; wherein, the receiving nodes 120 and the receiving nodes 120 and the server 130 are connected based on Mesh communication.

[0131] In some possible implementations, Figure 7B Shown is a schematic diagram of the structure of the indoor positioning system described in the embodiment of this application. Figure 7B As shown, the server 130 is placed at any position indoors, and the server 130 is configured with a Mesh to achieve communication connection with the receiving node 120. For example, the Bluetooth signal around is scanned in real time by the Bluetooth host on board, and the direction information and the signal strength of the Bluetooth device to be located 110 sent by all the scanned receiving nodes 120 are stored locally. When the number of receiving nodes 120 is N (N≥2), the server 130 has the direction information and the signal strength of N Bluetooth devices to be located 110 at most. According to the quality of the signal strength, the two most suitable receiving nodes 120 are selected as the direction information and signal strength of the Bluetooth device to be located 110, and then the position information of the receiving node 120 is used to obtain the position of the Bluetooth device to be located 110.

[0132] In some other possible implementations, Figure 7C Shown is a schematic diagram of the structure of the receiving node described in the embodiment of this application. Figure 7CAs shown, the receiving node 120 includes a type-c interface, a switch, a power module, an array antenna, a processor module and a Bluetooth Mesh, and the above modules are connected in sequence. The Bluetooth Mesh is used to communicate between the receiving nodes 120 and between the receiving node 120 and the server 130. The Bluetooth Mesh can scan the data broadcast by the receiving node 120 in real time, and forward the direction information, signal strength and related information of the receiving node 120 so that the server 130 can receive the positioning information of the Bluetooth device 110 to be located. In order to reduce the cost of system construction, a microcontroller with a Cortex-M4 core is selected as the processor module of the receiving node 120. Since the Cortex-M4 core contains a single-precision floating-point arithmetic unit and supports all Arm single-precision data processing instructions, it can speed up the calculation of floating-point numbers, thereby speeding up the execution of the algorithm and increasing the capacity of the Bluetooth device 110 to be located in the system.

[0133] It should be noted that the indoor positioning system 100 includes the receiving node 120 and Figure 2 Steps S11 to S14 in the indoor positioning method shown in FIG. 1 correspond to each other. The server 130 and Figure 6 Steps S21 to S23 in the indoor positioning method shown correspond to each other and are not described in detail here.

[0134] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices or methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules or units, which can be electrical, mechanical or other forms.

[0135] The modules / units described as separate components may or may not be physically separate, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place or distributed across multiple network elements. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, the functional modules / units in the various embodiments of the present application may be integrated into a processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into a single module / unit.

[0136] Those skilled in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the composition and steps of each example according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0137] An embodiment of the present application also provides an electronic device. Figure 8 Shown is a schematic diagram of the structure of the electronic device 800 according to an embodiment of the present application. Figure 8 As shown, in this embodiment, the electronic device 800 includes a memory 810 and a processor 820.

[0138] The memory 810 is used to store computer programs; preferably, the memory 810 includes: ROM, RAM, magnetic disk, USB flash drive, memory card or optical disk, etc., various media that can store program codes.

[0139] Specifically, the memory 810 may include a computer system readable medium in the form of a volatile memory, such as a random access memory (RAM) and / or a cache memory. The electronic device 800 may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 810 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present application.

[0140] The processor 820 is connected to the memory 810 and is used to execute the computer program stored in the memory 810 so that the electronic device 800 executes the indoor positioning method described in any embodiment of the present application.

[0141] Optionally, the processor 820 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

[0142] Optionally, the electronic device 800 in this embodiment may further include a display 830. The display 830 is communicatively connected to the memory 810 and the processor 820, and is used to display a graphical user interface (GUI) interactive interface related to the indoor positioning method described in the embodiment of the present application.

[0143] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the program is executed by a processor, the indoor positioning method described in any embodiment of the present application is implemented.

[0144] The descriptions of the processes or structures corresponding to the above figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0145] The above embodiments are merely illustrative of the principles and effects of this application and are not intended to limit this application. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of this application. Therefore, all equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical concepts disclosed in this application shall be covered by the claims of this application.

Claims

1. An indoor positioning method, characterized in that: Applied to a receiving node, the indoor positioning method includes: Receive data packets sent by the Bluetooth device to be located; Acquire the signal strength of the Bluetooth device to be located according to the data packet; Acquire direction information of the Bluetooth device to be located according to a phase difference between the data packet and a signal received by the array antenna; The direction information and signal strength of the Bluetooth device to be located are sent to a server, so that the server obtains the position of the Bluetooth device to be located.

2. The indoor positioning method according to claim 1, characterized in that: The data packet includes arrival angle information. Acquiring direction information of the Bluetooth device to be located based on a phase difference between the data packet and a signal received by the array antenna includes: Acquire information about the angle between the Bluetooth device to be located and the array antenna according to the data packet; The direction information of the Bluetooth device to be located is obtained according to the angle information.

3. The indoor positioning method according to claim 2, characterized in that: Acquiring information about the angle between the Bluetooth device to be located and the array antenna according to the data packet includes: Acquire the polar coordinate vector of the Bluetooth device to be located and the array antenna according to the data packet; Acquire amplitude and phase data of the Bluetooth device to be located relative to the array antenna using the polar coordinate vector; The angle information between the Bluetooth device to be located and the array antenna is obtained according to the amplitude and phase data.

4. The indoor positioning method according to claim 1, characterized in that: Acquiring the signal strength of the Bluetooth device to be located according to the data packet includes: Collecting the initial signal strength of the Bluetooth device to be located; Filtering is performed on each of the initial signal strengths to obtain the signal strength of the Bluetooth device to be located.

5. The indoor positioning method according to claim 4, characterized in that: Filtering each of the initial signal strengths to obtain the signal strength of the Bluetooth device to be located includes: The initial signal strength is filtered using a cubature Kalman filter method to obtain the signal strength of the Bluetooth device to be located.

6. An indoor positioning method, characterized in that: Applied to a server, the indoor positioning method includes: Get the location information of the receiving node; Receiving direction information and signal strength of the Bluetooth device to be located sent by the receiving node; The position of the Bluetooth device to be located is acquired according to the position information of the receiving node, the direction information, and the signal strength.

7. The indoor positioning method according to claim 6, characterized in that: include: Filtering the signal strength of the Bluetooth device to be located to obtain filtered signal strength; The position of the Bluetooth device to be located is acquired according to the position information of the receiving node, the direction information corresponding to the filtered signal strength, and the filtered signal strength.

8. An indoor positioning system, characterized in that: include: The Bluetooth device to be located is configured to send a data packet to a receiving node; a receiving node configured to receive a data packet sent by the Bluetooth device to be located, obtain a signal strength of the Bluetooth device to be located according to the data packet, obtain direction information of the Bluetooth device to be located according to a phase difference between the data packet and a signal received by the array antenna, and send the direction information and signal strength of the Bluetooth device to be located to a server; The server is configured to obtain the location information of the receiving node, receive the direction information and signal strength of the Bluetooth device to be located sent by the receiving node, and obtain the location of the Bluetooth device to be located based on the location information of the receiving node, the direction information and the signal strength; wherein, the receiving nodes and the receiving nodes and the server are connected based on Mesh communication.

9. An electronic device, characterized in that: The electronic device comprises: memory for storing computer programs; A processor, wherein the processor is configured to execute the computer program stored in the memory so as to enable the electronic device to execute the indoor positioning method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the indoor positioning method according to any one of claims 1 to 7 is implemented.

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