Bluetooth device positioning method and device applied to bluetooth beacon, and electronic device
By identifying target devices within the range of Bluetooth beacons and calculating device distance and weight using a pre-set database, the high cost and maintenance issues caused by the large number of Bluetooth beacon deployments are resolved, achieving accurate indoor positioning.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHEJIANG UNIVIEW TECH CO LTD
- Filing Date
- 2024-11-28
- Publication Date
- 2026-05-29
Smart Images
Figure CN122120908A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of positioning technology, and in particular to a Bluetooth device positioning method, apparatus, and electronic device applied to Bluetooth beacons. Background Technology
[0002] A Bluetooth beacon is a wireless electronic device based on the Bluetooth Low Energy broadcast protocol. It is typically fixed in a location and periodically broadcasts to its surroundings to exchange information with terminal devices. In Bluetooth-based indoor positioning technology, Bluetooth beacons can be flexibly deployed as needed, and are therefore widely used.
[0003] For large indoor spaces with high population density (such as shopping malls, museums, and airports), it is desirable to deploy as few positioning devices as possible, which requires the positioning devices to have the largest possible positioning range. Patent CN112040396A proposes using relay devices to extend the positioning range. Specifically, when a second device is outside the signal coverage of the first device, a third device (i.e., a relay device, located within the signal coverage of the first device) is placed between the first and second devices to locate the second device. The first device can then locate the second device through the third device. However, in this method, the signal attenuation model of the relay device needs to be determined in advance; that is, the signal attenuation model of the relay device must be known. In this case, it is still necessary to design and deploy dedicated relay devices for positioning; otherwise, it is impossible to locate devices outside the search range. Summary of the Invention
[0004] This invention provides a Bluetooth device positioning method, apparatus, and electronic device applied to Bluetooth beacons, to address the shortcomings of existing technologies where the large number of Bluetooth beacons required for indoor positioning leads to high hardware and equipment maintenance costs, as well as significant complexity and workload in equipment maintenance. The invention aims to effectively reduce the number of Bluetooth beacons required for indoor positioning while maintaining positioning accuracy, thereby lowering both deployment costs and maintenance complexity and workload.
[0005] This invention provides a Bluetooth device positioning method applied to Bluetooth beacons, comprising the following steps.
[0006] Multiple target Bluetooth devices are identified within the transmission range of the Bluetooth beacon. Each of the multiple target Bluetooth devices is connected to a Bluetooth device to be located via Bluetooth, and the Bluetooth device to be located is located outside the transmission range. For any first target Bluetooth device among the multiple target Bluetooth devices, the location and Bluetooth signal parameters of the first target Bluetooth device are obtained. The Bluetooth signal parameters include: transmit power, path loss index, and Received Signal Strength Indicator (RSSI) on the Bluetooth device to be located when the transmitted Bluetooth signal is received by the Bluetooth device to be located. Based on the Bluetooth signal parameters of the first target Bluetooth device, the distance between the first target Bluetooth device and the unlocated Bluetooth device is obtained as the device distance corresponding to the first target Bluetooth device, thus obtaining multiple device distances corresponding to the multiple target Bluetooth devices. Based on the location of each of the multiple target Bluetooth devices, the multiple device distances corresponding to the multiple target Bluetooth devices, and the location of the target Bluetooth beacon, the location of the Bluetooth device to be located is obtained.
[0007] According to the present invention, a method for locating Bluetooth devices using Bluetooth beacons is provided. The method for obtaining the location of the Bluetooth device to be located based on the location of each of a plurality of target Bluetooth devices, multiple device distances corresponding to each of the plurality of target Bluetooth devices, and the location of the target Bluetooth beacon includes: obtaining multiple groups based on a preset number of grouped devices and the total number of the plurality of target Bluetooth devices; wherein each group includes the number of target Bluetooth devices specified in the group, and the target Bluetooth devices in any two groups are not identical, the number of grouped devices is less than the total number of devices, the number of grouped devices is greater than or equal to 2, and the number of grouped devices is 2 or 3; in any target group of the plurality of groups, the location of each target Bluetooth device and the device distance corresponding to each target Bluetooth device are determined... If multiple estimated locations of the Bluetooth device to be located are determined, an initial location of the Bluetooth device to be located is obtained based on the multiple estimated locations and the location of the target Bluetooth beacon. The initial location is then determined as the group location corresponding to the target group, resulting in multiple group location locations corresponding to the multiple groups. Based on the weight calculation parameters of each target Bluetooth device in the target group, the group weight of the target group is obtained, resulting in multiple group weights corresponding to the multiple groups. The weight calculation parameters include at least one of the following: RSSI or target distance from the Bluetooth beacon. Based on the group location corresponding to each group and the group weight corresponding to each group, the target location of the Bluetooth device to be located is obtained. The target location is then determined as the location of the Bluetooth device to be located.
[0008] According to the present invention, a method for locating a Bluetooth device using a Bluetooth beacon is provided. Before determining the target location as the location of the Bluetooth device to be located, the method further includes: calculating a location error based on the target location and the plurality of location locations; if the location error is less than a set error threshold, performing the step of determining the target location as the location of the Bluetooth device to be located; and adjusting an accuracy parameter if the location error is greater than or equal to the set error threshold. The accuracy parameter includes any one of the following: the number of devices in the group or the weights of the plurality of groups. Based on the adjustment result of the accuracy parameter, the method of obtaining the target location of the Bluetooth device to be located based on the group location corresponding to each group and the group weight corresponding to each group, and subsequent steps, are re-executed.
[0009] According to the present invention, a method for locating Bluetooth devices using Bluetooth beacons is provided. The step of obtaining the group weight of the target group based on the weight calculation parameters of each target Bluetooth device in the target group includes: obtaining the device weight of the second target Bluetooth device based on the weight calculation parameters of the second target Bluetooth device in the target group; and determining the group weight of the target group based on the device weight of each target Bluetooth device in the target group.
[0010] According to the present invention, a method for locating Bluetooth devices using Bluetooth beacons is provided. After obtaining the device weight of the second target Bluetooth device, the method further includes: if the device weight of the second target Bluetooth device is less than a preset weight threshold, recalculating the device weight of the second target Bluetooth device based on the RSSI of the second target Bluetooth device, the RSSI of the third target Bluetooth device in the target group, and the RSSI of the fourth target Bluetooth device in the target group; wherein the RSSI of the third target Bluetooth device is greater than the RSSI of other target Bluetooth devices in the target group, and the RSSI of the fourth target Bluetooth device is less than the RSSI of other target Bluetooth devices in the target group.
[0011] According to the present invention, a method for locating Bluetooth devices using Bluetooth beacons is provided. Before obtaining the location and Bluetooth signal parameters of the first target Bluetooth device, the method further includes: establishing a preset database; wherein the preset database stores preset mapping relationship data, the mapping relationship data including a first mapping relationship between multiple sample Bluetooth devices and multiple specification type information, and a second mapping relationship between the multiple sample Bluetooth devices and multiple signal parameter data, the signal parameter data including: predicted transmit power and predicted path loss index; obtaining the transmit power and path loss index of the first target Bluetooth device includes: obtaining the specification type information of the first target Bluetooth device; obtaining the target sample Bluetooth device corresponding to the first target Bluetooth device according to the specification type information of the first target Bluetooth device and the first mapping relationship; obtaining the predicted transmit power and predicted path loss index corresponding to the target sample Bluetooth device according to the target sample Bluetooth device and the second mapping relationship; determining the predicted transmit power as the transmit power of the first target Bluetooth device, and determining the predicted path loss index as the path loss index of the first target Bluetooth device.
[0012] The present invention also provides a Bluetooth device positioning device applied to Bluetooth beacons, comprising the following modules: A determination module is used to determine multiple target Bluetooth devices within the transmission range of the Bluetooth beacon; wherein each of the multiple target Bluetooth devices is connected to a Bluetooth device to be located via Bluetooth, and the Bluetooth device to be located is located outside the transmission range; The acquisition module is used to acquire the location and Bluetooth signal parameters of any first target Bluetooth device among the plurality of target Bluetooth devices; wherein, the Bluetooth signal parameters include: transmit power, path loss index, and received signal strength indicator (RSSI) on the Bluetooth device to be located when the transmitted Bluetooth signal is received by the Bluetooth device to be located; The processing module is configured to obtain the distance between the first target Bluetooth device and the unlocated Bluetooth device based on the Bluetooth signal parameters of the first target Bluetooth device, and to obtain multiple device distances corresponding to the multiple target Bluetooth devices. The positioning module is used to obtain the location of the Bluetooth device to be located based on the location of each of the plurality of target Bluetooth devices, the distances between the plurality of devices corresponding to the plurality of target Bluetooth devices, and the location of the target Bluetooth beacon.
[0013] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the Bluetooth device positioning method applied to Bluetooth beacons as described above.
[0014] The present invention also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the Bluetooth device positioning method applied to a Bluetooth beacon as described above.
[0015] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements a Bluetooth device positioning method applied to a Bluetooth beacon as described above.
[0016] The present invention provides a Bluetooth device positioning method, apparatus, and electronic device applied to Bluetooth beacons. The method identifies multiple target Bluetooth devices within the transmission range of the Bluetooth beacon. Each target Bluetooth device is connected to a Bluetooth device to be located via Bluetooth, and the Bluetooth device to be located is located outside the transmission range. For any first target Bluetooth device among the multiple target Bluetooth devices, the location and Bluetooth signal parameters of the first target Bluetooth device are obtained. The Bluetooth signal parameters include: transmit power, path loss index, and Received Signal Strength Indicator (RSSI) on the Bluetooth device to be located when the transmitted Bluetooth signal is received by the Bluetooth device to be located. Based on the Bluetooth signal parameters of the first target Bluetooth device, the distance between the first target Bluetooth device and the unlocated Bluetooth device is obtained as the device distance corresponding to the first target Bluetooth device, resulting in multiple device distances corresponding to the multiple target Bluetooth devices. The location of the Bluetooth device to be located is obtained based on the location of each target Bluetooth device, the multiple device distances corresponding to the multiple target Bluetooth devices, and the location of the target Bluetooth beacon. Therefore, this invention enables Bluetooth beacons to locate Bluetooth devices outside their transmission range, effectively expanding the positioning range of Bluetooth beacons. In this case, it can effectively reduce the number of Bluetooth beacons required for indoor positioning, thereby effectively solving the shortcomings of the prior art, which requires a large number of Bluetooth beacons for indoor positioning, resulting in high hardware and equipment maintenance costs, as well as high complexity and workload of equipment maintenance. It achieves the goal of effectively reducing the number of Bluetooth beacons required for indoor positioning while ensuring positioning accuracy, thereby reducing equipment deployment costs and equipment maintenance complexity and workload. Attached Figure Description
[0017] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0018] Figure 1 This is one of the flowcharts illustrating the Bluetooth device positioning method applied to Bluetooth beacons provided in this embodiment of the invention.
[0019] Figure 2 This is one of the illustrations of a Bluetooth beacon and multiple target Bluetooth devices in a Bluetooth device positioning method applied to a Bluetooth beacon provided in an embodiment of the present invention.
[0020] Figure 3 This is the second flowchart illustrating the Bluetooth device positioning method applied to Bluetooth beacons provided in this embodiment of the invention.
[0021] Figure 4 This is the second illustration of a Bluetooth beacon and multiple target Bluetooth devices in a Bluetooth device positioning method applied to Bluetooth beacons provided in an embodiment of the present invention.
[0022] Figure 5 This is the third illustration of a Bluetooth beacon and multiple target Bluetooth devices in a Bluetooth device positioning method applied to Bluetooth beacons provided in an embodiment of the present invention.
[0023] Figure 6 This is the third flowchart of the Bluetooth device positioning method applied to Bluetooth beacons provided in the embodiments of the present invention.
[0024] Figure 7 This is a schematic diagram of the structure of a Bluetooth device positioning device applied to a Bluetooth beacon provided in an embodiment of the present invention.
[0025] Figure 8 This is a schematic diagram of the structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation
[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.
[0027] The following is combined with Figures 1-6This invention describes a Bluetooth device positioning method applied to Bluetooth beacons. The executing subject of this invention is a Bluetooth beacon.
[0028] Figure 1 This is a flowchart illustrating a Bluetooth device positioning method provided in an embodiment of the present invention. This method is applied to Bluetooth beacons, such as... Figure 1 As shown, the method includes the following steps S110~S140.
[0029] S110: Identify multiple target Bluetooth devices within the transmission range of the Bluetooth beacon; wherein each of the multiple target Bluetooth devices is connected to the Bluetooth device to be located via Bluetooth, and the Bluetooth device to be located is located outside the transmission range.
[0030] The transmission range (or signal coverage) of a Bluetooth beacon refers to all areas where the Bluetooth beacon's signal can propagate.
[0031] Bluetooth beacons can be devices such as switches or routers that are fixed in a certain location during use.
[0032] The target Bluetooth device can be a mobile terminal with Bluetooth communication capabilities, such as a mobile phone, tablet, laptop, or smart bracelet.
[0033] When identifying multiple target Bluetooth devices, the Bluetooth beacon can acquire the Bluetooth identifiers and connection device information of the multiple Bluetooth devices entering its transmission range. The connection device information of each Bluetooth device may include, for example, the identifiers of one or more Bluetooth devices connected to that device via Bluetooth. From the connection device information of these multiple Bluetooth devices, the Bluetooth beacon determines other Bluetooth identifiers besides the Bluetooth identifiers of the multiple Bluetooth devices, and identifies these other Bluetooth identifiers as the Bluetooth identifiers corresponding to Bluetooth devices located outside the Bluetooth beacon's transmission range. Based on the aforementioned other Bluetooth identifiers, if the connection device information of m (m is a natural number and m is greater than 1) Bluetooth devices all contain one of these other Bluetooth identifiers, Bluetooth identifier A0, the Bluetooth beacon identifies these m Bluetooth devices as the aforementioned multiple target Bluetooth devices, and identifies the Bluetooth device corresponding to Bluetooth identifier A0 as the Bluetooth device to be located.
[0034] The following example illustrates the relationship between Bluetooth beacons, multiple target Bluetooth devices, and the Bluetooth device to be located.
[0035] A Bluetooth beacon M is fixed at a certain location indoors. There are multiple Bluetooth devices B1, B2...Bz (where z is a natural number and greater than 1) indoors. Among Bluetooth devices B1, B2...Bz, some are within the transmission range of the target Bluetooth beacon M (corresponding to...). Figure 2 Within the shaded area, some Bluetooth devices are outside the transmission range of the Bluetooth beacon M. For example... Figure 2 Bluetooth devices B1, B2, and B3 are within the transmission range of Bluetooth beacon M, while Bluetooth device B4 is outside the transmission range of Bluetooth beacon M (other Bluetooth devices are not within the transmission range of Bluetooth beacon M). Figure 2 (As shown in the image).
[0036] Figure 2 In this scenario, Bluetooth device B1 connects to Bluetooth device B4 via Bluetooth, Bluetooth device B2 connects to Bluetooth device B4 via Bluetooth, and Bluetooth device B3 also connects to Bluetooth device B4 via Bluetooth. That is, each of Bluetooth devices B1, B2, and B3 connects to Bluetooth device B4 via Bluetooth. In this case, Bluetooth devices B1, B2, and B3 are the target Bluetooth devices. Since Bluetooth device B4 is located outside the range of Bluetooth beacon M, Bluetooth beacon M cannot directly determine the location of Bluetooth device B4. Therefore, Bluetooth device B4 is the Bluetooth device to be located.
[0037] S120: For any first target Bluetooth device among multiple target Bluetooth devices, obtain the location and Bluetooth signal parameters of the first target Bluetooth device.
[0038] Bluetooth signal parameters may include: transmit power, path loss index, and the Received Signal Strength Indication (RSSI) on the Bluetooth device to be located when the transmitted Bluetooth signal is received by the Bluetooth device to be located.
[0039] The transmit power and path loss index of the first target Bluetooth device can be obtained in the following way.
[0040] First, a preset database is established. This database stores preset mapping relationship data, including a first mapping relationship between multiple sample Bluetooth devices and multiple specification type information, and a second mapping relationship between multiple sample Bluetooth devices and multiple signal parameter data. The signal parameter data includes predicted transmit power and predicted path loss index. In this case, the specification type information of the first target Bluetooth device can be obtained. Based on the specification type information and the first mapping relationship, the target sample Bluetooth device corresponding to the first target Bluetooth device is obtained. Furthermore, based on the target sample Bluetooth device and the second mapping relationship, the predicted transmit power and predicted path loss index corresponding to the target sample Bluetooth device are obtained. The predicted transmit power is determined as the transmit power of the first target Bluetooth device, and the predicted path loss index is determined as the path loss index of the first target Bluetooth device.
[0041] Specifically, different types of Bluetooth devices can be collected as sample Bluetooth devices to obtain multiple sample Bluetooth devices. Then, the specifications and types of each sample Bluetooth device are used as the specification type information of that sample Bluetooth device. A correspondence is established between the multiple sample Bluetooth devices and the specification type information of the multiple sample Bluetooth devices. This correspondence is the first mapping relationship mentioned above. The first mapping relationship is stored in a preset database.
[0042] When obtaining the second mapping relationship, each sample Bluetooth device can be treated as a data collection device E, and the transmit power and path loss parameters of the data collection device E can be obtained in the following manner.
[0043] First, based on pre-set multiple test distances d1, d2...d N The above test distance d was tested using data collection device E. i The following test RSSI Ei Where i = 1, 2, ..., N, and N is the total number of data points, multiple test RSSIs corresponding to multiple test distances can be obtained. Based on the multiple test RSSIs collected above, a functional relationship model between distance and RSSI is obtained according to the signal attenuation model of Bluetooth devices.
[0044] The signal attenuation model of Bluetooth devices can be obtained based on the free space loss model and RSSI ranging formula, and the specific process is as follows.
[0045] The free space loss model is as follows: ; Where PL(d0) is the path loss at the reference distance d0, d is the distance from the signal transmitter to the signal receiver, Gt is the gain of the transmitting antenna, Gr is the gain of the receiving antenna, and L is the system loss.
[0046] The RSSI ranging formula is as follows: RSSI = A - 10nlgd; where A can be regarded as the power of the received signal when the signal is transmitted 1m away, and n is the path loss exponent.
[0047] Approximating A in RSSI=A-10nlgd as the transmission power of the signal transmitting device, and also including the loss obtained based on the free space loss model in the signal transmission loss, we can obtain the following functional relationship model: ; in, Here, c is the transmission power, c is the speed of light, and f is the signal frequency.
[0048] Based on this functional relationship model, the solution model for d is as follows: .
[0049] Based on the d-based solution model, K= Therefore, a simplified solution model for solving d can be obtained, as follows: K= .
[0050] Using the simplified solution model described above as the signal attenuation model for Bluetooth devices, we obtain the signal attenuation module for Bluetooth devices.
[0051] Based on the signal attenuation model of the Bluetooth device obtained above and the multiple data points collected above (multiple test distances d1, d2...d...), N And multiple RSSI tests: RSSI E1 RSSI E2 ...RSSI EN The following equation can be established: ; Where, n E The path loss index for data collection device E. The transmit power of data collection device E.
[0052] For equation Performing linear regression analysis and taking a logarithmic transformation yields the following linearized equation: Based on the linearized equations obtained above, the least squares method is used to fit the linear model and solve for the slope k and intercept b, as follows.
[0053] ; ; in, Let X1, X2...X N The average value, i.e. ; Let Y1, Y2...Y N The average value, i.e. .
[0054] Based on the obtained slope k and intercept b, we can obtain , .
[0055] Based on the above process of obtaining the transmit power and path loss parameters of the data collection test device E, the transmit power and path loss parameters of multiple sample Bluetooth devices can be obtained. A correspondence is established between the multiple sample Bluetooth devices and the predicted data (including predicted transmit power and predicted path loss) of the multiple sample Bluetooth devices. This correspondence is the second mapping relationship mentioned above, and the second mapping relationship is stored in a preset database.
[0056] When obtaining the transmit power and path loss parameters of the first target Bluetooth device, the first target Bluetooth device can be identified based on its specifications, type, and other information, and according to the first mapping relationship in the preset database. Then, the sample Bluetooth device that matches the first target Bluetooth device (the sample Bluetooth device that is the same or similar to the target Bluetooth device in terms of specifications and type) can be determined. Then, according to the second mapping relationship stored in the preset database, the transmit power and path loss parameters corresponding to the sample Bluetooth device in the second mapping relationship can be determined as the transmit power and path loss parameters of the first target Bluetooth device.
[0057] For example, the parameter correspondence stored in the preset database includes: Sample Bluetooth device 1 – transmit power 1 and path loss parameter 1, Sample Bluetooth device 2 – transmit power 2 and path loss parameter 2, Sample Bluetooth device 3 – transmit power 3 and path loss parameter 3. The preset database stores the specifications and type information of Sample Bluetooth device 1 as Specification Type Information 1, the specifications and type information of Sample Bluetooth device 2 as Specification Type Information 2, and the specifications and type information of Sample Bluetooth device 3 as Specification Type Information 3. For target Bluetooth device 1, such as Bluetooth device B1 mentioned above, the specifications and type of Bluetooth device B1 are obtained. Based on this information and the first mapping relationship in the preset database, it is determined that the Specification Type Information 2 of Sample Bluetooth device 2 matches the specifications and type of Bluetooth device B1. Based on the second mapping relationship, the transmit power 2 and path loss parameter 2 corresponding to Sample Bluetooth device 2 are obtained. The transmit power 2 is determined as the transmit power of Bluetooth device B1, and the path loss parameter 2 is determined as the path loss parameter of Bluetooth device B1.
[0058] It should be noted that, based on the preset database created in this embodiment of the invention, it is possible to: for any Bluetooth device entering the positioning range of the Bluetooth beacon, the transmission power and path loss parameters of the Bluetooth device can be obtained without knowing the signal attenuation model of the Bluetooth device. In subsequent steps (S130~S140), based on the obtained transmission power and path loss parameters, the device to be located outside the positioning range of the Bluetooth beacon can be located. In this case, it is no longer necessary to design and deploy relay devices specifically for positioning, thus effectively expanding the positioning range of the Bluetooth beacon. That is to say, in this embodiment of the invention, Bluetooth devices temporarily entering the positioning range of the Bluetooth beacon can be used as relay devices. By utilizing the created preset database and the idea that each person's Bluetooth device in a large indoor space with relatively dense crowds in real-world scenarios (such as large shopping malls, museums, airports, etc.) can be used as a relay device, the shortcomings of having to set up relay devices and knowing the signal attenuation model of the relay devices in advance to locate devices outside the positioning range can be overcome. It's important to note that in densely populated environments, although Bluetooth devices may only stay within the Bluetooth beacon's location range briefly, there's usually significant personnel movement. Even as Bluetooth devices leave, new ones constantly enter. Therefore, as long as someone brings a Bluetooth device into the beacon's location range, that device can act as a base station for auxiliary positioning. For densely populated indoor spaces, simply consider the areas with the highest typical personnel movement or presence, and then place Bluetooth beacons in those locations, thus eliminating reliance on specific relay devices.
[0059] The location of the first target Bluetooth device can be its coordinates on a flat map. For example, if the coordinates of the first Bluetooth device on the flat map are (x0, y0), then the location of the first Bluetooth device is (x0, y0).
[0060] The method for obtaining the location of the first target Bluetooth device can be set by those skilled in the art according to the actual situation, and the embodiments of the present invention do not limit this.
[0061] S130: Based on the Bluetooth signal parameters of the first target Bluetooth device, obtain the distance between the first target Bluetooth device and the unlocated Bluetooth device as the device distance corresponding to the first target Bluetooth device, and obtain multiple device distances corresponding to multiple target Bluetooth devices one by one.
[0062] A functional relationship model between distance and RSSI can be pre-established as follows: K= ; in, This refers to the distance between the signal receiving device and the signal transmitting device.
[0063] The functional relationship model between distance and RSSI is obtained based on the signal attenuation model of the Bluetooth device. The process of obtaining the signal attenuation model of the Bluetooth device is described in S120 and will not be repeated here.
[0064] For each target Bluetooth device, the target Bluetooth device is used as the signal transmitter, and the Bluetooth device to be located is used as the signal receiver. By substituting the transmit power, path loss index of the target Bluetooth device, and the RSSI on the Bluetooth device to be located when the Bluetooth signal emitted by the target Bluetooth device is received by the Bluetooth device to be located into the above functional relationship model, the distance between the signal receiver and the signal transmitter can be obtained, that is, the distance between the target Bluetooth device and the Bluetooth device to be located. This distance is used as the device distance corresponding to the target Bluetooth device, and multiple device distances corresponding to multiple target Bluetooth devices are obtained.
[0065] For example, see Figure 2 As shown, Bluetooth devices B1, B2, and B3 are the target Bluetooth devices. The transmit power of Bluetooth device B1 is... The path loss index is When the Bluetooth signal emitted by Bluetooth device B1 is received by the Bluetooth device B4 to be located, the RSSI on the Bluetooth device B4 to be located is the RSSI. B1 The transmit power of Bluetooth device B2 is The path loss index is When the Bluetooth signal emitted by Bluetooth device B2 is received by the Bluetooth device B4 to be located, the RSSI on the Bluetooth device B4 to be located is the RSSI. B2 The transmit power of Bluetooth device B3 is The path loss index is When the Bluetooth signal emitted by Bluetooth device B3 is received by the Bluetooth device B4 to be located, the RSSI on the Bluetooth device B4 to be located is the RSSI. B3 .
[0066] Based on the aforementioned functional relationship model between distance and RSSI, the distance between Bluetooth device B1 and the Bluetooth device B4 to be located can be obtained. The distance between Bluetooth device B2 and the Bluetooth device B4 to be located And the distance between Bluetooth device B3 and the Bluetooth device B4 to be located. as follows: K= ; ; .
[0067] S140: Obtain the location of the Bluetooth device to be located based on the location of each target Bluetooth device among multiple target Bluetooth devices, the distance between multiple devices corresponding to each of the multiple target Bluetooth devices, and the location of the target Bluetooth beacon.
[0068] In some embodiments, such as Figure 3 As shown, the execution process of S140 may include the following S310~S350.
[0069] S310: Based on the preset number of group devices and the total number of multiple target Bluetooth devices, obtain multiple groups; wherein each group in the multiple groups includes the target Bluetooth devices of the group device number, and the target Bluetooth devices in any two groups are not completely the same, the number of group devices is less than the total number of devices, and the number of group devices is greater than or equal to 2.
[0070] The preset number of devices in a group can be 2 or 3. Each group can contain 2 or 3 target Bluetooth devices. The preferred number of devices in a group is 3.
[0071] In some embodiments, multiple target Bluetooth devices can be grouped according to a mathematical combination method based on a preset number of group devices and the total number of multiple target Bluetooth devices, resulting in multiple groups, wherein the target Bluetooth devices in any two groups are not exactly the same.
[0072] For example, if the total number of devices is F and the number of groups of devices is G, multiple target Bluetooth devices can be grouped based on mathematical combinations to obtain... Groups, The target Bluetooth devices in any two groups are not exactly the same.
[0073] In some embodiments, multiple target Bluetooth devices can be divided into multiple groups based on a preset number of group devices and the total number of multiple target Bluetooth devices, and the target Bluetooth devices in any two groups are completely different.
[0074] For example, if the total number of devices is F and the number of groups of devices is G, multiple target Bluetooth devices are divided into groups, meaning that a target Bluetooth device can only be assigned to one group and cannot be assigned to multiple groups. This results in F / G groups, and the target Bluetooth devices in any two groups of F / G are completely different.
[0075] It should be noted that if the total number of devices is not an integer multiple of the number of devices in a group, the target number of target Bluetooth devices can be removed from the total number of target Bluetooth devices to obtain the set number of target Bluetooth devices, and the set number is an integer multiple of the number of devices in a group.
[0076] S320: In any target group of multiple groups, based on the location of each target Bluetooth device and the device distance corresponding to each target Bluetooth device, and assuming that there are multiple estimated positioning locations of the Bluetooth device to be located, the initial positioning location of the Bluetooth device to be located is obtained based on the multiple estimated positioning locations and the location of the target Bluetooth beacon. The initial positioning location is determined as the group positioning location corresponding to the target group, thus obtaining multiple group positioning locations that correspond one-to-one with the multiple groups.
[0077] For example, such as Figure 4 As shown, the number of devices in a group is 2. In any target group, the solution equation for the location of the Bluetooth device to be located can be established based on the relationship between the location of each target Bluetooth device, the device distance corresponding to each target Bluetooth device, and the location of the Bluetooth device to be located, resulting in two solution equations corresponding one-to-one for the two target Bluetooth devices.
[0078] Please see Figure 4 Bluetooth devices B1 and B2 are the target Bluetooth devices, and Bluetooth device B4 is the Bluetooth device to be located. The location of Bluetooth device B1 is (x B1 y B1 The location of Bluetooth device B2 is (x B2 y B2 ), the location of Bluetooth device B4 (x B4 y B4 The distance between Bluetooth device B1 and Bluetooth device B4 is unknown. The distance between Bluetooth device B1 and Bluetooth device B4 is d1. The distance between Bluetooth device B2 and Bluetooth device B4 is d2.
[0079] Based on the formula for calculating the distance between two points, the location of the Bluetooth device to be located can be set as (x... B4 y B4 Establish the following positional solution equation: For example, such as Figure 5 As shown, the number of devices in a group is 3. In any target group, the solution equation for the location of the Bluetooth device to be located can be established based on the relationship between the location of each target Bluetooth device, the device distance corresponding to each target Bluetooth device, and the location of the Bluetooth device to be located, resulting in 3 solution equations corresponding to the 3 target Bluetooth devices one by one.
[0080] Please see Figure 5 Bluetooth device B1, Bluetooth device B2 and Bluetooth device 4 and Figure 4 Similarly, Bluetooth device B3 is the target Bluetooth device, and the location of Bluetooth device B3 is (x B3 y B3The device distance corresponding to Bluetooth device B3 is d3 (that is, the distance between Bluetooth device B3 and Bluetooth device B4).
[0081] Based on the formula for calculating the distance between two points, the location of the Bluetooth device to be located can be set as (x... B4 y B4 Establish the following positional solution equation: .
[0082] For the established location solution equation, substitute the parameter values of each parameter into the location solution equation and solve the location solution equation. If there are two solutions, determine multiple estimated location locations of the Bluetooth device to be located; if there are no two solutions, such as only one solution or no solution, determine multiple estimated location locations of the Bluetooth device to be located.
[0083] In the case that multiple estimated locations of the Bluetooth device to be located are determined, Figure 5 Taking the example shown, the two solutions correspond to respectively Figure 5 The two intersection points of the middle circles o(B1, d1), o(B2, d2), and o(B3, d3). From Figure 5 It can be seen that one of the two intersection points is within the search range of the Bluetooth beacon M, and the other is outside the search range of the target. Obviously, in reality, the Bluetooth device to be located is outside the search range of the Bluetooth beacon. Therefore, the solution corresponding to the intersection point H1, which is within the search range of the Bluetooth beacon, is discarded, and the solution corresponding to the intersection point H2, which is within the search range of the Bluetooth beacon, is retained. The solution corresponding to the intersection point within the search range of the Bluetooth beacon is determined as the initial positioning position of the Bluetooth device B4 to be located.
[0084] The solution to be retained from the two solutions can be determined as follows: First, calculate the positional distance between each estimated location and the target, obtaining two positional distances that correspond one-to-one between the two estimated locations; determine the target positional distance from the two positional distances, and set the estimated location corresponding to the target positional distance as the initial location of the Bluetooth device to be located; wherein, the target positional distance is greater than the target's effective transmission distance.
[0085] For example, see Figure 5 Calculate the positional distance L between intersection point H1 and M. H1 The positional distance L between intersection point H2 and M H2 Compare the position distance L H1 The effective transmission distance L of Bluetooth beacon M M If L H1 <L M L H2 >L MThis indicates that intersection point H1 is within the search range of Bluetooth beacon M. If intersection point H2 is outside the search range of Bluetooth beacon M, the solution corresponding to intersection point H1 is discarded, and the solution corresponding to intersection point H2 is retained. The solution corresponding to intersection point H2 is determined as the initial positioning position of the Bluetooth device B4 to be located. This initial positioning position is based on the position of each target Bluetooth device in the target group and the device distance corresponding to each target Bluetooth device; therefore, this initial positioning position corresponds to the target group. The process of obtaining the initial positioning position corresponding to the target group is performed for each group, and this initial positioning position is determined as the group positioning position of the target group. This results in multiple group positioning positions corresponding one-to-one with multiple groups.
[0086] S330: Based on the weight calculation parameters of each target Bluetooth device in the target group, obtain the group weight of the target group, and obtain multiple group weights corresponding to multiple groups; the weight calculation parameters include at least one of the following: RSSI or target distance from the Bluetooth beacon.
[0087] First, the device weight of the second target Bluetooth device can be obtained based on the weight calculation parameters of the second target Bluetooth device in the target group; then, the group weight of the target group can be determined based on the device weight of each target Bluetooth device in the target group.
[0088] In some embodiments, the distance between each target Bluetooth device and the Bluetooth beacon in the target group can be obtained, and the reciprocal of the square of that distance can be determined as the device weight of that target Bluetooth device. Then, the first average of the device weights of all target Bluetooth devices in the target group can be obtained, and the first average can be determined as the group weight of the target group.
[0089] by Figure 5 In the example shown, the distance between Bluetooth device B1 and Bluetooth beacon M is d5 ( Figure 5 (Not shown in the image), the distance between Bluetooth device B2 and Bluetooth beacon M is d6 ( Figure 5 (Not shown in the image), the distance between Bluetooth device B2 and Bluetooth beacon M is d7 ( Figure 5 (Not shown in the image). The device weights of target Bluetooth device B1 (Q1), Bluetooth device B2 (Q2), and target Bluetooth device B3 (Q3) are as follows: .
[0090] The target group's group weight ω = (Q1 + Q2 + Q3) / 3.
[0091] In some embodiments, the RSSI of each target Bluetooth device in the target group can be obtained as the device weight of the target Bluetooth device, and then the second average value of the device weights of all target Bluetooth devices in the target group can be obtained, and the second average value can be determined as the group weight of the target group.
[0092] For example, the RSSI of the target Bluetooth device B1 is RSSI. B1 The RSSI of the target Bluetooth device B2 is RSSI B2 The RSSI of the target Bluetooth device B3 is RSSI B3 The target group's group weight ω = (RSSI) B1 +RSSI B2 +RSSI B3 ) / 3.
[0093] In some embodiments, to avoid low accuracy of calculation results due to excessively low weights, after obtaining the device weight of the second target Bluetooth device, the device weight of the second target Bluetooth device is compared with a preset weight threshold. If the device weight of the second target Bluetooth device is less than the preset weight threshold, the device weight of the second target Bluetooth device is recalculated based on the RSSI of the second target Bluetooth device, the RSSI of the third target Bluetooth device in the target group, and the RSSI of the fourth target Bluetooth device in the target group. Specifically, the RSSI of the third target Bluetooth device is greater than the RSSI of other target Bluetooth devices in the target group, and the RSSI of the fourth target Bluetooth device is less than the RSSI of other target Bluetooth devices in the target group. The preset weight threshold can be set by those skilled in the art based on actual conditions; this embodiment of the invention does not specify this threshold.
[0094] For example, after obtaining the device weight of the target Bluetooth device B1 as Q1, if Q1 is less than the preset weight threshold, Q1 can be determined in the following way.
[0095] ; in, RSSI for the third target Bluetooth device. RSSI for the fourth target Bluetooth device.
[0096] S340: Obtain the target location of the Bluetooth device to be located based on the group location and the group weight corresponding to each group.
[0097] S340 can be executed using the following formula: ; in, The group weight corresponding to the j-th group. Locate the position of the j-th group. Z represents the target location of the Bluetooth device to be located, and Z represents the total number of groups.
[0098] S350: Determines the target location as the location of the Bluetooth device to be located.
[0099] Based on the target location calculated in S340, the target location is directly determined as the location of the Bluetooth device to be located.
[0100] In some embodiments, to improve the accuracy of the location of the Bluetooth device to be located, before executing S350, such as Figure 6 As shown, S610~S640 can also be executed.
[0101] S610: Calculate the positioning error based on the target positioning location and multiple positioning locations.
[0102] For example, the positioning error RMSE can be calculated using the following formula.
[0103] .
[0104] S620: Determine whether the positioning error is less than the set error threshold.
[0105] If the judgment result is yes, that is, the positioning error is less than the set error threshold, execute S350, that is, determine the target positioning location as the location of the Bluetooth device to be located; if the judgment result is no, that is, the positioning error is greater than or equal to the set error threshold, execute S630.
[0106] The error threshold can be set by those skilled in the art according to the actual situation, and the embodiments of the present invention do not limit this.
[0107] S630: Adjust the accuracy parameters; where the accuracy parameters include any of the following: number of group devices or multiple group weights.
[0108] When the accuracy parameter is the number of devices in a group, adjusting the accuracy parameter can be done by increasing the number of devices in a group. For example, if the original number of devices in a group was 2, the number of devices in a group can be increased to 3; if the original number of devices in a group was 3, the number of devices in a group can be increased to 4, and so on.
[0109] When the accuracy parameter consists of multiple group weights, the weight adjustment coefficient corresponding to the positioning error can be determined based on the positioning error and the preset third mapping relationship. The weights of multiple groups can then be adjusted based on the weight adjustment coefficient. The preset third mapping relationship includes the correspondence between multiple preset positioning error ranges and multiple preset weight adjustment coefficients.
[0110] S640: Based on the adjustment results of the accuracy parameters, re-execute the process of obtaining the target positioning location of the Bluetooth device to be located and its subsequent steps according to the group positioning location and the group weight corresponding to each group.
[0111] Based on the adjustment results of the accuracy parameters, S340 and its subsequent steps are re-executed to obtain a more accurate target positioning position.
[0112] In some embodiments, to reduce computational load, a preset number (e.g., 2 or 3) of target Bluetooth devices can be selected from multiple target Bluetooth devices as selected target Bluetooth devices. Then, the location of the Bluetooth device to be located is obtained based on the location of each selected target Bluetooth device, the device distance corresponding to each selected target Bluetooth device, and the location of the target Bluetooth beacon. For specific acquisition methods, please refer to the method for determining the location of the Bluetooth device to be located in each group in the above embodiments, which will not be repeated here.
[0113] The present invention provides a Bluetooth device positioning method for Bluetooth beacons, which determines multiple target Bluetooth devices within the transmission range of the Bluetooth beacon. Each of the multiple target Bluetooth devices is connected to a Bluetooth device to be located via Bluetooth, and the Bluetooth device to be located is located outside the transmission range. For any first target Bluetooth device among the multiple target Bluetooth devices, the location and Bluetooth signal parameters of the first target Bluetooth device are obtained. The Bluetooth signal parameters include: transmit power, path loss index, and Received Signal Strength Indicator (RSSI) on the Bluetooth device to be located when the transmitted Bluetooth signal is received by the Bluetooth device to be located. Based on the Bluetooth signal parameters of the first target Bluetooth device, the distance between the first target Bluetooth device and the unlocated Bluetooth device is obtained as the device distance corresponding to the first target Bluetooth device, resulting in multiple device distances corresponding to the multiple target Bluetooth devices. Based on the location of each target Bluetooth device, the multiple device distances corresponding to the multiple target Bluetooth devices, and the location of the target Bluetooth beacon, the location of the Bluetooth device to be located is obtained. Therefore, this invention enables Bluetooth beacons to locate Bluetooth devices outside their transmission range, effectively expanding the positioning range of Bluetooth beacons. In this case, it can effectively reduce the number of Bluetooth beacons required for indoor positioning, thereby effectively solving the shortcomings of the prior art, which requires a large number of Bluetooth beacons for indoor positioning, resulting in high hardware and equipment maintenance costs, as well as high complexity and workload of equipment maintenance. It achieves the goal of effectively reducing the number of Bluetooth beacons required for indoor positioning while ensuring positioning accuracy, thereby reducing equipment deployment costs and equipment maintenance complexity and workload.
[0114] The Bluetooth device positioning device for Bluetooth beacons provided by the present invention will be described below. The Bluetooth device positioning device for Bluetooth beacons described below can be referred to in correspondence with the Bluetooth device positioning method for Bluetooth beacons described above.
[0115] Figure 7 This is a schematic diagram of a Bluetooth device positioning device applied to a Bluetooth beacon, provided in an embodiment of the present invention. Figure 7 As shown, the Bluetooth device positioning device 70 applied to Bluetooth beacons includes: The determination module 71 is used to determine multiple target Bluetooth devices within the transmission range of the Bluetooth beacon; wherein each of the multiple target Bluetooth devices is connected to the Bluetooth device to be located via Bluetooth, and the Bluetooth device to be located is located outside the transmission range.
[0116] The acquisition module 72 is used to acquire the location and Bluetooth signal parameters of any first target Bluetooth device among multiple target Bluetooth devices; wherein, the Bluetooth signal parameters include: transmit power, path loss index, and received signal strength index (RSSI) on the Bluetooth device to be located when the transmitted Bluetooth signal is received by the Bluetooth device to be located.
[0117] The processing module 73 is used to obtain the distance between the first target Bluetooth device and the unlocated Bluetooth device based on the Bluetooth signal parameters of the first target Bluetooth device, and to obtain multiple device distances corresponding to multiple target Bluetooth devices.
[0118] The positioning module 74 is used to obtain the location of the Bluetooth device to be located based on the location of each target Bluetooth device among multiple target Bluetooth devices, the distance between multiple devices corresponding to the multiple target Bluetooth devices, and the location of the target Bluetooth beacon.
[0119] The present invention provides a Bluetooth device positioning device for Bluetooth beacons, which determines multiple target Bluetooth devices within the transmission range of the Bluetooth beacon. Each of the multiple target Bluetooth devices is connected to a Bluetooth device to be located via Bluetooth, and the Bluetooth device to be located is located outside the transmission range. For any first target Bluetooth device among the multiple target Bluetooth devices, the location and Bluetooth signal parameters of the first target Bluetooth device are obtained. The Bluetooth signal parameters include: transmit power, path loss index, and Received Signal Strength Indicator (RSSI) on the Bluetooth device to be located when the transmitted Bluetooth signal is received by the Bluetooth device to be located. Based on the Bluetooth signal parameters of the first target Bluetooth device, the distance between the first target Bluetooth device and the unlocated Bluetooth device is obtained as the device distance corresponding to the first target Bluetooth device, resulting in multiple device distances corresponding to the multiple target Bluetooth devices. Based on the location of each target Bluetooth device, the multiple device distances corresponding to the multiple target Bluetooth devices, and the location of the target Bluetooth beacon, the location of the Bluetooth device to be located is obtained. Therefore, this invention enables Bluetooth beacons to locate Bluetooth devices outside their transmission range, effectively expanding the positioning range of Bluetooth beacons. In this case, it can effectively reduce the number of Bluetooth beacons required for indoor positioning, thereby effectively solving the shortcomings of the prior art, which requires a large number of Bluetooth beacons for indoor positioning, resulting in high hardware and equipment maintenance costs, as well as high complexity and workload of equipment maintenance. It achieves the goal of effectively reducing the number of Bluetooth beacons required for indoor positioning while ensuring positioning accuracy, thereby reducing equipment deployment costs and equipment maintenance complexity and workload.
[0120] Figure 8 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 8As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communications bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other through the communications bus 840. The processor 810 can call logic instructions in the memory 830 to execute a Bluetooth device positioning method applied to a Bluetooth beacon. The method includes: determining multiple target Bluetooth devices within the transmission range of the Bluetooth beacon; wherein each of the multiple target Bluetooth devices is connected to a Bluetooth device to be located via Bluetooth, and the Bluetooth device to be located is located outside the transmission range; for any first target Bluetooth device among the multiple target Bluetooth devices, obtaining the location and Bluetooth signal parameters of the first target Bluetooth device; wherein the Bluetooth signal parameters include: transmit power, path loss index, and received signal strength indicator (RSSI) on the Bluetooth device to be located when the transmitted Bluetooth signal is received by the Bluetooth device to be located; obtaining the distance between the first target Bluetooth device and the unlocated Bluetooth device based on the Bluetooth signal parameters of the first target Bluetooth device as the device distance corresponding to the first target Bluetooth device, thus obtaining multiple device distances corresponding one-to-one with the multiple target Bluetooth devices; and obtaining the location of the Bluetooth device to be located based on the location of each target Bluetooth device, the multiple device distances corresponding one-to-one with the multiple target Bluetooth devices, and the location of the target Bluetooth beacon.
[0121] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0122] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the Bluetooth device positioning method for Bluetooth beacons provided by the above methods. The method includes: determining a plurality of target Bluetooth devices within the transmission range of the Bluetooth beacon; wherein each of the plurality of target Bluetooth devices is connected to a Bluetooth device to be located via Bluetooth, and the Bluetooth device to be located is located outside the transmission range; for any first target Bluetooth device among the plurality of target Bluetooth devices, obtaining the location and Bluetooth signal parameters of the first target Bluetooth device; wherein the Bluetooth signal parameters include: transmit power, path loss index, and received signal strength indication (RSSI) on the Bluetooth device to be located when the transmitted Bluetooth signal is received by the Bluetooth device to be located; obtaining the distance between the first target Bluetooth device and the unlocated Bluetooth device based on the Bluetooth signal parameters of the first target Bluetooth device as the device distance corresponding to the first target Bluetooth device, thereby obtaining a plurality of device distances corresponding one-to-one with the plurality of target Bluetooth devices; and obtaining the location of the Bluetooth device to be located based on the location of each of the plurality of target Bluetooth devices, the plurality of device distances corresponding one-to-one with the plurality of target Bluetooth devices, and the location of the target Bluetooth beacon.
[0123] In another aspect, the present invention also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, performs the Bluetooth device positioning method applied to Bluetooth beacons provided by the methods described above. The method includes: determining a plurality of target Bluetooth devices within the transmission range of the Bluetooth beacon; wherein each of the plurality of target Bluetooth devices is connected to a Bluetooth device to be located via Bluetooth, and the Bluetooth device to be located is located outside the transmission range; for any first target Bluetooth device among the plurality of target Bluetooth devices, obtaining the location and Bluetooth signal parameters of the first target Bluetooth device; wherein the Bluetooth signal parameters include: transmit power, path loss index, and received signal strength indication (RSSI) on the Bluetooth device to be located when the transmitted Bluetooth signal is received by the Bluetooth device to be located; obtaining, based on the Bluetooth signal parameters of the first target Bluetooth device, the distance between the first target Bluetooth device and the unlocated Bluetooth device as the device distance corresponding to the first target Bluetooth device, thus obtaining multiple device distances corresponding one-to-one with the plurality of target Bluetooth devices; and obtaining the location of the Bluetooth device to be located based on the location of each of the plurality of target Bluetooth devices, the multiple device distances corresponding one-to-one with the plurality of target Bluetooth devices, and the location of the target Bluetooth beacon.
[0124] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.
[0125] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.
[0126] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims
1. A Bluetooth device positioning method applied to Bluetooth beacons, characterized in that, include: Multiple target Bluetooth devices are identified within the transmission range of the Bluetooth beacon; wherein each of the multiple target Bluetooth devices is connected to a Bluetooth device to be located via Bluetooth, and the Bluetooth device to be located is located outside the transmission range; For any first target Bluetooth device among the plurality of target Bluetooth devices, obtain the location and Bluetooth signal parameters of the first target Bluetooth device; wherein, the Bluetooth signal parameters include: transmit power, path loss index, and received signal strength indicator (RSSI) on the Bluetooth device to be located when the transmitted Bluetooth signal is received by the Bluetooth device to be located; Based on the Bluetooth signal parameters of the first target Bluetooth device, the distance between the first target Bluetooth device and the unlocated Bluetooth device is obtained as the device distance corresponding to the first target Bluetooth device, and multiple device distances corresponding to the multiple target Bluetooth devices are obtained; The location of the Bluetooth device to be located is obtained based on the location of each of the plurality of target Bluetooth devices, the distances between the plurality of target Bluetooth devices, and the location of the target Bluetooth beacon.
2. The Bluetooth device positioning method applied to Bluetooth beacons according to claim 1, characterized in that, The step of obtaining the location of the Bluetooth device to be located based on the location of each of the plurality of target Bluetooth devices, the distances between the plurality of target Bluetooth devices, and the location of the target Bluetooth beacon includes: Multiple groups are obtained based on the preset number of group devices and the total number of target Bluetooth devices; wherein each group includes the target Bluetooth devices of the preset number of group devices, and the target Bluetooth devices in any two groups are not completely the same, the number of group devices is less than the total number of devices, the number of group devices is greater than or equal to 2, and the number of group devices is 2 or 3. In any target group of the plurality of groups, based on the location of each target Bluetooth device and the device distance corresponding to each target Bluetooth device, if it is determined that there are multiple estimated positioning locations of the Bluetooth device to be located, the initial positioning location of the Bluetooth device to be located is obtained based on the multiple estimated positioning locations and the location of the target Bluetooth beacon, and the initial positioning location is determined as the group positioning location corresponding to the target group, thereby obtaining multiple group positioning locations corresponding to the plurality of groups. Based on the weight calculation parameters of each target Bluetooth device in the target group, the group weight of the target group is obtained, resulting in multiple group weights corresponding to multiple groups; the weight calculation parameters include at least one of the following: RSSI or target distance from the Bluetooth beacon; The target location of the Bluetooth device to be located is obtained based on the group location corresponding to each group and the group weight corresponding to each group. The target location is determined as the location of the Bluetooth device to be located.
3. The Bluetooth device positioning method applied to Bluetooth beacons according to claim 2, characterized in that, Before determining the target location as the location of the Bluetooth device to be located, the method further includes: Calculate the positioning error based on the target positioning location and the plurality of positioning locations; If the positioning error is less than a set error threshold, the step of determining the target positioning location as the location of the Bluetooth device to be located is performed; and if the positioning error is greater than or equal to the set error threshold, the accuracy parameter is adjusted; wherein the accuracy parameter includes any one of the following: the number of devices in the group or the weight of the multiple groups; Based on the adjustment results of the accuracy parameters, the process of obtaining the target location of the Bluetooth device to be located and subsequent steps based on the group positioning position and the group weight corresponding to each group is re-executed.
4. The Bluetooth device positioning method applied to Bluetooth beacons according to claim 2, characterized in that, The step of obtaining the group weight of the target group based on the weight calculation parameters of each target Bluetooth device in the target group includes: Based on the weight calculation parameters of the second target Bluetooth device in the target group, obtain the device weight of the second target Bluetooth device; The group weight of the target group is determined based on the device weight of each target Bluetooth device in the target group.
5. The Bluetooth device positioning method applied to Bluetooth beacons according to claim 4, characterized in that, After obtaining the device weight of the second target Bluetooth device, the method further includes: If the device weight of the second target Bluetooth device is less than a preset weight threshold, the device weight of the second target Bluetooth device is recalculated based on the RSSI of the second target Bluetooth device, the RSSI of the third target Bluetooth device in the target group, and the RSSI of the fourth target Bluetooth device in the target group; wherein the RSSI of the third target Bluetooth device is greater than the RSSI of other target Bluetooth devices in the target group, and the RSSI of the fourth target Bluetooth device is less than the RSSI of other target Bluetooth devices in the target group.
6. The Bluetooth device positioning method applied to Bluetooth beacons according to claim 1, characterized in that, Before obtaining the location and Bluetooth signal parameters of the first target Bluetooth device, the method further includes: Establish a preset database; wherein the preset database stores preset mapping relationship data, the mapping relationship data includes a first mapping relationship between multiple sample Bluetooth devices and multiple specification type information, and a second mapping relationship between the multiple sample Bluetooth devices and multiple signal parameter data, the signal parameter data including: predicted transmit power and predicted path loss index; Obtaining the transmit power and path loss index of the first target Bluetooth device includes: Obtain the specification type information of the first target Bluetooth device; Based on the specification type information of the first target Bluetooth device and the first mapping relationship, the target sample Bluetooth device corresponding to the first target Bluetooth device is obtained; Based on the target sample Bluetooth device and the second mapping relationship, the predicted transmit power and the predicted path loss index corresponding to the target sample Bluetooth device are obtained; The predicted transmit power is determined as the transmit power of the first target Bluetooth device, and the predicted path loss index is determined as the path loss index of the first target Bluetooth device.
7. A Bluetooth device positioning device applied to Bluetooth beacons, characterized in that, include: A determination module is used to determine multiple target Bluetooth devices within the transmission range of the Bluetooth beacon; wherein each of the multiple target Bluetooth devices is connected to a Bluetooth device to be located via Bluetooth, and the Bluetooth device to be located is located outside the transmission range; The acquisition module is used to acquire the location and Bluetooth signal parameters of any first target Bluetooth device among the plurality of target Bluetooth devices; wherein, the Bluetooth signal parameters include: transmit power, path loss index, and received signal strength indicator (RSSI) on the Bluetooth device to be located when the transmitted Bluetooth signal is received by the Bluetooth device to be located; The processing module is configured to obtain the distance between the first target Bluetooth device and the unlocated Bluetooth device based on the Bluetooth signal parameters of the first target Bluetooth device, and to obtain multiple device distances corresponding to the multiple target Bluetooth devices. The positioning module is used to obtain the location of the Bluetooth device to be located based on the location of each of the plurality of target Bluetooth devices, the distances between the plurality of devices corresponding to the plurality of target Bluetooth devices, and the location of the target Bluetooth beacon.
8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the Bluetooth device positioning method applied to Bluetooth beacons as described in any one of claims 1 to 6.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the Bluetooth device positioning method applied to Bluetooth beacons as described in any one of claims 1 to 6.
10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the Bluetooth device positioning method applied to Bluetooth beacons as described in any one of claims 1 to 6.