A rail transit station bluetooth positioning self-calibration navigation method and system

Abstract

This invention relates to the field of indoor positioning and navigation technology for rail transit, specifically a Bluetooth positioning self-calibration navigation method and system for rail transit stations. Addressing the problems of Bluetooth signal crosstalk between adjacent areas within rail transit stations, changes in operating status, and inaccurate beacon parameters leading to misjudgment of positioning areas and navigation result mismatches, the method acquires Bluetooth scan data, station traffic topology data, station operating status data, and navigation request data within the station to generate Bluetooth topology observation objects. Based on the expected Bluetooth response relationship configured according to the traffic topology lock points, topology lock point calibration samples are generated and compared with the expected relationship to obtain beacon response offset objects. Then, beacon calibration target objects are determined by aggregation according to lock points, direction, beacon groups, offset types, and operating status. Bluetooth positioning parameters are updated, and self-calibration navigation results are output, applicable to Bluetooth positioning and navigation within rail transit stations.

Description

Technical Field

[0001] This invention relates to the field of indoor positioning and navigation technology for rail transit, specifically to a Bluetooth positioning self-calibration navigation method and system for rail transit stations. Background Technology

[0002] The interior space of a rail transit station typically includes multiple functional areas such as a concourse, platform, transfer passages, turnstiles, escalators, stairs, and entrances / exits. Because satellite positioning signals are difficult to use reliably in underground or semi-enclosed station environments, station navigation usually employs methods such as Bluetooth beacons, wireless LANs, inertial sensors, or electronic maps. Among these, Bluetooth positioning has advantages such as low deployment cost, good mobile terminal compatibility, and convenient continuous scanning, and is therefore frequently used for area positioning and route guidance within rail transit stations.

[0003] However, rail transit stations present challenges such as close proximity of adjacent areas, complex wall and passageway boundaries, significant pedestrian obstruction, changes in escalator direction, platform screen door opening and closing, changes in turnstile status, and temporary passage closures. Existing Bluetooth positioning methods often rely on static beacon parameters or offline fingerprint databases for area determination. When beacon coverage drifts or operational status changes, strong signals on the other side of impassable boundaries can easily be mistaken for the current location. Furthermore, existing self-calibration methods often directly correct parameters based on single signal offsets, making it difficult to distinguish between mobile terminal anomalies, changes in station operational status, and inaccurate beacon parameters. This leads to misjudgments of positioning areas and navigation mismatches. Therefore, a Bluetooth positioning self-calibration navigation method and system for rail transit stations is needed to address these issues. Summary of the Invention

[0004] To address the above problems, the present invention provides the following technical solution: a Bluetooth positioning self-calibration navigation method within a rail transit station, comprising: S1. Acquire station Bluetooth scanning data, station access topology data, station operation status data, and navigation request data, and generate station Bluetooth topology observation objects; S2. Determine the passage topology lock points for restricting the cross-regional passage status of passengers based on the station passage topology data, and configure the expected Bluetooth response relationship for each passage topology lock point; S3. Based on the station's Bluetooth topology observation objects, access topology lock points, and station operation status data, generate topology lock point calibration samples that include access direction and operation status category; S4. Compare the topology lock point calibration sample with the expected Bluetooth response relationship to generate a beacon response offset object; S5. Based on the aggregation results of multiple beacon response offset objects in terms of traffic topology lock point, traffic direction, Bluetooth beacon group, offset type, and operating status category, determine the beacon calibration target object; when the beacon calibration target object is determined, update the preset Bluetooth positioning parameters according to the beacon calibration target object, and use the updated preset Bluetooth positioning parameters as the current preset Bluetooth positioning parameters; when the beacon calibration target object is not determined, use the unchanged preset Bluetooth positioning parameters as the current preset Bluetooth positioning parameters. S6. Generate a self-calibrated navigation result based on the current preset Bluetooth positioning parameters, station access topology data, and navigation request data.

[0005] Furthermore, the station's Bluetooth scanning data includes at least the mobile terminal identifier, Bluetooth beacon identifier, scanning time, and received signal strength; the station's passage topology data includes at least the station's functional areas, passage edges, impassable boundaries, passage directions, and a preset coverage correspondence between Bluetooth beacons and topology areas; the station's operational status data includes one or more of the following: train arrival status, train departure status, platform door opening / closing status, escalator running direction, turnstile opening status, and temporary closed passage status; the navigation request data includes at least one of the following: target functional area, target entrance / exit, target platform, target transfer passage, and target facility point.

[0006] Furthermore, the generation of in-station Bluetooth topology observation objects includes: The Bluetooth scanning data within the station is divided into continuous scanning windows according to the scanning time; Within each scanning window, Bluetooth beacon identifiers are sorted according to the received signal strength to generate a relative strength sequence; The Bluetooth beacon identifiers ranked within a preset range in the relative strength sequence and the Bluetooth beacon identifiers with received signal strength higher than a preset scanning threshold are merged and deduplicated to generate a candidate Bluetooth beacon set. Based on the Bluetooth beacon identifiers in the candidate Bluetooth beacon set, the corresponding topology region is read from the preset coverage correspondence, and topology regions blocked by impassable boundaries, temporary closed channels, or travel direction restrictions are eliminated to generate a candidate topology region set. Based on the passable edges, impassable boundaries, travel directions, and station operation status data related to the passable edges, determine the set of passable boundaries; The scanning window is associated with the candidate Bluetooth beacon set according to the scanning time, the candidate Bluetooth beacon set is associated with the candidate topology region set according to the Bluetooth beacon identifier and the topology region identifier, and the candidate topology region set is associated with the traversable boundary set according to the traversable edge, thereby generating the in-station Bluetooth topology observation object.

[0007] Furthermore, the step of determining the access topology lock points used to constrain the passenger's cross-regional travel status, and configuring the expected Bluetooth response relationship for each access topology lock point, includes: Select topology nodes located at the junctions of different functional areas from the station's internal traffic topology data, and which can constrain the direction or boundary of passenger traffic, and determine them as traffic topology lock points; Based on the access edges and access directions connected by the access topology lock points, determine the previous region, the next region, and the isolation region; Based on the preset coverage correspondence, the Bluetooth beacon group of the previous area, the Bluetooth beacon group of the next area, and the Bluetooth beacon group of the isolated area are determined respectively; Configure expected Bluetooth response relationships for the access topology lock points. The expected Bluetooth response relationships include the expected attenuation range of the front zone, the expected enhancement range of the rear zone, the expected suppression range of the isolation zone, the directional difference threshold, the elapsed time range, and the applicable conditions for the operating state.

[0008] Furthermore, the generation of topology lock point calibration samples includes: The estimated value of the terminal's motion direction is determined based on the changes in the set of candidate topological regions within the continuous scanning window and the scanning time sequence. In each scanning window, the Bluetooth beacon with the highest received signal strength and belonging to the candidate Bluetooth beacon set is identified as the dominant Bluetooth beacon; The operational status category is determined based on the status fields in the station's operational status data that meet the applicable conditions for the operational status. When the dominant Bluetooth beacon is switched from the previous area Bluetooth beacon group to the next area Bluetooth beacon group, and the difference in scanning time before and after the switch is within the elapsed time range, and the estimated value of the terminal movement direction is consistent with the passage direction of the passage topology lock point, and the station operation status data meets the applicable conditions of the operation status, a candidate lock point passage segment is generated. Based on the dominant Bluetooth beacon switching time corresponding to the segment passed by the candidate lock point, extract the window before the lock point and the window after the lock point; The topology lock point calibration sample is generated by associating the passage topology lock point, passage direction, lock point front window, lock point back window, previous area Bluetooth beacon group, next area Bluetooth beacon group, isolation area Bluetooth beacon group, and operating status category.

[0009] Furthermore, the generation of the beacon response offset object includes: The received signal strength statistics of the Bluetooth beacon group in the previous area, the Bluetooth beacon group in the next area, and the Bluetooth beacon group in the isolated area in the window before and after the lock point are calculated according to a preset statistical method. The preset statistical method is one of median, mean, or quantile. The signal attenuation in the front zone is generated by subtracting the received signal strength statistics of the previous area Bluetooth beacon group in the window before the lock point from the received signal strength statistics of the previous area Bluetooth beacon group in the window after the lock point. The signal enhancement amount in the back area is generated by subtracting the received signal strength statistics of the Bluetooth beacon group in the window before the lock point from the received signal strength statistics of the Bluetooth beacon group in the back area in the window after the lock point. When the signal attenuation in the current area is less than the lower limit of the expected attenuation range in the front area, a residual offset in the front area coverage is generated. When the signal enhancement in the back area is less than the lower limit of the expected enhancement range in the back area, a back area response missing offset is generated. When the received signal strength statistics of the Bluetooth beacon group in the isolation area in the window before or after the lock point are greater than the upper limit of the expected suppression range of the isolation area, an isolation out-of-bounds offset is generated. When the difference in the statistical value of the received signal strength of the Bluetooth beacon group in the isolation area between the calibration samples of the topology lock points with opposite travel directions reaches the direction difference threshold, a directional asymmetric offset is generated. At least one of the following—front area coverage residual offset, rear area response missing offset, isolation out-of-bounds offset, and directional asymmetric offset—is associated with the corresponding access topology lock point, access direction, Bluetooth beacon group, and operating status category to generate the beacon response offset object.

[0010] Furthermore, determining the beacon calibration target includes: Within a preset statistical period, multiple beacon response offset objects are grouped according to the passage topology lock point, passage direction, Bluetooth beacon group, offset type, and running status category; Count the number of times the beacon response offset object appears and the number of corresponding mobile terminal identifiers within each group; When a single mobile terminal identifier generates a beacon response offset object of the same type within a preset statistical period, and other mobile terminal identifiers corresponding to the same access topology lock point do not generate a beacon response offset object of the same type, the topology lock point calibration sample corresponding to the mobile terminal identifier is marked as a terminal abnormal sample, and the preset Bluetooth positioning parameters are prohibited from being updated based on the topology lock point calibration sample. After removing abnormal terminal samples, when the number of times the beacon response offset object appears in the same group reaches a preset offset number threshold and the number of corresponding mobile terminal identifiers reaches a preset terminal number threshold, the passage topology lock point, passage direction, Bluetooth beacon group, offset type and running status category corresponding to the group are associated to generate the beacon calibration target object. When there are no groups that meet the preset offset count threshold and preset terminal number threshold, no beacon calibration target object is generated.

[0011] Furthermore, the preset Bluetooth positioning parameters include Bluetooth beacon coverage weight, Bluetooth beacon range parameters, area boundary weight, travel direction weight, operating status applicable parameters, and isolation suppression parameters; updating the preset Bluetooth positioning parameters according to the beacon calibration target object includes: When the beacon calibration target object corresponds to the front area coverage residual offset, the front area signal attenuation is subtracted from the lower limit of the expected attenuation range of the front area to generate the front area attenuation deficiency. Based on the front area attenuation deficiency, the Bluetooth beacon range parameter of the previous area Bluetooth beacon group in the direction of the next area after the corresponding access topology lock point is reduced, and the Bluetooth beacon coverage weight of the previous area Bluetooth beacon group in the direction of the next area is reduced. When the back zone response is missing offset corresponding to the beacon calibration target object, the back zone signal enhancement amount is subtracted from the lower limit of the expected enhancement range of the back zone to generate the back zone enhancement deficiency amount. Based on the back zone enhancement deficiency amount, the Bluetooth beacon range parameter of the Bluetooth beacon group in the back zone direction of the corresponding access topology lock point is expanded, and the Bluetooth beacon coverage weight of the Bluetooth beacon group in the back zone direction is increased. When the beacon calibration target object corresponds to the isolation boundary offset, the isolation boundary amount is generated by subtracting the upper limit of the expected suppression range of the isolation area from the statistical value of the received signal strength of the Bluetooth beacon group in the isolation area. The isolation suppression parameter is increased according to the isolation boundary amount, and the Bluetooth beacon coverage weight of the Bluetooth beacon group in the isolation area after crossing the impassable boundary is reduced. When the beacon calibration target object is asymmetrically offset in the corresponding direction, the travel direction weight is corrected according to the difference between the topology lock point calibration samples with opposite travel directions, and the corresponding running state category is written into the running state applicable parameters. Write the corrected Bluetooth beacon coverage weight, Bluetooth beacon range parameters, area boundary weight, travel direction weight, applicable parameters for operating status, and isolation suppression parameters into the updated preset Bluetooth positioning parameters.

[0012] Furthermore, the generation of self-calibrated navigation results includes: Based on the current preset Bluetooth positioning parameters, calculate the regional positioning score for each candidate topology region in the candidate topology region set; The current topology region is determined based on the candidate topology region that satisfies the constraints of the traversable boundary set and has the highest regional positioning score. The target topology region is determined based on the navigation request data, and after filtering out the access edges restricted by the station operation status data in the station access topology data, a target access path from the current topology region to the target topology region is generated. Determine the next access topology lock point based on the target access path; When a beacon calibration target object exists, an abnormal beacon region is determined based on the access topology lock point, Bluetooth beacon group, and offset type in the beacon calibration target object; when no beacon calibration target object exists, the abnormal beacon region is marked as empty. Based on the current topology area, the target passage path, the next passage topology lock point, and the current preset Bluetooth positioning parameters, generate navigation prompts before and after the lock point and positioning reliability; The self-calibrated navigation result is generated by associating the current topology region, the target travel path, the next travel topology lock point, navigation prompts before and after the lock point, the positioning reliability, and the abnormal beacon region.

[0013] This invention also provides a Bluetooth positioning self-calibration navigation system for rail transit stations, used to implement the above-mentioned Bluetooth positioning self-calibration navigation method for rail transit stations, comprising: The station-based Bluetooth topology observation object generation module is used to acquire station-based Bluetooth scanning data, station-based access topology data, station-based operating status data, and navigation request data, and generate station-based Bluetooth topology observation objects. The passage topology lock point configuration module is used to determine the passage topology lock points used to constrain the cross-regional passage status of passengers based on the passage topology data within the station, and to configure the expected Bluetooth response relationship for each passage topology lock point; The topology lock point calibration sample generation module is used to generate topology lock point calibration samples containing passage direction and operation status category based on the in-station Bluetooth topology observation object, passage topology lock point and in-station operation status data. The beacon response offset object generation module is used to compare the topology lock point calibration sample with the expected Bluetooth response relationship to generate a beacon response offset object. The Bluetooth positioning parameter update module is used to determine the beacon calibration target object based on the aggregation results of multiple beacon response offset objects in terms of passage topology lock point, passage direction, Bluetooth beacon group, offset type, and operating status category; when the beacon calibration target object is determined, the preset Bluetooth positioning parameters are updated according to the beacon calibration target object, and the updated preset Bluetooth positioning parameters are used as the current preset Bluetooth positioning parameters; when the beacon calibration target object is not determined, the unchanged preset Bluetooth positioning parameters are used as the current preset Bluetooth positioning parameters. The self-calibration navigation result generation module is used to generate self-calibration navigation results based on the current preset Bluetooth positioning parameters, station access topology data, and navigation request data.

[0014] Compared with the prior art, the present invention has the following beneficial effects: By determining the passage topology lock points that can constrain the cross-regional passage status of passengers based on the passage topology data within the station, and configuring the expected Bluetooth response relationship for the passage topology lock points, the changes in Bluetooth signals of mobile terminals during cross-regional passage can be judged in combination with the boundaries of the station area and the direction of passage, thereby reducing the effect of misjudging the area caused by signal crosstalk between adjacent areas or inaccurate static beacon parameters.

[0015] By comparing topology lock point calibration samples with expected Bluetooth response relationships, beacon response offset objects are generated. Based on the aggregation results of multiple beacon response offset objects in terms of passage topology lock points, passage direction, Bluetooth beacon groups, offset types, and operating status categories, the beacon calibration target object is determined. This ensures that single scan anomalies or individual mobile terminal anomalies do not directly trigger positioning parameter updates, thereby reducing erroneous calibrations caused by changes in operating status such as pedestrian obstruction, platform door opening and closing, escalator direction changes, or temporary passage closures, and reducing navigation result mismatches caused by abnormal beacon areas. Attached Figure Description

[0016] Figure 1 A schematic diagram illustrating the steps of the Bluetooth positioning self-calibration navigation method within rail transit stations provided by the present invention; Figure 2 The overall flowchart of the Bluetooth positioning self-calibration navigation method in rail transit stations provided by the present invention; Figure 3 This is a schematic diagram showing the relationship between the access topology lock point and the expected Bluetooth response in the Bluetooth positioning self-calibration navigation method for rail transit stations provided by the present invention. Figure 4 Experimental diagram showing the in-station area positioning accuracy of the Bluetooth positioning self-calibration navigation method for rail transit stations provided by the present invention. Figure 5 An experimental diagram showing the navigation result mismatch rate of the Bluetooth positioning self-calibration navigation method in rail transit stations provided by this invention. Figure 6 This is a system structure diagram of the Bluetooth positioning self-calibration navigation system in rail transit stations provided by the present invention. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] Please see Figures 1 to 6 , Figure 1 A schematic diagram illustrating the steps of the Bluetooth positioning self-calibration navigation method within rail transit stations provided by the present invention; Figure 2 The overall flowchart of the Bluetooth positioning self-calibration navigation method in rail transit stations provided by the present invention; Figure 3 This is a schematic diagram showing the relationship between the access topology lock point and the expected Bluetooth response in the Bluetooth positioning self-calibration navigation method for rail transit stations provided by the present invention. Figure 4 Experimental diagram showing the in-station area positioning accuracy of the Bluetooth positioning self-calibration navigation method for rail transit stations provided by the present invention. Figure 5 An experimental diagram showing the navigation result mismatch rate of the Bluetooth positioning self-calibration navigation method in rail transit stations provided by this invention. Figure 6 This is a system structure diagram of the Bluetooth positioning self-calibration navigation system in rail transit stations provided by the present invention. The present invention also provides a Bluetooth positioning self-calibration navigation method in rail transit stations, comprising: S1. Acquire station Bluetooth scanning data, station access topology data, station operation status data, and navigation request data, and generate station Bluetooth topology observation objects; Specifically, the positioning server, edge positioning server, or station navigation server within the rail transit station acts as the executing entity, receiving Bluetooth scanning data uploaded by the mobile terminal and reading station access topology data, station operation status data, and navigation request data. The station Bluetooth scanning data characterizes the Bluetooth beacon responses received by the mobile terminal at different scanning times; the station access topology data characterizes the connectivity relationships between the concourse, platform, turnstiles, escalators, stairs, transfer passages, and entrances / exits; the station operation status data characterizes whether the current access path is affected by train arrivals / departures, platform screen doors, escalator directions, and the open or temporarily closed status of turnstiles; and the navigation request data characterizes the target functional area or facility point that the mobile terminal needs to reach.

[0020] When generating the intra-station Bluetooth topology observation object, the positioning server first organizes the Bluetooth scanning records of mobile terminals within a continuous time range according to the scanning time. Then, it matches the Bluetooth beacon identifiers with the preset coverage correspondence in the intra-station access topology data to obtain candidate topology areas. Subsequently, it combines the intra-station operating status data to eliminate areas blocked by impassable boundaries, temporary closed passage status, or passage direction restrictions. Based on the passable edges, impassable boundaries, passage direction, and intra-station operating status data related to the passable edges, it determines the set of passable boundaries corresponding to the current scanning window. This set of passable boundaries is used to record the passable boundaries that are allowed to be connected to or crossed by the candidate topology areas under the current operating status. The finally generated intra-station Bluetooth topology observation object includes at least the scanning window, the set of candidate Bluetooth beacons, the set of candidate topology areas, the intra-station operating status, the set of passable boundaries, and the corresponding mobile terminal identifier. This object is subsequently read by S3 to determine whether the mobile terminal has passed through the access topology lock point.

[0021] Furthermore, in one embodiment provided by the present invention, the station Bluetooth scanning data includes at least a mobile terminal identifier, a Bluetooth beacon identifier, a scanning time, and a received signal strength; the station access topology data includes at least station functional areas, access edges, non-accessible boundaries, access directions, and a preset coverage correspondence between Bluetooth beacons and topology areas; the station operation status data includes one or more of the following: train arrival status, train departure status, platform door opening / closing status, escalator running direction, turnstile opening status, and temporary closed passage status; the navigation request data includes at least one of the following: target functional area, target entrance / exit, target platform, target transfer passage, and target facility point.

[0022] Specifically, the mobile terminal identifier is used to distinguish scan records uploaded by different passenger terminals, the Bluetooth beacon identifier is used to locate the preset coverage topology area corresponding to the Bluetooth beacon, the scan time is used to divide the continuous scan window, and the received signal strength is used to sort and statistically analyze the strength of Bluetooth beacons within the same scan window. If a Bluetooth scan record within a station lacks a mobile terminal identifier, the positioning server will not use that record for cross-window trajectory determination; if a Bluetooth beacon identifier is missing, it will not be included in the candidate Bluetooth beacon set; if a scan time is missing, the server's receiving time will be used as a substitute time and marked as a compensation time; if the received signal strength is missing, that record will not participate in the generation of the relative strength sequence.

[0023] The station's internal topology data is stored in the form of a topology map. Functional areas within the station are treated as nodes or sets of nodes, and traversable edges serve as traversable connections between different functional areas. Impassable boundaries restrict the crossing of candidate topology areas, and traversal directions define directional relationships such as escalators, one-way turnstiles, and temporary flow channels. The preset coverage correspondence between Bluetooth beacons and topology areas includes at least the Bluetooth beacon identifier, topology area identifier, coverage direction, initial coverage weight, and effective range parameters. Station operational status data is provided by the platform screen door control system, escalator control system, turnstile control system, or station operation system, and is aligned according to the status activation time and scanning time. Navigation request data is generated by the mobile terminal navigation application. Target functional areas, target entrances / exits, target platforms, target transfer channels, or target facility points are converted into target topology area identifiers for S6 to read when generating target traversal paths.

[0024] Furthermore, in one embodiment of the present invention, the generation of in-station Bluetooth topology observation objects includes: The Bluetooth scanning data within the station is divided into continuous scanning windows according to the scanning time; Within each scanning window, Bluetooth beacon identifiers are sorted according to the received signal strength to generate a relative strength sequence; The Bluetooth beacon identifiers ranked within a preset range in the relative strength sequence and the Bluetooth beacon identifiers with received signal strength higher than a preset scanning threshold are merged and deduplicated to generate a candidate Bluetooth beacon set. Based on the Bluetooth beacon identifiers in the candidate Bluetooth beacon set, the corresponding topology region is read from the preset coverage correspondence, and topology regions blocked by impassable boundaries, temporary closed channels, or travel direction restrictions are eliminated to generate a candidate topology region set. Based on the passable edges, impassable boundaries, travel directions, and station operation status data related to the passable edges, determine the set of passable boundaries; The scanning window is associated with the candidate Bluetooth beacon set according to the scanning time, the candidate Bluetooth beacon set is associated with the candidate topology region set according to the Bluetooth beacon identifier and the topology region identifier, and the candidate topology region set is associated with the traversable boundary set according to the traversable edge, thereby generating the in-station Bluetooth topology observation object.

[0025] Specifically, the length of the continuous scanning window is determined by the in-station positioning refresh cycle and the mobile terminal scanning frequency. In this embodiment, the scanning window length is 2 seconds, and adjacent scanning windows are allowed to overlap by 1 second. The positioning server reads Bluetooth scanning records that fall into the same scanning window under the same mobile terminal identifier, and takes the median of the multiple received signal strengths of the same Bluetooth beacon identifier within the window as the window received signal strength, reducing single-point fluctuations caused by instantaneous occlusion and multipath reflection.

[0026] Within each scanning window, the positioning server sorts Bluetooth beacon identifiers from highest to lowest received signal strength, generating a relative strength sequence. Each item in the relative strength sequence includes the Bluetooth beacon identifier, its ranking, the received signal strength of the window, the scanning window identifier, and the mobile terminal identifier. The preset ranking range is set based on the Bluetooth beacon density within the station; in this embodiment, the top 5 are selected. The preset scanning threshold is set based on the calibration results of open areas and transfer passage areas within the station; in this embodiment, it is -82dBm. The positioning server merges the top 5 ranked Bluetooth beacon identifiers with Bluetooth beacon identifiers whose received signal strength is higher than -82dBm, and removes duplicates using the Bluetooth beacon identifier as the deduplication key, generating a candidate Bluetooth beacon set.

[0027] When generating a candidate topology region set, the positioning server uses the Bluetooth beacon identifier in the candidate Bluetooth beacon set as the matching key and reads the corresponding topology region identifier, coverage direction, and initial coverage weight from the preset coverage correspondence. If a Bluetooth beacon corresponds to multiple topology regions, the topology region with the higher weight and consistent direction is retained based on the coverage weight and the current travel direction. If topology regions are separated by impassable boundaries, or if the passage edge is marked as temporarily closed in the station's operating status data, the topology region on the blocked side is removed. If the escalator's travel direction is opposite to the travel direction of the candidate topology region, the candidate topology region in that direction is removed. After removal, the positioning server generates a set of traversable boundaries based on unblocked passage edges, impassable boundaries, the current travel direction, and the station's operating status. Each item in the traversable boundary set records the identifiers of the preceding and following topology regions that are allowed to connect, the corresponding passage edge identifier, the valid travel direction, and the status activation time. The positioning server writes the scanning window identifier, candidate Bluetooth beacon set, candidate topology region set, station operation status, and passable boundary set into the same station Bluetooth topology observation object, which can be called later when determining the passage segment of the passable topology lock point.

[0028] S2. Determine the passage topology lock points for restricting the cross-regional passage status of passengers based on the station passage topology data, and configure the expected Bluetooth response relationship for each passage topology lock point; Specifically, the positioning server identifies the connections between different functional areas from the station's traffic topology data, and determines the topology nodes that reflect the passenger's cross-area traffic status as traffic topology lock points. Traffic topology lock points are not ordinary area center points, but rather nodes located at area boundaries, points of change in traffic direction, or points of traffic edge constraints. Examples include nodes between the station hall and escalator entrances, nodes between the station hall and turnstiles, nodes at transfer passage entrances, nodes near platform screen doors, or temporary traffic boundary nodes. Each traffic topology lock point is associated with one or more traffic directions, and the preceding, following, and isolated areas differ depending on the traffic direction.

[0029] When configuring the expected Bluetooth response relationship for each access topology lockpoint, the positioning server reads the Bluetooth beacon groups in the areas on both sides of the lockpoint and determines the expected attenuation range in the front area, the expected enhancement range in the rear area, and the expected suppression range in the isolation area based on historical calibration data, actual station scan data, or manual calibration results. The expected Bluetooth response relationship describes that when a passenger actually passes through the lockpoint, the received signal strength of the Bluetooth beacon group in the preceding area should gradually decrease, the received signal strength of the Bluetooth beacon group in the following area should gradually increase, and the Bluetooth beacon group in the isolation area should not have a continuously strong response. This relationship is subsequently read by S4 and used as a comparison benchmark for generating beacon response offset objects.

[0030] Furthermore, in one embodiment of the present invention, determining the access topology lock points for constraining the cross-regional passage status of passengers, and configuring a desired Bluetooth response relationship for each access topology lock point, includes: Select topology nodes located at the junctions of different functional areas from the station's internal traffic topology data, and which can constrain the direction or boundary of passenger traffic, and determine them as traffic topology lock points; Based on the access edges and access directions connected by the access topology lock points, determine the previous region, the next region, and the isolation region; Based on the preset coverage correspondence, the Bluetooth beacon group of the previous area, the Bluetooth beacon group of the next area, and the Bluetooth beacon group of the isolated area are determined respectively; Configure expected Bluetooth response relationships for the access topology lock points. The expected Bluetooth response relationships include the expected attenuation range of the front zone, the expected enhancement range of the rear zone, the expected suppression range of the isolation zone, the directional difference threshold, the elapsed time range, and the applicable conditions for the operating state.

[0031] Specifically, the positioning server iterates through the access topology data within the station, selecting topology nodes whose endpoints belong to different functional areas within the station and whose access edges have directional constraints, boundary constraints, or operational status constraints as access topology lock points. If a topology node is only located within the same functional area and does not affect area switching, it is not selected as an access topology lock point. After selection, the positioning server writes a lock point identifier, a connecting access edge identifier, a permitted access direction, an adjacent functional area identifier, and an applicable operational status field for each access topology lock point.

[0032] When determining the preceding, following, and isolation zones, the positioning server uses the travel direction of the access topology lock point as a reference. The functional area the passenger was in before entering the lock point is designated as the preceding zone, the functional area reached after passing through the lock point is designated as the following zone, and spatially adjacent areas blocked by impassable boundaries, barriers, platform doors, walls, paid area boundaries, or temporary closed passages are designated as isolation zones. For bidirectional access lock points, the positioning server establishes preceding and following zones for each direction separately to prevent the same physical node from using the same response reference in different travel directions.

[0033] When determining Bluetooth beacon groups, the positioning server uses the topology area identifier as the matching key, reads the Bluetooth beacon identifier covering the topology area from the preset coverage correspondence, and writes it into the previous area Bluetooth beacon group, the next area Bluetooth beacon group, and the isolated area Bluetooth beacon group according to the area type. If the number of Bluetooth beacons in a certain area is greater than the preset number, Bluetooth beacons with higher coverage weight and better historical reception stability are selected first; if the number of Bluetooth beacons in a certain area is insufficient, adjacent Bluetooth beacons that do not cross impassable boundaries are used as supplementary beacons, and their coverage weight is reduced in the expected Bluetooth response relationship.

[0034] The expected attenuation range in the front zone of the expected Bluetooth response relationship limits the range of received signal strength that should decrease for the Bluetooth beacon group in the preceding zone after a passenger passes the lock point. The expected enhancement range in the rear zone limits the range of received signal strength that should increase for the Bluetooth beacon group in the following zone. The expected suppression range in the isolation zone limits the maximum allowable response strength for the Bluetooth beacon group in the isolation zone. The directional difference threshold is used to determine whether the response difference in opposite directions is abnormal. The elapsed time range limits the reasonable elapsed time before and after the switching of the dominant Bluetooth beacon. The applicable conditions for the operating status limit whether the expected Bluetooth response relationship is valid under the conditions of platform door opening and closing, escalator direction, and turnstile opening or temporary closure.

[0035] S3. Based on the station's Bluetooth topology observation objects, access topology lock points, and station operation status data, generate topology lock point calibration samples that include access direction and operation status category; Specifically, the positioning server reads multiple consecutive Bluetooth topology observation objects within the station based on the mobile terminal identifier and observes the changes in the candidate topology region set over time. When the candidate topology region set gradually shifts from the area preceding the passage topology lock point to the area following it, and the dominant Bluetooth beacon switches from the Bluetooth beacon group of the preceding area to the Bluetooth beacon group of the following area, the positioning server considers that the mobile terminal may have passed through the corresponding passage topology lock point. To avoid misjudging stationary terminals, signal drift, or signal crosstalk in isolated areas as genuine cross-area passage, the positioning server also needs to verify the estimated value of the terminal's motion direction, the time range of passage, and the station's operational status data.

[0036] The generated topology lockpoint calibration sample includes at least the passage topology lockpoint, passage direction, window before lockpoint, window after lockpoint, Bluetooth beacon group of the preceding area, Bluetooth beacon group of the following area, Bluetooth beacon group of the isolated area, operating status category, mobile terminal identifier, and dominant Bluetooth beacon switching time. This sample is subsequently read by S4 for comparison with the expected Bluetooth response relationship. If the continuous scan window is insufficient, the dominant Bluetooth beacon cannot be determined, or the operating status data within the station does not meet the applicable operating status conditions, a topology lockpoint calibration sample is not generated, and the corresponding scan segment is marked as an incomplete segment.

[0037] Furthermore, in one embodiment of the present invention, generating the topology lock point calibration sample includes: The estimated value of the terminal's motion direction is determined based on the changes in the set of candidate topological regions within the continuous scanning window and the scanning time sequence. In each scanning window, the Bluetooth beacon with the highest received signal strength and belonging to the candidate Bluetooth beacon set is identified as the dominant Bluetooth beacon; The operational status category is determined based on the status fields in the station's operational status data that meet the applicable conditions for the operational status. When the dominant Bluetooth beacon is switched from the previous area Bluetooth beacon group to the next area Bluetooth beacon group, and the difference in scanning time before and after the switch is within the elapsed time range, and the estimated value of the terminal movement direction is consistent with the passage direction of the passage topology lock point, and the station operation status data meets the applicable conditions of the operation status, a candidate lock point passage segment is generated. Based on the dominant Bluetooth beacon switching time corresponding to the segment passed by the candidate lock point, extract the window before the lock point and the window after the lock point; The topology lock point calibration sample is generated by associating the passage topology lock point, passage direction, lock point front window, lock point back window, previous area Bluetooth beacon group, next area Bluetooth beacon group, isolation area Bluetooth beacon group, and operating status category.

[0038] Specifically, when determining the estimated motion direction of the terminal, the positioning server reads the continuous scanning windows of the same mobile terminal in the order of scanning time, and uses the candidate topology region with the higher regional positioning score in each scanning window as the candidate region of the window. If the candidate topology region in the continuous window changes from the previous region to the next region along the same passage edge, the direction of the passage edge is written into the estimated motion direction of the terminal; if the candidate topology region jumps between two regions that are not connected by passage edges, the segment is marked as a jump segment and is not used to generate topology lock point calibration samples.

[0039] When determining the dominant Bluetooth beacon, the positioning server reads the relative strength sequence in each scanning window. The Bluetooth beacon with the highest received signal strength that belongs to the candidate Bluetooth beacon set is identified as the dominant Bluetooth beacon, and its identifier, Bluetooth beacon group, and scanning time are recorded. If the highest-ranked Bluetooth beacon is not in the candidate Bluetooth beacon set, or if the topology area corresponding to the Bluetooth beacon is blocked by an impassable boundary, the next ranked Bluetooth beacon is read until a dominant Bluetooth beacon that meets the conditions is found. If no Bluetooth beacon that meets the conditions exists within the entire scanning window, that scanning window does not participate in the dominant Bluetooth beacon switching determination.

[0040] When determining the operational status category, the positioning server reads the status fields related to the access topology lock points from the station's operational status data. For example, lock points near platform doors read the platform door opening / closing status and train arrival status; lock points in the escalator area read the escalator direction of travel; lock points in the turnstile area read the turnstile opening status; and lock points in temporary construction areas read the temporary closed passage status. The positioning server writes the status fields that meet the applicable conditions of the operational status into the operational status category, such as "escalator uphill open," "turnstile open," "platform door closed," and "temporary passage not closed." If operational status data is missing, the candidate segment is not used for parameter updates and is only used for general navigation and positioning.

[0041] When generating candidate lockpoint passage segments, the positioning server determines whether the dominant Bluetooth beacon has switched from the previous area's Bluetooth beacon group to the next area's Bluetooth beacon group. If the switch is successful, it calculates the difference in scanning time before and after the switch and compares it with the elapsed time range. In this embodiment, the elapsed time range can be 4 to 12 seconds. If the time difference is too short, it indicates a possible instantaneous signal jump; if the time difference is too long, it indicates possible passenger delay or detour, and in either case, no candidate lockpoint passage segments are generated. After satisfying the applicable conditions of dominant Bluetooth beacon switching, elapsed time, terminal movement direction, and operating status, the positioning server uses the dominant Bluetooth beacon switching time as a reference, extracts several scanning windows before the switch as the lockpoint pre-window, and extracts several scanning windows after the switch as the lockpoint post-window. In this embodiment, both the lockpoint pre-window and lockpoint post-window use 3 scanning windows.

[0042] S4. Compare the topology lock point calibration sample with the expected Bluetooth response relationship to generate a beacon response offset object; Specifically, the positioning server reads the pre-lock window, post-lock window, Bluetooth beacon group of the preceding area, Bluetooth beacon group of the following area, Bluetooth beacon group of the isolated area, and operating status category from the topology lock point calibration sample. It also reads the expected Bluetooth response relationship for the corresponding passage topology lock point and passage direction. The comparison process does not directly compare the received signal strength of a single Bluetooth beacon in a single instance. Instead, it first calculates the received signal strength statistics of the corresponding Bluetooth beacon group in the pre-lock window and post-lock window, and then calculates the signal attenuation in the preceding area, the signal enhancement in the following area, and the signal strength status of the isolated area.

[0043] In one embodiment, the front region signal attenuation is determined as follows:

[0044] in, Indicates the amount of signal attenuation in the front area. This indicates the received signal strength statistics of the previous area's Bluetooth beacon group in the window before the lock point. This represents the received signal strength statistics of the previous area's Bluetooth beacon group within the window after the lock point. The signal enhancement amount for the rear area is determined as follows:

[0045] in, Indicates the amount of signal enhancement in the rear area. This indicates the received signal strength statistics of the Bluetooth beacon group in the next area within the window after the lock point. This represents the statistical value of the received signal strength of the Bluetooth beacon group in the preceding window before the lock point. The above calculation results are written into the comparison result field of the topology lock point calibration sample and used as a criterion for generating the beacon response offset object.

[0046] Furthermore, in one embodiment of the present invention, the generation of the beacon response offset object includes: The received signal strength statistics of the Bluetooth beacon group in the previous area, the Bluetooth beacon group in the next area, and the Bluetooth beacon group in the isolated area in the window before and after the lock point are calculated according to a preset statistical method. The preset statistical method is one of median, mean, or quantile. The signal attenuation in the front zone is generated by subtracting the received signal strength statistics of the previous area Bluetooth beacon group in the window before the lock point from the received signal strength statistics of the previous area Bluetooth beacon group in the window after the lock point. The signal enhancement amount in the back area is generated by subtracting the received signal strength statistics of the Bluetooth beacon group in the window before the lock point from the received signal strength statistics of the Bluetooth beacon group in the back area in the window after the lock point. When the signal attenuation in the current area is less than the lower limit of the expected attenuation range in the front area, a residual offset in the front area coverage is generated. When the signal enhancement in the back area is less than the lower limit of the expected enhancement range in the back area, a back area response missing offset is generated. When the received signal strength statistics of the Bluetooth beacon group in the isolation area in the window before or after the lock point are greater than the upper limit of the expected suppression range of the isolation area, an isolation out-of-bounds offset is generated. When the difference in the statistical value of the received signal strength of the Bluetooth beacon group in the isolation area between the calibration samples of the topology lock points with opposite travel directions reaches the direction difference threshold, a directional asymmetric offset is generated. At least one of the following—front area coverage residual offset, rear area response missing offset, isolation out-of-bounds offset, and directional asymmetric offset—is associated with the corresponding access topology lock point, access direction, Bluetooth beacon group, and operating status category to generate the beacon response offset object.

[0047] Specifically, when calculating the received signal strength statistics, the positioning server first reads all received signal strength records belonging to the same Bluetooth beacon group within the corresponding window, removes outliers that are below the lower limit of receiving sensitivity or above the upper limit of device saturation, and then calculates the statistical value according to a preset statistical method. In this embodiment, the preset statistical method is the median; in other embodiments, when the preset statistical method is the mean or quantile, the same window and the same Bluetooth beacon group are still used as the statistical objects. If the number of records for a certain Bluetooth beacon group in the window before or after the lock point is less than the preset minimum number of records, the sample is marked as an incomplete sample and does not participate in the generation of offset objects.

[0048] When generating the foreground coverage residual offset, the positioning server compares the foreground signal attenuation with the lower limit of the expected foreground attenuation range. If the foreground signal attenuation is less than the lower limit of the expected foreground attenuation range, it indicates that after the mobile terminal enters the next area, the Bluetooth beacon group in the previous area still maintains an excessively strong influence, which may cause the positioning results to remain in the previous area or near the boundary. Therefore, a foreground coverage residual offset is generated. This offset object is written to the offset type field and associated with the Bluetooth beacon group in the previous area.

[0049] When generating a back-area response missing offset, the positioning server compares the back-area signal enhancement amount with the lower limit of the expected back-area enhancement range. If the back-area signal enhancement amount is less than the lower limit of the expected back-area enhancement range, it indicates that after the mobile terminal enters the next area, the Bluetooth beacon group response enhancement in that area is insufficient, which may prevent the system from updating the current location to the next area in a timely manner. Therefore, a back-area response missing offset is generated. This offset object is associated with the Bluetooth beacon group in the next area.

[0050] When generating an isolation boundary out-of-bounds offset, the positioning server reads the received signal strength statistics of the Bluetooth beacon group in the isolation area in the pre-lock point and post-lock point windows, and compares them with the upper limit of the expected suppression range of the isolation area. If the statistical value in either window is greater than the upper limit of the expected suppression range of the isolation area, it indicates that the Bluetooth beacon group in the isolation area has crossed the impassable boundary and generated a strong response, which may cause the candidate topology area set to contain isolation areas that should not exist. Therefore, an isolation boundary out-of-bounds offset is generated. When generating a directional asymmetric offset, the positioning server reads topology lock point calibration samples with opposite travel directions and compares the front area signal attenuation, rear area signal enhancement, or the received signal strength statistics of the Bluetooth beacon group in the isolation area. When the difference reaches the directional difference threshold, a directional asymmetric offset is generated. Finally, the positioning server writes the offset type, travel topology lock point, travel direction, Bluetooth beacon group, operating status category, mobile terminal identifier, statistical period, and comparison result into the beacon response offset object.

[0051] S5. Based on the aggregation results of multiple beacon response offset objects in terms of traffic topology lock point, traffic direction, Bluetooth beacon group, offset type, and operating status category, determine the beacon calibration target object; when the beacon calibration target object is determined, update the preset Bluetooth positioning parameters according to the beacon calibration target object, and use the updated preset Bluetooth positioning parameters as the current preset Bluetooth positioning parameters; when the beacon calibration target object is not determined, use the unchanged preset Bluetooth positioning parameters as the current preset Bluetooth positioning parameters. Specifically, the positioning server does not directly update the preset Bluetooth positioning parameters based on a single beacon response offset object. Instead, it aggregates and judges multiple beacon response offset objects within a preset statistical period. The aggregation dimensions include traffic topology lock points, traffic direction, Bluetooth beacon group, offset type, and operating status category. Only when the offset object in the same group appears repeatedly in multiple mobile terminals and multiple passing samples, and is not caused by an anomaly of a single mobile terminal, does the positioning server determine the beacon calibration target object. This avoids erroneous calibration caused by phone holding posture, differences in Bluetooth chips of individual terminals, short-term crowd obstruction, or temporary scan gaps.

[0052] Once the beacon calibration target is identified, the positioning server updates the preset Bluetooth positioning parameters based on the offset type. If it's a residual offset from the previous area, the effective range of the Bluetooth beacon group from the previous area in the direction of the next area is reduced, and its coverage weight is decreased. If it's a missing response offset from the next area, the effective range of the Bluetooth beacon group from the next area in the direction of the next area is expanded, and its coverage weight is increased. If it's an isolation boundary crossing offset, the isolation suppression parameter is increased, and the coverage weight after crossing an impassable boundary is decreased. If it's a directional asymmetric offset, the travel direction weight is corrected, and the applicable parameters for the operating state are updated. If the beacon calibration target is not identified, the positioning server does not update the preset Bluetooth positioning parameters but uses the unchanged preset Bluetooth positioning parameters as the current preset Bluetooth positioning parameters to avoid unstable calibration due to insufficient evidence.

[0053] Furthermore, in one embodiment of the present invention, determining the beacon calibration target object includes: Within a preset statistical period, multiple beacon response offset objects are grouped according to the passage topology lock point, passage direction, Bluetooth beacon group, offset type, and running status category; Count the number of times the beacon response offset object appears and the number of corresponding mobile terminal identifiers within each group; When a single mobile terminal identifier generates a beacon response offset object of the same type within a preset statistical period, and other mobile terminal identifiers corresponding to the same access topology lock point do not generate a beacon response offset object of the same type, the topology lock point calibration sample corresponding to the mobile terminal identifier is marked as a terminal abnormal sample, and the preset Bluetooth positioning parameters are prohibited from being updated based on the topology lock point calibration sample. After removing abnormal terminal samples, when the number of times the beacon response offset object appears in the same group reaches a preset offset number threshold and the number of corresponding mobile terminal identifiers reaches a preset terminal number threshold, the passage topology lock point, passage direction, Bluetooth beacon group, offset type and running status category corresponding to the group are associated to generate the beacon calibration target object. When there are no groups that meet the preset offset count threshold and preset terminal number threshold, no beacon calibration target object is generated.

[0054] Specifically, the preset statistical period is determined based on the rate of change in passenger flow and the frequency of location parameter updates. In this embodiment, the preset statistical period is 30 minutes. The location server uses the passage topology lock point, passage direction, Bluetooth beacon group, offset type, and operating status category as a joint grouping key to write the beacon response offset objects within the same statistical period into the corresponding group. Each group records at least the number of offset objects, the number of different mobile terminal identifiers, the number of scanning windows involved, the offset statistics, and the sample integrity marker.

[0055] When counting occurrences, the location server uses the beacon response offset object identifier as the counting unit; when counting the number of corresponding mobile terminal identifiers, it uses the deduplicated mobile terminal identifier as the counting unit. If a single mobile terminal identifier generates the same type of offset object within a preset statistical period, and other mobile terminal identifiers corresponding to the same access topology lock point do not generate the same type of offset object, the location server considers the offset more likely to originate from a terminal anomaly, terminal grip posture, or short-term scan loss, and marks the topology lock point calibration sample corresponding to that mobile terminal identifier as a terminal anomaly sample. Terminal anomaly samples do not participate in the preset Bluetooth positioning parameter update, but can still be saved as ordinary positioning records for subsequent terminal quality analysis.

[0056] After removing abnormal terminal samples, the positioning server determines whether the number of times a beacon response offset object appears within the same group reaches a preset offset count threshold, and whether the number of corresponding mobile terminal identifiers reaches a preset terminal number threshold. In this embodiment, the preset offset count threshold is 5 times, and the preset terminal number threshold is 3 mobile terminals. When both thresholds are met, the positioning server writes the passage topology lock point, passage direction, Bluetooth beacon group, offset type, and operating status category in the group into the beacon calibration target object. If either threshold is not met, no beacon calibration target object is generated, and the group is marked as an observation group, and the data is accumulated or re-evaluated in the next statistical period.

[0057] Furthermore, in one embodiment provided by the present invention, the preset Bluetooth positioning parameters include Bluetooth beacon coverage weight, Bluetooth beacon range parameters, area boundary weight, travel direction weight, operating state applicable parameters, and isolation suppression parameters; the step of updating the preset Bluetooth positioning parameters according to the beacon calibration target object includes: When the beacon calibration target object corresponds to the front area coverage residual offset, the front area signal attenuation is subtracted from the lower limit of the expected attenuation range of the front area to generate the front area attenuation deficiency. Based on the front area attenuation deficiency, the Bluetooth beacon range parameter of the previous area Bluetooth beacon group in the direction of the next area after the corresponding access topology lock point is reduced, and the Bluetooth beacon coverage weight of the previous area Bluetooth beacon group in the direction of the next area is reduced. When the back zone response is missing offset corresponding to the beacon calibration target object, the back zone signal enhancement amount is subtracted from the lower limit of the expected enhancement range of the back zone to generate the back zone enhancement deficiency amount. Based on the back zone enhancement deficiency amount, the Bluetooth beacon range parameter of the Bluetooth beacon group in the back zone direction of the corresponding access topology lock point is expanded, and the Bluetooth beacon coverage weight of the Bluetooth beacon group in the back zone direction is increased. When the beacon calibration target object corresponds to the isolation boundary offset, the isolation boundary amount is generated by subtracting the upper limit of the expected suppression range of the isolation area from the statistical value of the received signal strength of the Bluetooth beacon group in the isolation area. The isolation suppression parameter is increased according to the isolation boundary amount, and the Bluetooth beacon coverage weight of the Bluetooth beacon group in the isolation area after crossing the impassable boundary is reduced. When the beacon calibration target object is asymmetrically offset in the corresponding direction, the travel direction weight is corrected according to the difference between the topology lock point calibration samples with opposite travel directions, and the corresponding running state category is written into the running state applicable parameters. Write the corrected Bluetooth beacon coverage weight, Bluetooth beacon range parameters, area boundary weight, travel direction weight, applicable parameters for operating status, and isolation suppression parameters into the updated preset Bluetooth positioning parameters.

[0058] Specifically, preset Bluetooth positioning parameters are stored according to Bluetooth beacon groups, topology areas, travel directions, and operating status categories. Bluetooth beacon coverage weights are used to calculate the regional positioning score of candidate topology areas; Bluetooth beacon range parameters are used to limit the influence range of Bluetooth beacons on adjacent topology areas; area boundary weights are used to enhance the constraints of impassable boundaries and paid area boundaries on candidate topology areas; travel direction weights are used to handle escalator, one-way passage, or turnstile directions; operating status applicability parameters are used to record the station operating status applicable to a certain parameter combination; and isolation suppression parameters are used to reduce the impact of Bluetooth beacon groups in isolated areas on the current topology area.

[0059] In one embodiment, the Bluetooth beacon coverage weights are updated as follows:

[0060] in, For the updated Bluetooth beacon coverage weights, The Bluetooth beacon coverage weights before the update. This corresponds to the normalized value of the offset. To preset the update step size, and These are the lower and upper limits of the weight, respectively. This is a limiting function used to restrict the input value between the lower and upper weight limits.

[0061] The same limiting update method is used for the Bluetooth beacon range parameters, isolation suppression parameters, and passage direction weights, and updates are stopped or restored according to the preset backoff coefficient when no similar offset occurs again within a continuous statistical period.

[0062] When residual coverage offset occurs in the current area, the positioning server subtracts the signal attenuation in the previous area from the lower limit of the expected attenuation range in the previous area to generate the insufficient attenuation amount in the previous area. For example, if the lower limit of the expected attenuation range in the previous area is 6dB and the actual signal attenuation in the previous area is 3dB, then the insufficient attenuation amount in the previous area is 3dB. The positioning server uses the insufficient attenuation amount to look up the parameter correction rule table, reduces the Bluetooth beacon range parameter of the previous area Bluetooth beacon group in the direction of the next area, and reduces its Bluetooth beacon coverage weight in the direction of the next area, so that the Bluetooth beacon group in the previous area no longer excessively affects the judgment of the next area in the subsequent candidate topology area calculation.

[0063] When a back-area response deficiency offset occurs, the positioning server subtracts the back-area signal enhancement amount from the lower limit of the expected enhancement range of the back area to generate a back-area enhancement deficiency amount. Based on this deficiency amount, the server expands the Bluetooth beacon range parameter of the Bluetooth beacon group in the back area direction and increases its Bluetooth beacon coverage weight in the back area direction. When an isolation boundary crossing offset occurs, the positioning server subtracts the upper limit of the expected suppression range of the isolation area from the received signal strength statistics of the Bluetooth beacon group in the isolation area to generate an isolation boundary crossing amount. Based on this amount, the server increases the isolation suppression parameter and reduces the coverage weight of the Bluetooth beacon group in the isolation area after crossing an impassable boundary. When a directional asymmetry offset occurs, the positioning server calculates the difference between topology lock point calibration samples in opposite travel directions and corrects the travel direction weights according to the difference amount. Simultaneously, the corresponding operating state category is written into the operating state applicable parameters, ensuring that this correction only takes effect in the corresponding station operating state.

[0064] S6. Generate a self-calibrated navigation result based on the current preset Bluetooth positioning parameters, station access topology data, and navigation request data.

[0065] Specifically, the positioning server reads the current preset Bluetooth positioning parameters, the candidate topology region set generated by S1, and the set of traversable boundaries among the Bluetooth topology observation objects within the station. It calculates the regional positioning score for each candidate topology region and determines the current topology region from among those that satisfy the constraints of the traversable boundary set. Subsequently, the positioning server determines the target topology region based on the navigation request data, masks traversable edges restricted by the station's operational status data in the station's traversable topology data, and generates a target traversal path from the current topology region to the target topology region. This path is not generated solely based on physical distance but also considers the current preset Bluetooth positioning parameters, abnormal beacon areas, traversal direction, and operational status restrictions.

[0066] In one embodiment, the area positioning score is determined as follows:

[0067] in, Represents candidate topological regions The regional positioning score, Indicates the candidate topological region The corresponding set of candidate Bluetooth beacons Bluetooth beacon Bluetooth beacon coverage weight in the current preset Bluetooth positioning parameters This represents the consistency term for the traversable boundary, when the candidate topological region... The corresponding accessible edges belong to the set of accessible boundaries, and the candidate topological region When not blocked by impassable boundaries, temporary closures, or restrictions on the direction of travel. otherwise . This indicates the consistency term for the direction of travel, when the candidate topology region... When the corresponding travel direction is consistent with the estimated terminal movement direction or the target travel path direction. ,otherwise . This represents the isolation region penalty term, when the candidate topology region... It belongs to the isolated region or the candidate topology region. When the corresponding Bluetooth beacon group responds by crossing an impassable boundary, ,otherwise , Preset weighting coefficients are used to adjust the influence of the traversable boundary consistency term, the traversal direction consistency term, and the isolation area penalty term on the regional positioning score. In one embodiment, All are non-negative numbers, and are pre-set based on the density of Bluetooth beacon deployment within the station, the number of impassable boundaries, the number of one-way passage facilities, and historical positioning misjudgments. Specifically, The value ranges from 0.2 to 0.5. The value ranges from 0.1 to 0.4. The value should be between 0.3 and 0.8; when adjacent functional areas within a rail transit station are close together or when Bluetooth signal crosstalk is significant on both sides of a non-accessible boundary, the value should be increased. and When the candidate topology region is located near escalators, turnstiles, transfer passages, or passages with one-way traffic restrictions, increase the [topology value]. .because The corresponding penalty for the isolation area must be no less than [a certain value]. and This is used to reduce the regional positioning score of a candidate topology region when a Bluetooth beacon in an isolated area generates an out-of-bounds response. The regional positioning score is written into the candidate topology region set and used to determine the current topology region and its positioning reliability. This represents the strength contribution value calculated from the received signal strength, and satisfies:

[0068] in, To preset the lower limit of the effective received signal strength, To preset the received signal strength saturation value, both are determined based on Bluetooth beacon calibration data within the station or historical scan samples, and ; The value ranges from 0 to 1 and is used to convert the received signal strength of different Bluetooth beacons into a strength contribution value under the same dimension.

[0069] Furthermore, in one embodiment of the present invention, generating the self-calibrated navigation result includes: Based on the current preset Bluetooth positioning parameters, calculate the regional positioning score for each candidate topology region in the candidate topology region set; The current topology region is determined based on the candidate topology region that satisfies the constraints of the traversable boundary set and has the highest regional positioning score. The target topology region is determined based on the navigation request data, and after filtering out the access edges restricted by the station operation status data in the station access topology data, a target access path from the current topology region to the target topology region is generated. Determine the next access topology lock point based on the target access path; When a beacon calibration target object exists, an abnormal beacon region is determined based on the access topology lock point, Bluetooth beacon group, and offset type in the beacon calibration target object; when no beacon calibration target object exists, the abnormal beacon region is marked as empty. Based on the current topology area, the target passage path, the next passage topology lock point, and the current preset Bluetooth positioning parameters, generate navigation prompts before and after the lock point and positioning reliability; The self-calibrated navigation result is generated by associating the current topology region, the target travel path, the next travel topology lock point, navigation prompts before and after the lock point, the positioning reliability, and the abnormal beacon region.

[0070] Specifically, when calculating the regional positioning score, the positioning server reads the Bluetooth beacon identifier, received signal strength, coverage weight, area boundary weight, travel direction weight, and isolation suppression parameters corresponding to each candidate topology area in the candidate topology area set, and calculates the regional positioning score according to the current preset Bluetooth positioning parameters. If a candidate topology area crosses an impassable boundary, its corresponding traversable edge is not included in the traversable boundary set, or its corresponding traversable edge is restricted by a temporary closed channel state, then a boundary penalty is applied to the candidate topology area or it is directly eliminated. Among the candidate topology areas that satisfy the traversable boundary set constraints, the positioning server determines the candidate topology area with the highest regional positioning score as the current topology area.

[0071] When determining the target topology region, the positioning server converts the target functional area, target entrance / exit, target platform, target transfer passage, or target facility point in the navigation request data into a target topology region identifier. When generating the target travel path, the positioning server uses the current topology region as the starting point and the target topology region as the ending point, and masks travel edges restricted by station operational status data in the station's travel topology data. Examples include temporarily closed passages, escalators in opposite directions, closed turnstiles, or travel edges corresponding to impassable boundaries. Subsequently, the target travel path is generated using station path search rules, and the next cross-region node on the path is identified as the next travel topology lock point.

[0072] When generating an abnormal beacon area, the positioning server determines whether a beacon calibration target object exists within the current statistical period. If it exists, it reads the access topology lock point, Bluetooth beacon group, and offset type from the beacon calibration target object and marks the topology area corresponding to the Bluetooth beacon group as an abnormal beacon area; if it does not exist, the abnormal beacon area field is left empty. When generating navigation prompts before and after the lock point, the positioning server combines the current topology area, the target access path, and the next access topology lock point to output prompts such as "Entering the escalator area ahead," "Turn right after passing the turnstile," and "The current passage is temporarily closed; please detour." The positioning reliability is calculated based on the difference between the highest and second-highest area positioning scores, the existence of abnormal beacon areas, and whether the current preset Bluetooth positioning parameters have just been updated. Finally, the positioning server associates the current topology area, the target access path, the next access topology lock point, the navigation prompts before and after the lock point, the positioning reliability, and the abnormal beacon area to generate a self-calibrated navigation result, which is then returned to the mobile terminal or the site navigation service platform.

[0073] In a specific operational example, taking the passage topology lock point K1 between station hall area A and escalator area B as an example, K1 is used to constrain the cross-area passage status of passengers from station hall area A to escalator area B. In the preset coverage correspondence, the Bluetooth beacon group of the area preceding station hall area A is denoted as Gf, the Bluetooth beacon group of the area following escalator area B is denoted as Gb, and the Bluetooth beacon group of the isolation area adjacent to K1 but not involved in the direction positioning judgment is denoted as Gi. The expected Bluetooth response relationship corresponding to K1 includes: the expected attenuation range of the front area is 6dB to 15dB, the expected enhancement range of the rear area is 7dB to 18dB, the upper limit of the expected suppression range of the isolation area is -72dBm, the direction difference threshold is 5dB, the elapsed time range is 4 seconds to 12 seconds, and the applicable operating conditions are that the escalator running direction points to escalator area B and the temporary closed passage status is not closed.

[0074] Within a preset statistical period of 30 minutes, mobile terminals U1 to U6 pass through the access topology lock point K1. The system uses the scanning time when the dominant Bluetooth beacon switches from the previous area Bluetooth beacon group Gf to the next area Bluetooth beacon group Gb as the benchmark, and extracts the three scanning windows before the lock point and the three scanning windows after the lock point respectively. Taking mobile terminal U1 as an example, the received signal strength statistics of Gf in the window before the lock point are -58dBm and the received signal strength statistics of Gf in the window after the lock point are -66dBm. Therefore, the signal attenuation in the front area is 8dB, which falls within the expected attenuation range of the front area. The received signal strength statistics of Gb in the window before the lock point are -76dBm and the received signal strength statistics of Gb in the window after the lock point are -72dBm. Therefore, the signal enhancement in the back area is 4dB, which is 7dB lower than the lower limit of the expected enhancement range in the back area, and a back area response missing offset is generated. The received signal strength statistics of Gi in both the window before and the window after the lock point are not greater than -72dBm, so no isolation out-of-bounds offset is generated.

[0075] Within the same preset statistical period, U1, U2, U4, U5, and U6 all exhibited back-zone response missing offsets, with the corresponding number of mobile terminal identifiers reaching the preset terminal number threshold of 3, and the number of offset occurrences reaching the preset offset count threshold of 5. The scan record corresponding to U3 was marked as an abnormal terminal sample and did not participate in the preset Bluetooth positioning parameter update due to continuous scan missingness in the window before the locking point. The system correlates K1, the travel direction from station area A to escalator area B, the Bluetooth beacon group Gb in the next area, the back-zone response missing offset, and the current operating status category to generate a beacon calibration target object. Since the median back-zone signal enhancement is 4dB, which is lower than the expected lower limit of the back-zone enhancement range of 7dB, the back-zone enhancement deficiency is 3dB. Based on this back-zone enhancement deficiency, the system adjusts the Bluetooth beacon coverage weight of Gb in the direction of the next area after K1 from 0.72 to 0.80, and expands the Bluetooth beacon range parameter of Gb in the direction of escalator area B. After the update is completed, the system will use the updated parameters as the current preset Bluetooth positioning parameters to calculate the regional positioning score in the candidate topology region set, and output the self-calibrated navigation results, which include the current topology region, the target travel path, the next travel topology lock point, navigation prompts before and after the lock point, positioning confidence, and abnormal beacon regions.

[0076] Please see Figure 6 The present invention also provides a Bluetooth positioning self-calibration navigation system for rail transit stations, used to implement the above-mentioned Bluetooth positioning self-calibration navigation method for rail transit stations, including: The station-based Bluetooth topology observation object generation module is used to acquire station-based Bluetooth scanning data, station-based access topology data, station-based operating status data, and navigation request data, and generate station-based Bluetooth topology observation objects. The passage topology lock point configuration module is used to determine the passage topology lock points used to constrain the cross-regional passage status of passengers based on the passage topology data within the station, and to configure the expected Bluetooth response relationship for each passage topology lock point; The topology lock point calibration sample generation module is used to generate topology lock point calibration samples containing passage direction and operation status category based on the in-station Bluetooth topology observation object, passage topology lock point and in-station operation status data. The beacon response offset object generation module is used to compare the topology lock point calibration sample with the expected Bluetooth response relationship to generate a beacon response offset object. The Bluetooth positioning parameter update module is used to determine the beacon calibration target object based on the aggregation results of multiple beacon response offset objects in terms of passage topology lock point, passage direction, Bluetooth beacon group, offset type, and operating status category; when the beacon calibration target object is determined, the preset Bluetooth positioning parameters are updated according to the beacon calibration target object, and the updated preset Bluetooth positioning parameters are used as the current preset Bluetooth positioning parameters; when the beacon calibration target object is not determined, the unchanged preset Bluetooth positioning parameters are used as the current preset Bluetooth positioning parameters. The self-calibration navigation result generation module is used to generate self-calibration navigation results based on the current preset Bluetooth positioning parameters, station access topology data, and navigation request data.

[0077] Specifically, the station-wide Bluetooth topology observation object generation module is deployed in the station-wide positioning server or edge computing device, communicating with the mobile terminal Bluetooth scanning upload interface, the station-wide passage topology database, the station operation status interface, and the navigation request interface. The passage topology lock point configuration module reads the station-wide functional areas, passage edges, impassable boundaries, passage directions, and preset coverage correspondences from the station-wide passage topology database, generating passage topology lock points and expected Bluetooth response relationships. The topology lock point calibration sample generation module reads the station-wide Bluetooth topology observation objects and passage topology lock points, forming a lock point pre-window and a lock point post-window. The beacon response offset object generation module reads the expected Bluetooth response relationships, comparing the front-zone signal attenuation, rear-zone signal enhancement, statistical values ​​of the received signal strength of the Bluetooth beacon group in the isolated area, and directional differences. The Bluetooth positioning parameter update module groups, statistically analyzes, removes abnormal terminal samples, and corrects parameters for multiple beacon response offset objects. The self-calibration navigation result generation module reads the current preset Bluetooth positioning parameters, station-wide passage topology data, and navigation request data, outputting the self-calibration navigation results to the mobile terminal or remote navigation management platform.

[0078] In the experimental verification, a scenario within a rail transit station, including the concourse area, turnstile area, transfer passage area, escalator area, staircase area, and platform area, was selected for testing. A total of 48 Bluetooth beacons were set up, with a spacing of 8m to 12m, and 14 access topology lock points were also set up. The experiment used 12 commercial mobile terminals to collect Bluetooth scanning data within the station, continuously divided into 8 monitoring cycles, each lasting 30 minutes. The first and second monitoring cycles were the initial parameter operation phase, the third to fifth monitoring cycles were the self-calibration parameter update phase, and the sixth to eighth monitoring cycles were the stable operation phase. Each monitoring cycle covered one combination of operating states: morning peak, off-peak, or evening peak. A total of 4800 navigation request samples were collected. After removing records with communication interruptions, missing continuous scans, and those identified as terminal anomalies, 4688 valid samples were obtained. Figure 4The accuracy of the station's regional positioning is summarized and displayed in four monitoring stages, with each monitoring stage corresponding to the average value of all valid samples within two consecutive monitoring periods; Figure 5 The navigation result mismatch rate is displayed over 8 monitoring periods, with each data point representing the average of all valid samples within the corresponding monitoring period.

[0079] In the experiment, Comparison Scheme 1 was a Bluetooth area positioning scheme based solely on received signal strength weighting, without using topology lock points, expected Bluetooth response relationships, or station operational status constraints. Comparison Scheme 2 was a Bluetooth area positioning scheme using static station operational topology constraints. It rigidly screened candidate topology areas based on pre-stored station functional areas, accessible edges, and impassable boundaries, but did not distinguish between train arrival / departure status, platform door opening / closing status, escalator direction of travel, turnstile opening status, and temporary closed passage status, nor did it update Bluetooth positioning parameters based on the aggregation results of multiple beacon response offset objects. Therefore, when operational status changes or temporary access conditions change, Comparison Scheme 2 is prone to misjudging truly passable paths as impassable paths, or continuing to use already restricted accessible edges as passable edges in path generation. The present invention's scheme simultaneously employs topology lock points, expected Bluetooth response relationships, operational status categories, beacon response offset object aggregation, and parameter updates. The positioning accuracy rate is defined as the ratio of the number of valid samples that correctly identify the current topology region to the total number of valid samples; the navigation mismatch rate is defined as the ratio of the number of valid navigation requests that are inconsistent with the manually marked navigation results for the target travel path, the next travel topology lock point, or the navigation prompts before and after the lock point to the total number of valid navigation requests.

[0080] Depend on Figure 4 It can be seen that in stages one through four, the positioning accuracy of the proposed solution within the station area increased from 92.0% to 98.1%, compared to 86.4% for control scheme one and 84.4% for control scheme two. While control scheme two introduced static station access topology constraints, it failed to differentiate between different station operating states and did not self-calibrate Bluetooth positioning parameters based on beacon response offsets generated by multiple terminals. Therefore, when escalator direction changes, turnstile opening status changes, platform door opening / closing status changes, or temporary passage closure status changes, the static topology constraints may incorrectly filter candidate topology areas, excluding some real access areas or failing to shield some abnormal access edges. Consequently, its positioning accuracy is lower than that of control scheme one, which only uses received signal strength weighting. Figure 5As can be seen, from the first to the eighth monitoring period, the navigation result mismatch rate of the present invention decreased from approximately 8.8% to approximately 2.1%, compared to approximately 14.0% for control scheme one and approximately 9.6% for control scheme two. The higher navigation result mismatch rate of control scheme two is mainly due to the fact that after adopting static topology constraints, it cannot adjust the travel edges, direction weights, and boundary constraints in a timely manner according to changes in the operating state. This makes it easier for the navigation prompts for the target travel path, the next travel topology lock point, or before and after the lock point to be inconsistent with the actual travel results.

[0081] The above results demonstrate that Bluetooth positioning schemes relying solely on received signal strength weighting struggle to handle signal crosstalk between adjacent areas and beacon coverage drift. While schemes using only static intra-station topology constraints can limit some obviously erroneous candidate areas by utilizing intra-station area connectivity, they are prone to generating incorrect topology constraints due to changes in escalator direction, turnstile opening / closing status, platform door opening / closing status, or temporary closed passage status, without distinguishing operating states or performing parameter self-calibration. This invention compares signal responses before and after the topology lock point to generate front-area coverage residual offset, back-area response missing offset, isolation boundary crossing offset, or directional asymmetric offset. Furthermore, based on the aggregation results of multiple mobile terminals in terms of topology lock point, travel direction, Bluetooth beacon group, offset type, and operating state category, it determines the beacon calibration target object. This prevents disturbances from a single terminal from directly triggering parameter updates and corrects Bluetooth positioning parameters for consistently occurring beacon response anomalies, thereby reducing positioning misjudgments and navigation mismatches caused by signal crosstalk between adjacent areas, misjudgments of static topology constraints, and changes in operating state.

[0082] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0083] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A Bluetooth positioning self-calibration navigation method within a rail transit station, characterized in that, include: S1. Acquire station Bluetooth scanning data, station access topology data, station operation status data, and navigation request data, and generate station Bluetooth topology observation objects; S2. Determine the passage topology lock points for restricting the cross-regional passage status of passengers based on the station passage topology data, and configure the expected Bluetooth response relationship for each passage topology lock point; S3. Based on the station's Bluetooth topology observation objects, access topology lock points, and station operation status data, generate topology lock point calibration samples that include access direction and operation status category; S4. Compare the topology lock point calibration sample with the expected Bluetooth response relationship to generate a beacon response offset object; S5. Based on the aggregation results of multiple beacon response offset objects in terms of traffic topology lock point, traffic direction, Bluetooth beacon group, offset type and running status category, determine the beacon calibration target object; when the beacon calibration target object is determined, update the preset Bluetooth positioning parameters according to the beacon calibration target object, and use the updated preset Bluetooth positioning parameters as the current preset Bluetooth positioning parameters. When the target beacon for calibration has not been identified, the default Bluetooth positioning parameters will remain unchanged as the current default Bluetooth positioning parameters. S6. Generate a self-calibrated navigation result based on the current preset Bluetooth positioning parameters, station access topology data, and navigation request data.

2. The Bluetooth positioning self-calibration navigation method in a rail transit station according to claim 1, characterized in that, The station's Bluetooth scanning data includes at least the mobile terminal identifier, Bluetooth beacon identifier, scanning time, and received signal strength; the station's passage topology data includes at least the station's functional areas, passage edges, impassable boundaries, passage directions, and the preset coverage correspondence between Bluetooth beacons and topology areas; the station's operational status data includes one or more of the following: train arrival status, train departure status, platform door opening / closing status, escalator running direction, turnstile opening status, and temporary closed passage status; the navigation request data includes at least one of the following: target functional area, target entrance / exit, target platform, target transfer passage, and target facility point.

3. The Bluetooth positioning self-calibration navigation method in a rail transit station according to claim 2, characterized in that, The generated in-station Bluetooth topology observation objects include: The Bluetooth scanning data within the station is divided into continuous scanning windows according to the scanning time; Within each scanning window, Bluetooth beacon identifiers are sorted according to the received signal strength to generate a relative strength sequence; The Bluetooth beacon identifiers ranked within a preset range in the relative strength sequence and the Bluetooth beacon identifiers with received signal strength higher than a preset scanning threshold are merged and deduplicated to generate a candidate Bluetooth beacon set. Based on the Bluetooth beacon identifiers in the candidate Bluetooth beacon set, the corresponding topology region is read from the preset coverage correspondence, and topology regions blocked by impassable boundaries, temporary closed channels, or travel direction restrictions are eliminated to generate a candidate topology region set. Based on the passable edges, impassable boundaries, travel directions, and station operation status data related to the passable edges, determine the set of passable boundaries; The scanning window is associated with the candidate Bluetooth beacon set according to the scanning time, the candidate Bluetooth beacon set is associated with the candidate topology region set according to the Bluetooth beacon identifier and the topology region identifier, and the candidate topology region set is associated with the traversable boundary set according to the traversable edge, thereby generating the in-station Bluetooth topology observation object.

4. The Bluetooth positioning self-calibration navigation method in a rail transit station according to claim 3, characterized in that, The process of determining access topology lockpoints for constraining passenger cross-regional travel status and configuring expected Bluetooth response relationships for each access topology lockpoint includes: Select topology nodes located at the junctions of different functional areas from the station's internal traffic topology data, and which can constrain the direction or boundary of passenger traffic, and determine them as traffic topology lock points; Based on the access edges and access directions connected by the access topology lock points, determine the previous region, the next region, and the isolation region; Based on the preset coverage correspondence, the Bluetooth beacon group of the previous area, the Bluetooth beacon group of the next area, and the Bluetooth beacon group of the isolated area are determined respectively; Configure expected Bluetooth response relationships for the access topology lock points. The expected Bluetooth response relationships include the expected attenuation range of the front zone, the expected enhancement range of the rear zone, the expected suppression range of the isolation zone, the directional difference threshold, the elapsed time range, and the applicable conditions for the operating state.

5. A Bluetooth positioning self-calibration navigation method for rail transit stations according to claim 4, characterized in that, The generation of topology lock point calibration samples includes: The estimated value of the terminal's motion direction is determined based on the changes in the set of candidate topological regions within the continuous scanning window and the scanning time sequence. In each scanning window, the Bluetooth beacon with the highest received signal strength and belonging to the candidate Bluetooth beacon set is identified as the dominant Bluetooth beacon; The operational status category is determined based on the status fields in the station's operational status data that meet the applicable conditions for the operational status. When the dominant Bluetooth beacon is switched from the previous area Bluetooth beacon group to the next area Bluetooth beacon group, and the difference in scanning time before and after the switch is within the elapsed time range, and the estimated value of the terminal movement direction is consistent with the passage direction of the passage topology lock point, and the station operation status data meets the applicable conditions of the operation status, a candidate lock point passage segment is generated. Based on the dominant Bluetooth beacon switching time corresponding to the segment passed by the candidate lock point, extract the window before the lock point and the window after the lock point; The topology lock point calibration sample is generated by associating the passage topology lock point, passage direction, lock point front window, lock point back window, previous area Bluetooth beacon group, next area Bluetooth beacon group, isolation area Bluetooth beacon group, and operating status category.

6. A Bluetooth positioning self-calibration navigation method for rail transit stations according to claim 5, characterized in that, The generated beacon response offset object includes: The received signal strength statistics of the Bluetooth beacon group in the previous area, the Bluetooth beacon group in the next area, and the Bluetooth beacon group in the isolated area in the window before and after the lock point are calculated according to a preset statistical method. The preset statistical method is one of median, mean, or quantile. The signal attenuation in the front zone is generated by subtracting the received signal strength statistics of the previous area Bluetooth beacon group in the window before the lock point from the received signal strength statistics of the previous area Bluetooth beacon group in the window after the lock point. The signal enhancement amount in the back area is generated by subtracting the received signal strength statistics of the Bluetooth beacon group in the window before the lock point from the received signal strength statistics of the Bluetooth beacon group in the back area in the window after the lock point. When the signal attenuation in the current area is less than the lower limit of the expected attenuation range in the front area, a residual offset in the front area coverage is generated. When the signal enhancement in the back area is less than the lower limit of the expected enhancement range in the back area, a back area response missing offset is generated. When the received signal strength statistics of the Bluetooth beacon group in the isolation area in the window before or after the lock point are greater than the upper limit of the expected suppression range of the isolation area, an isolation out-of-bounds offset is generated. When the difference in the statistical value of the received signal strength of the Bluetooth beacon group in the isolation area between the calibration samples of the topology lock points with opposite travel directions reaches the direction difference threshold, a directional asymmetric offset is generated. At least one of the following—front area coverage residual offset, rear area response missing offset, isolation out-of-bounds offset, and directional asymmetric offset—is associated with the corresponding access topology lock point, access direction, Bluetooth beacon group, and operating status category to generate the beacon response offset object.

7. A Bluetooth positioning self-calibration navigation method for rail transit stations according to claim 6, characterized in that, The determination of the beacon calibration target includes: Within a preset statistical period, multiple beacon response offset objects are grouped according to the passage topology lock point, passage direction, Bluetooth beacon group, offset type, and running status category; Count the number of times the beacon response offset object appears and the number of corresponding mobile terminal identifiers within each group; When a single mobile terminal identifier generates a beacon response offset object of the same type within a preset statistical period, and other mobile terminal identifiers corresponding to the same access topology lock point do not generate a beacon response offset object of the same type, the topology lock point calibration sample corresponding to the mobile terminal identifier is marked as a terminal abnormal sample, and the preset Bluetooth positioning parameters are prohibited from being updated based on the topology lock point calibration sample. After removing abnormal terminal samples, when the number of times the beacon response offset object appears in the same group reaches a preset offset number threshold and the number of corresponding mobile terminal identifiers reaches a preset terminal number threshold, the passage topology lock point, passage direction, Bluetooth beacon group, offset type and running status category corresponding to the group are associated to generate the beacon calibration target object. When there are no groups that meet the preset offset count threshold and preset terminal number threshold, no beacon calibration target object is generated.

8. A Bluetooth positioning self-calibration navigation method for rail transit stations according to claim 7, characterized in that, The preset Bluetooth positioning parameters include Bluetooth beacon coverage weight, Bluetooth beacon range parameters, area boundary weight, travel direction weight, operating status applicable parameters, and isolation suppression parameters; The step of updating the preset Bluetooth positioning parameters according to the beacon calibration target object includes: When the beacon calibration target object corresponds to the front area coverage residual offset, the front area signal attenuation is subtracted from the lower limit of the expected attenuation range of the front area to generate the front area attenuation deficiency. Based on the front area attenuation deficiency, the Bluetooth beacon range parameter of the previous area Bluetooth beacon group in the direction of the next area after the corresponding access topology lock point is reduced, and the Bluetooth beacon coverage weight of the previous area Bluetooth beacon group in the direction of the next area is reduced. When the back zone response is missing offset corresponding to the beacon calibration target object, the back zone signal enhancement amount is subtracted from the lower limit of the expected enhancement range of the back zone to generate the back zone enhancement deficiency amount. Based on the back zone enhancement deficiency amount, the Bluetooth beacon range parameter of the Bluetooth beacon group in the back zone direction of the corresponding access topology lock point is expanded, and the Bluetooth beacon coverage weight of the Bluetooth beacon group in the back zone direction is increased. When the beacon calibration target object corresponds to the isolation boundary offset, the isolation boundary amount is generated by subtracting the upper limit of the expected suppression range of the isolation area from the statistical value of the received signal strength of the Bluetooth beacon group in the isolation area. The isolation suppression parameter is increased according to the isolation boundary amount, and the Bluetooth beacon coverage weight of the Bluetooth beacon group in the isolation area after crossing the impassable boundary is reduced. When the beacon calibration target object is asymmetrically offset in the corresponding direction, the travel direction weight is corrected according to the difference between the topology lock point calibration samples with opposite travel directions, and the corresponding running state category is written into the running state applicable parameters. Write the corrected Bluetooth beacon coverage weight, Bluetooth beacon range parameters, area boundary weight, travel direction weight, applicable parameters for operating status, and isolation suppression parameters into the updated preset Bluetooth positioning parameters.

9. A Bluetooth positioning self-calibration navigation method for rail transit stations according to claim 7, characterized in that, The generation of self-calibrated navigation results includes: Based on the current preset Bluetooth positioning parameters, calculate the regional positioning score for each candidate topology region in the candidate topology region set; The current topology region is determined based on the candidate topology region that satisfies the constraints of the traversable boundary set and has the highest regional positioning score. The target topology region is determined based on the navigation request data, and after filtering out the access edges restricted by the station operation status data in the station access topology data, a target access path from the current topology region to the target topology region is generated. Determine the next access topology lock point based on the target access path; When a beacon calibration target object exists, an abnormal beacon region is determined based on the access topology lock point, Bluetooth beacon group, and offset type in the beacon calibration target object; when no beacon calibration target object exists, the abnormal beacon region is marked as empty. Based on the current topology area, the target passage path, the next passage topology lock point, and the current preset Bluetooth positioning parameters, generate navigation prompts before and after the lock point and positioning reliability; The self-calibrated navigation result is generated by associating the current topology region, the target travel path, the next travel topology lock point, navigation prompts before and after the lock point, the positioning reliability, and the abnormal beacon region.

10. A Bluetooth positioning self-calibration navigation system for rail transit stations, characterized in that, A method for implementing a Bluetooth positioning self-calibration navigation method within a rail transit station as described in any one of claims 1 to 9 includes: The station-based Bluetooth topology observation object generation module is used to acquire station-based Bluetooth scanning data, station-based access topology data, station-based operating status data, and navigation request data, and generate station-based Bluetooth topology observation objects. The passage topology lock point configuration module is used to determine the passage topology lock points used to constrain the cross-regional passage status of passengers based on the passage topology data within the station, and to configure the expected Bluetooth response relationship for each passage topology lock point; The topology lock point calibration sample generation module is used to generate topology lock point calibration samples containing passage direction and operation status category based on the in-station Bluetooth topology observation object, passage topology lock point and in-station operation status data. The beacon response offset object generation module is used to compare the topology lock point calibration sample with the expected Bluetooth response relationship to generate a beacon response offset object. The Bluetooth positioning parameter update module is used to determine the beacon calibration target object based on the aggregation results of multiple beacon response offset objects in terms of passage topology lock point, passage direction, Bluetooth beacon group, offset type, and operating status category; when the beacon calibration target object is determined, the preset Bluetooth positioning parameters are updated according to the beacon calibration target object, and the updated preset Bluetooth positioning parameters are used as the current preset Bluetooth positioning parameters; when the beacon calibration target object is not determined, the unchanged preset Bluetooth positioning parameters are used as the current preset Bluetooth positioning parameters. The self-calibration navigation result generation module is used to generate self-calibration navigation results based on the current preset Bluetooth positioning parameters, station access topology data, and navigation request data.

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