Positioning method and apparatus, system, terminal device, and computer storage medium

Abstract

The application provides a positioning method and device, system, terminal equipment and computer storage medium, comprising: acquiring a position signal, the position signal comprising a Bluetooth signal and a navigation satellite signal; acquiring first position information according to the Bluetooth signal and second position information according to the navigation satellite signal; dynamically adjusting the fusion weight of the first position information and the second position information according to the position signal; and fusing the first position information and the second position information by using the fusion weight to obtain target position information. By simultaneously acquiring the Bluetooth signal and the navigation satellite signal and dynamically adjusting the fusion weight to obtain the final target position information, the advantages of the Bluetooth positioning technology and the navigation satellite positioning technology can be fully utilized, the position information provided by the two positioning technologies is combined to obtain more accurate and stable positioning results, and the problem of how to realize high-precision positioning in any scene is solved.

Description

Technical Field

[0001] This invention relates to the field of wireless positioning technology, and in particular to a positioning method, apparatus, system, terminal equipment, and computer storage medium. Background Technology

[0002] Bluetooth and Global Navigation Satellite System (GNSS) are two important positioning methods. Bluetooth has the advantages of low power consumption and low cost, and is widely used in short-range scenarios such as indoors; GNSS can provide high-precision positioning in open outdoor environments.

[0003] With the rapid development of positioning and navigation technologies, users' demand for reliable and high-precision positioning in any environment and at any time is increasing. However, the positioning accuracy of Bluetooth technology is easily affected by environmental noise and multipath effects, and its communication range is limited. In complex environments such as indoor spaces and urban canyons, GNSS technology is easily affected by signal blockage and multipath effects, leading to decreased positioning accuracy or even failure. Therefore, positioning solutions that use Bluetooth or GNSS technology alone cannot meet users' needs for high-precision positioning in various scenarios, affecting user experience. Summary of the Invention

[0004] The purpose of this invention is to provide a positioning method, apparatus, system, terminal device, and computer storage medium to solve the problem of how to achieve high-precision positioning in any scenario.

[0005] To solve the above-mentioned technical problems, the present invention provides a positioning method, comprising: Acquire location signals, including Bluetooth signals and navigation satellite signals; The first location information is obtained based on the Bluetooth signal, and the second location information is obtained based on the navigation satellite signal; Based on the location signal, dynamically adjust the fusion weight of the first and second location information; By using fusion weights, the first location information and the second location information are fused to obtain the target location information.

[0006] Optionally, in the positioning method, the Bluetooth signal includes the received signal strength of Bluetooth and / or the angle of arrival information of the Bluetooth signal; the navigation satellite signal includes the carrier phase.

[0007] Optionally, in the positioning method, after acquiring the location signal, the positioning method further includes: The position signal is preprocessed.

[0008] Optionally, in the positioning method, the method of dynamically adjusting the fusion weights of the first location information and the second location information based on the location signal includes: Obtain environmental information based on location signals; The first weighting coefficient of the first location information and the second weighting coefficient of the second location information are dynamically adjusted based on environmental information, wherein the fusion weight includes the first weighting coefficient and the second weighting coefficient.

[0009] Optionally, in the positioning method, the method of dynamically adjusting the first weighting coefficient of the first location information and the second weighting coefficient of the second location information based on environmental information includes: Construct an adaptive fusion model based on weighted least squares method; An adaptive fusion model is used to dynamically adjust the first weight coefficient of the first location information and the second weight coefficient of the second location information based on environmental information.

[0010] Optionally, in the positioning method, the method for fusing the first location information and the second location information to obtain the target location information includes: Unify the coordinate system of the first location information and the coordinate system of the second location information; By using fusion weights, the first and second position information after the coordinate system is unified are weighted and fused to obtain the target position information.

[0011] To address the aforementioned technical problems, the present invention also provides a positioning device for implementing the positioning method described in any of the preceding claims, the positioning device comprising: The signal acquisition module is used to acquire location signals, including Bluetooth signals and navigation satellite signals; The signal reading module is used to obtain first location information based on Bluetooth signals and second location information based on navigation satellite signals; The weight adjustment module is used to dynamically adjust the fusion weight of the first and second position information based on the position signal. The position output module is used to fuse the first position information and the second position information using fusion weights to obtain the target position information.

[0012] To address the aforementioned technical problems, the present invention also provides a positioning system, which includes a beacon device and a positioning device as described above; the beacon device is deployed at different locations in the scene; the beacon device is used to send a location signal to the positioning device, so that the positioning device can obtain current location information based on the location signal.

[0013] Optionally, in the positioning system, the beacon device includes a Bluetooth beacon and navigation satellites; the Bluetooth beacon is used to send Bluetooth signals to the positioning device; the navigation satellites are used to send navigation satellite signals to the positioning device; the location signal includes Bluetooth signals and navigation satellite signals.

[0014] Optionally, in the positioning system, the positioning system further includes a cloud server, which is communicatively connected to the positioning device and is used to receive and store the location signal acquired by the positioning device and the target location information corresponding to the location signal.

[0015] To address the aforementioned technical problems, the present invention also provides a terminal device, the terminal device comprising: Bluetooth receiver, used to receive Bluetooth signals; Navigation satellite receiver, used to receive navigation satellite signals; A central processing unit for executing the positioning method as described in any of the preceding items.

[0016] To address the aforementioned technical problems, the present invention also provides a computer storage medium storing an executable program; when the executable program is executed, it implements the positioning method as described in any of the preceding claims.

[0017] The positioning method, apparatus, system, terminal device, and computer storage medium provided by this invention include: acquiring location signals, wherein the location signals include Bluetooth signals and navigation satellite signals; acquiring first location information based on the Bluetooth signals and acquiring second location information based on the navigation satellite signals; dynamically adjusting the fusion weights of the first and second location information based on the location signals; and fusing the first and second location information using the fusion weights to obtain target location information. By simultaneously acquiring Bluetooth signals and navigation satellite signals and dynamically adjusting the fusion weights to obtain the final target location information, the advantages of Bluetooth positioning technology and navigation satellite positioning technology can be fully utilized to combine the location information provided by the two positioning technologies to obtain more accurate and stable positioning results, thus solving the problem of how to achieve high-precision positioning in any scenario. Attached Figure Description

[0018] Figure 1 A flowchart of the positioning method provided in this embodiment; Figure 2 This is a schematic diagram of the positioning device provided in this embodiment; Figure 3 This is a schematic diagram of the connection of the terminal device provided in this embodiment; Figure 4 This is a schematic diagram of the positioning system provided in this embodiment. Detailed Implementation

[0019] The positioning method, apparatus, system, terminal device, and computer storage medium proposed in this invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the drawings are all in a very simplified form and use non-precise scales, and are only used to facilitate and clarify the illustration of the embodiments of this invention. Furthermore, the structures shown in the drawings are often part of the actual structure. In particular, different figures may emphasize different aspects and sometimes use different scales.

[0020] It should be noted that the terms "first," "second," etc., used in the specification, claims, and drawings of this invention are used to distinguish similar objects in order to describe embodiments of the invention, and are not used to describe a specific order or sequence. It should be understood that such uses of terminology are interchangeable where appropriate. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0021] To improve positioning accuracy, existing technologies employ fusion positioning strategies. However, these strategies primarily focus on data-level or decision-level fusion, exhibiting shortcomings in adaptability to complex environments, the balance between positioning accuracy and computational complexity, and dependence on specific hardware. Therefore, there is an urgent need for a positioning solution that deeply integrates the advantages of Bluetooth and GNSS technologies, possessing high accuracy, high reliability, and strong environmental adaptability.

[0022] Based on this, this embodiment provides a positioning method, such as... Figure 1 As shown, it includes: S1, acquire a location signal, the location signal including Bluetooth signal and navigation satellite signal; S2, obtain the first location information based on the Bluetooth signal, and obtain the second location information based on the navigation satellite signal; S3, dynamically adjust the fusion weight of the first and second location information based on the location signal; S4. Using fusion weights, the first position information and the second position information are fused to obtain the target position information.

[0023] The positioning method provided in this embodiment acquires Bluetooth signals and navigation satellite signals simultaneously and dynamically adjusts the fusion weights to obtain the final target location information. It can fully utilize the advantages of Bluetooth positioning technology and navigation satellite positioning technology, and combine the location information provided by the two positioning technologies to obtain more accurate and stable positioning results, thus solving the problem of how to achieve high-precision positioning in any scenario.

[0024] Specifically, in this embodiment, step S1 involves acquiring a location signal, which includes a Bluetooth signal and a navigation satellite signal.

[0025] In practical applications, Bluetooth signals are acquired through Bluetooth communication, and these signals include Bluetooth Received Signal Strength (RSSI) and / or Bluetooth Angle of Arrival (AoA) information. Additionally, navigation satellite signals can be acquired using Global Navigation Satellite System (GNSS) technology, and these signals contain observational information such as carrier phase.

[0026] The specific methods for acquiring Bluetooth signals and navigation satellite signals are well known to those skilled in the art, and will not be described in detail here.

[0027] Preferably, in order to suppress noise in the signal and improve the accuracy of extracting information from the position signal, in this embodiment, after acquiring the position signal, the positioning method further includes: preprocessing the position signal.

[0028] In practical applications, preprocessing can include, but is not limited to, low-pass filtering, Kalman filtering, etc. Those skilled in the art can understand the specific content and implementation methods of preprocessing position signals based on existing technology; this application does not impose any limitations on this.

[0029] Furthermore, in this embodiment, step S2 involves obtaining first location information based on Bluetooth signals and second location information based on navigation satellite signals.

[0030] Specifically, in this embodiment, first location information is obtained based on Bluetooth signals, and second location information is obtained based on navigation satellite signals. Due to different locations, the first and second location information may be the same or different. For example, when indoors, the first location information obtained via Bluetooth may be more accurate, while the second location information may deviate from the first. Therefore, to obtain accurate positioning results, it is necessary to process both the Bluetooth signal and the navigation satellite signal obtained at the current location separately to obtain corresponding location information, facilitating subsequent processing to obtain precise location information.

[0031] The methods for obtaining the first location information based on Bluetooth signals and the second location information based on navigation satellite signals are methods that can be obtained by those skilled in the art based on existing technology, and will not be described in detail here.

[0032] Furthermore, in this embodiment, step S3 involves dynamically adjusting the fusion weights of the first and second location information based on the location signal.

[0033] Specifically, in this embodiment, environmental information can first be obtained based on the location signal.

[0034] In practical applications, environmental information can include not only the signal strength and quality of Bluetooth signals and navigation satellite signals, but also the scene type. For example, a scene recognition module can be used to identify whether the scene is indoors, outdoors, or in complex road conditions.

[0035] Then, the first weight coefficient of the first location information and the second weight coefficient of the second location information are dynamically adjusted according to the environmental information, wherein the fusion weight includes the first weight coefficient and the second weight coefficient.

[0036] In practical applications, when the signal quality of navigation satellite signals is below a preset threshold, the first weighting coefficient of the first location information is increased; or, when the location is indoors or in an environment where navigation satellite signals are blocked, the first weighting coefficient is set to be much larger than the second weighting coefficient, or even the second weighting coefficient can be set to 0. In this way, different weighting coefficients can be set according to different location signals and the surrounding environment, thereby obtaining more accurate positioning results in subsequent location information fusion processes.

[0037] Preferably, in order to improve the adaptive capability and positioning accuracy of the positioning, in this embodiment, an adaptive fusion model based on the weighted least squares method can be constructed. Using this adaptive fusion model, the first weight coefficient of the first location information and the second weight coefficient of the second location information are dynamically adjusted according to the environmental information.

[0038] Furthermore, in this embodiment, in step S4, the first location information and the second location information are fused using fusion weights to obtain the target location information.

[0039] Specifically, in this embodiment, considering the differences between the Bluetooth positioning coordinate system and the Global Navigation Satellite System (GNSS) positioning coordinate system, it is necessary to first unify the coordinate systems of the first and second location information. For example, the first location information under the Bluetooth positioning coordinate system is transformed into the coordinate system of the GNSS positioning coordinate system, so that both the first and second location information are based on the coordinate system of the GNSS positioning coordinate system, thus solving the problem of heterogeneity of multi-source data. In practical applications, the coordinate system transformation can be achieved using a rotation matrix, the specific implementation of which is well known to those skilled in the art, and will not be elaborated here.

[0040] Then, using fusion weights, the first and second position information after coordinate system unification are weighted and fused to obtain the target position information. That is, the first weight coefficient is multiplied by the first position information, the second weight coefficient is multiplied by the second position information, and the two are summed to obtain the final target position information. The sum of the first and second weight coefficients should be 1 to ensure the validity of the data.

[0041] The positioning method provided in this embodiment, through adaptive weighted fusion algorithm and intelligent scene switching, can achieve sub-meter accuracy indoors (better than 0.7-meter horizontal accuracy), sub-meter accuracy in open outdoor areas, and approximately 40% higher positioning accuracy than single GNSS in complex environments such as urban canyons. It can effectively make up for the shortcomings of insufficient GNSS signals and has high positioning accuracy while adapting to various environmental scenarios.

[0042] This embodiment also provides a positioning device for implementing the positioning method described above, such as... Figure 2 As shown, the positioning device includes: The signal acquisition module is used to acquire location signals, including Bluetooth signals and navigation satellite signals; The signal reading module is used to obtain first location information based on Bluetooth signals and second location information based on navigation satellite signals; The weight adjustment module is used to dynamically adjust the fusion weight of the first and second position information based on the position signal. The position output module is used to fuse the first position information and the second position information using fusion weights to obtain the target position information.

[0043] The positioning device provided in this embodiment acquires Bluetooth signals and navigation satellite signals simultaneously and dynamically adjusts the fusion weights to obtain the final target location information. It can fully utilize the advantages of Bluetooth positioning technology and navigation satellite positioning technology, and combine the location information provided by the two positioning technologies to obtain a more accurate and stable positioning result, thus solving the problem of how to achieve high-precision positioning in any scenario.

[0044] Specifically, in this embodiment, the signal acquisition module includes a Bluetooth signal acquisition unit and a navigation satellite signal acquisition unit. The Bluetooth signal acquisition unit is used to acquire Bluetooth signals, and the navigation satellite signal acquisition unit is used to acquire navigation satellite signals.

[0045] Furthermore, in this embodiment, the signal reading module includes a timestamp unit, a Bluetooth location calculation unit, and a navigation satellite location calculation unit. The timestamp unit is used to synchronize the Bluetooth signal and the navigation satellite signal to ensure that the first location information obtained from the Bluetooth signal and the second location information obtained from the navigation satellite signal are location information at the same time. The Bluetooth location calculation unit is used to obtain the first location information based on the Bluetooth signal. The navigation satellite location calculation unit is used to obtain the second location information based on the navigation satellite signal.

[0046] Furthermore, in this embodiment, the weight adjustment module is configured with an adaptive fusion model based on the weighted least squares method, thereby using the adaptive fusion model to dynamically adjust the first weight coefficient of the first position information and the second weight coefficient of the second position information according to the environmental information.

[0047] Preferably, in this embodiment, the weight adjustment module includes a scene recognition unit, which is used to identify the current scene, such as indoor / outdoor, so that the adaptive fusion model can adaptively adjust the weight coefficients according to the scene identified by the scene recognition unit.

[0048] Furthermore, in this embodiment, the location output module includes a fusion unit and an output unit. The fusion unit is used to fuse the first location information and the second location information using fusion weights to obtain the target location information. The output unit is used to output the obtained target location information in real time.

[0049] The positioning device provided in this embodiment has good robustness. In practical applications, a distributed hardware architecture and time synchronization mechanism can be used to ensure data reliability and system stability, and dynamic power consumption management can be used to extend the device's usage time.

[0050] In practical applications, the positioning device provided in this embodiment can be used as a terminal device on a client side. Specifically, for example... Figure 3 As shown, the terminal device includes: Bluetooth receiver, used to receive Bluetooth signals; Navigation satellite receiver, used to receive navigation satellite signals; The central processing unit is used to execute the positioning method described above.

[0051] Furthermore, this embodiment also provides a positioning system, such as... Figure 4 As shown, the positioning system includes a beacon device and a positioning device as described above; the beacon device is deployed at different locations in the scene; the beacon device is used to send a location signal to the positioning device so that the positioning device can obtain current location information based on the location signal.

[0052] Specifically, in this embodiment, the beacon device includes a Bluetooth beacon and a navigation satellite; the Bluetooth beacon is used to send Bluetooth signals to the positioning device; the navigation satellite is used to send navigation satellite signals to the positioning device; the location signal includes Bluetooth signals and navigation satellite signals.

[0053] Preferably, in this embodiment, such as Figure 4 As shown, the positioning system also includes a cloud server, which is communicatively connected to the positioning device and is used to receive and store the location signal acquired by the positioning device and the target location information corresponding to the location signal.

[0054] The positioning system provided in this embodiment can be flexibly applied to diverse scenarios such as intelligent transportation (lane-level navigation, tunnel positioning), smart construction sites (sub-meter level monitoring of personnel and equipment), shopping mall indoor navigation, and warehouse logistics management, meeting the needs of high-precision positioning.

[0055] For example, when the positioning system provided in this embodiment is applied in an intelligent transportation scenario, the positioning device provided in this embodiment can be configured on the vehicle, and beacon devices (specifically Bluetooth beacons) can be deployed at key road points (such as tunnel entrances, overpasses, etc.). When the vehicle is driving normally on an open road, the system primarily uses GNSS positioning, that is, it mainly relies on navigation satellites to provide positioning services, where the second weight coefficient of the corresponding second location information is relatively high. When entering a tunnel, the navigation satellite signal is lost, and the positioning device adaptively adjusts the weight coefficient, making the first weight coefficient higher. At this time, high-precision positioning is performed based on the pre-deployed Bluetooth beacons. The entire process ensures positioning continuity through a time synchronization mechanism, achieving seamless navigation.

[0056] For example, when the positioning system provided in this embodiment is applied to smart construction site management, construction workers can wear the positioning device provided in this embodiment, and Bluetooth beacons can be deployed throughout the construction site (especially in hazardous areas). Furthermore, the positioning device provided in this embodiment can be installed on large equipment. The positioning device can accurately and in real time determine the location of construction workers and large equipment. When construction workers or large equipment enter a designated hazardous area, the positioning device can trigger an alarm to promptly alert personnel to safety precautions and prevent accidents such as collisions.

[0057] Through simulation and actual measurement, in complex indoor environments, the horizontal positioning accuracy of the positioning method, device and system provided in this embodiment is better than 0.7 meters, and the elevation accuracy is better than 0.2 meters. In complex outdoor urban environments, the positioning accuracy of the positioning method, device and system provided in this embodiment is improved by about 40% compared with the single GNSS positioning technology, the average positioning delay is less than 100 milliseconds, and the system operates stably and reliably.

[0058] Furthermore, this embodiment also provides a computer storage medium storing an executable program; when the executable program is executed, it implements the positioning method described above.

[0059] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similar or identical parts between embodiments can be referred to mutually. In addition, different parts between embodiments can also be combined with each other, and this invention does not limit this.

[0060] The positioning method, apparatus, system, terminal device, and computer storage medium provided in this embodiment include: acquiring location signals, wherein the location signals include Bluetooth signals and navigation satellite signals; acquiring first location information based on the Bluetooth signals and acquiring second location information based on the navigation satellite signals; dynamically adjusting the fusion weights of the first and second location information based on the location signals; and fusing the first and second location information using the fusion weights to obtain target location information. By simultaneously acquiring Bluetooth signals and navigation satellite signals and dynamically adjusting the fusion weights to obtain the final target location information, the advantages of Bluetooth positioning technology and navigation satellite positioning technology can be fully utilized to combine the location information provided by the two positioning technologies to obtain more accurate and stable positioning results, thus solving the problem of how to achieve high-precision positioning in any scenario.

[0061] The above description is merely a description of preferred embodiments of the present invention and is not intended to limit the scope of the present invention in any way. Any changes or modifications made by those skilled in the art based on the above disclosure shall fall within the protection scope of the claims.

Claims

1. A positioning method, characterized in that, include: Acquire location signals, including Bluetooth signals and navigation satellite signals; The first location information is obtained based on the Bluetooth signal, and the second location information is obtained based on the navigation satellite signal; Based on the location signal, dynamically adjust the fusion weight of the first and second location information; By using fusion weights, the first location information and the second location information are fused to obtain the target location information.

2. The positioning method according to claim 1, characterized in that, The Bluetooth signal contains the received signal strength of Bluetooth and / or the angle of arrival information of the Bluetooth signal; the navigation satellite signal contains the carrier phase.

3. The positioning method according to claim 1, characterized in that, After acquiring the location signal, the positioning method further includes: The position signal is preprocessed.

4. The positioning method according to claim 1, characterized in that, The method for dynamically adjusting the fusion weights of the first and second location information based on the location signal includes: Obtain environmental information based on location signals; The first weighting coefficient of the first location information and the second weighting coefficient of the second location information are dynamically adjusted based on environmental information, wherein the fusion weight includes the first weighting coefficient and the second weighting coefficient.

5. The positioning method according to claim 4, characterized in that, The method for dynamically adjusting the first weighting coefficient of the first location information and the second weighting coefficient of the second location information based on environmental information includes: Construct an adaptive fusion model based on weighted least squares method; An adaptive fusion model is used to dynamically adjust the first weight coefficient of the first location information and the second weight coefficient of the second location information based on environmental information.

6. The positioning method according to claim 1, characterized in that, The method for fusing the first location information and the second location information using fusion weights to obtain the target location information includes: Unify the coordinate system of the first location information and the coordinate system of the second location information; By using fusion weights, the first and second position information after the coordinate system is unified are weighted and fused to obtain the target position information.

7. A positioning device for implementing the positioning method as described in any one of claims 1 to 6, characterized in that, The positioning device includes: The signal acquisition module is used to acquire location signals, including Bluetooth signals and navigation satellite signals; The signal reading module is used to obtain first location information based on Bluetooth signals and second location information based on navigation satellite signals; The weight adjustment module is used to dynamically adjust the fusion weight of the first and second position information based on the position signal. The position output module is used to fuse the first position information and the second position information using fusion weights to obtain the target position information.

8. A positioning system, characterized in that, The positioning system includes a beacon device and a positioning device as described in claim 7; the beacon device is deployed at different locations in the scene; the beacon device is used to send a location signal to the positioning device so that the positioning device can obtain current location information based on the location signal.

9. The positioning system according to claim 8, characterized in that, The beacon device includes a Bluetooth beacon and navigation satellites; the Bluetooth beacon is used to send Bluetooth signals to the positioning device; the navigation satellites are used to send navigation satellite signals to the positioning device; the location signal includes Bluetooth signals and navigation satellite signals.

10. The positioning system according to claim 8, characterized in that, The positioning system also includes a cloud server, which is communicatively connected to the positioning device and is used to receive and store the location signal acquired by the positioning device and the target location information corresponding to the location signal.

11. A terminal device, characterized in that, The terminal device includes: Bluetooth receiver, used to receive Bluetooth signals; Navigation satellite receiver, used to receive navigation satellite signals; A central processing unit for executing the positioning method as described in any one of claims 1 to 6.

12. A computer storage medium, characterized in that, The computer storage medium stores an executable program; when the executable program is executed, it implements the positioning method as described in any one of claims 1 to 6.

Images