Indoor positioning method based on fusion of mobile terminal bluetooth beacon signal strength and aoa

Abstract

The application discloses a mobile terminal Bluetooth beacon signal strength and AoA fusion indoor positioning method, comprising the following steps: S1: a positioning terminal simultaneously performs Bluetooth signal scanning and Bluetooth broadcast data reporting through an integrated Bluetooth chip; S2: a polling scheduling strategy is adopted, and a Bluetooth beacon-based positioning process and an AoA-based positioning process are executed in parallel or alternately; S3: Bluetooth beacon positioning coordinates and AoA positioning coordinates are obtained and temporarily stored; and S4: a third party obtains the current position of a device through a positioning engine, and the positioning engine uses the positioning coordinates based on a plurality of selection mechanisms. The mobile terminal Bluetooth beacon signal strength and AoA fusion indoor positioning method disclosed by the application solves the problems that existing indoor positioning schemes cannot consider positioning accuracy and deployment cost, a pure Bluetooth beacon scheme has insufficient accuracy, and a pure AoA scheme has excessively high cost and is difficult to deploy on a large scale.

Description

Technical Field

[0001] This invention belongs to the field of indoor positioning technology, specifically relating to an indoor positioning method based on the fusion of mobile terminal Bluetooth beacon signal strength and AoA. Background Technology

[0002] For indoor positioning scenarios of mobile terminals, positioning schemes based on Bluetooth beacon strength and positioning schemes based on AoA base stations are two relatively common indoor positioning schemes.

[0003] Bluetooth beacon strength-based positioning schemes estimate distance and thus achieve positioning by receiving the strength of Bluetooth beacon broadcast signals. This scheme has low equipment cost and can be deployed in large numbers, but its positioning accuracy is poor and latency is high.

[0004] AoA base station-based positioning solutions achieve positioning by receiving signals through antenna arrays and calculating the angle of arrival, offering high accuracy up to 0.5 meters. However, this approach is costly and requires network connectivity for the base station equipment, making large-scale deployment difficult.

[0005] For most indoor positioning scenarios, high-precision positioning is often only required for specific areas, while low-precision positioning is sufficient for other areas. In existing technologies, pure Bluetooth beacon solutions cannot meet the accuracy requirements of critical areas, while pure AoA solutions are too costly to deploy across the entire area. Therefore, it is impossible to achieve a reasonable balance between positioning accuracy and deployment cost while ensuring overall positioning availability. Summary of the Invention

[0006] The main objective of this invention is to provide a fusion indoor positioning method based on the signal strength of Bluetooth beacons from mobile terminals and AoA (Aspect of Orientation), which solves the problems that existing indoor positioning solutions cannot balance positioning accuracy and deployment cost, that pure Bluetooth beacon solutions have insufficient accuracy, and that pure AoA solutions are too expensive to be deployed on a large scale.

[0007] To achieve the above objectives, this invention provides an indoor positioning method based on the fusion of mobile terminal Bluetooth beacon signal strength and AoA (Aspect of Orientation), comprising the following steps: Step S1: The positioning terminal simultaneously performs Bluetooth signal scanning and Bluetooth broadcast data reporting through the integrated Bluetooth chip, enabling the positioning terminal to simultaneously possess signal acquisition and signal transmission states; Step S2: Using a polling scheduling strategy, the Bluetooth beacon-based positioning process and the AoA-based positioning process are executed in parallel or alternately to obtain Bluetooth beacon positioning data and AoA positioning data respectively. Step S3: The positioning engine independently calculates the positioning data of the Bluetooth beacon and the positioning data of the AoA, and obtains the positioning coordinates of the Bluetooth beacon and the positioning coordinates of the AoA, and temporarily stores them; Step S4: The third party obtains the current location of the device through the positioning engine, and the positioning engine uses the positioning coordinates based on multiple selection mechanisms; when the AoA positioning coordinates exist and are within the validity period, the AoA positioning coordinates are used as the final positioning result; when the AoA positioning coordinates do not exist or have exceeded the validity period, if the Bluetooth beacon positioning coordinates exist and are within the validity period, the Bluetooth beacon positioning coordinates are used as the final positioning result.

[0008] As a further preferred technical solution to the above technical solution, step S2 is specifically implemented as follows: Step S2.1: In the Bluetooth beacon positioning process, the positioning terminal scans and obtains the signals broadcast by the surrounding Bluetooth beacon devices. After filtering to remove invalid or interference data, it extracts the beacon's identification information, including UUID, major, and minor, and reports the identification information along with the corresponding received signal strength value to the positioning engine as the basic input data for beacon positioning. In step S2.2, during the AoA positioning process, the positioning terminal sends a Bluetooth broadcast signal packet according to a predetermined data format. This signal packet is received by the AoA base station deployed in the positioning area. The AoA base station parses and calculates the phase difference data of the Bluetooth signal reaching each antenna unit based on the received signal, and then sends the phase difference information and related identification information to the positioning engine for subsequent angle of arrival calculation.

[0009] As a further preferred technical solution to the above technical solution, in step S3, the positioning based on Bluetooth beacon positioning data adopts a triangulation algorithm, and the positioning coordinates are calculated as shown in the following formula: , This represents the RSSI at a distance of 1 meter in the current environment, where n is the path loss parameter for the current environment; Positioning based on AoA location data employs the core observation equation, and the method for calculating the positioning coordinates is shown in the following formula: ; , , This indicates the coordinates and angle values ​​of the base station itself.

[0010] As a further preferred technical solution to the above technical solution, when the AoA positioning coordinates do not exist or have expired, and the Bluetooth beacon positioning coordinates do not exist or have expired, it is determined that the current device is not in the positioning environment, and the result of no positioning data is output.

[0011] As a further preferred technical solution to the above technical solution, the positioning terminal is a mobile phone terminal, a name tag, or other portable device integrated with a Bluetooth chip.

[0012] The beneficial effects of this invention are as follows: (i) Significantly reduced system deployment costs and engineering complexity. Compared to traditional AoA positioning solutions, this invention eliminates the need for dense deployment of high-precision AoA positioning base stations within the positioning area, as well as complex preliminary site surveys and network topology construction. By simplifying infrastructure configuration requirements, this invention effectively reduces the number of hardware devices and the investment in auxiliary materials such as cables and power supplies, significantly lowering the overall system construction cost and engineering implementation difficulty. It also shortens the deployment cycle and significantly improves the economic viability and scalability of the solution in large-scale application scenarios.

[0013] (II) Achieving Flexible Optimization of High-Precision Positioning Capabilities and Regional Performance. Compared to Bluetooth beacon base station solutions, this invention effectively introduces a high-precision positioning mechanism while maintaining the low-power advantage of Bluetooth. By enhancing and optimizing the positioning signals within specific areas of interest, this invention achieves significantly higher accuracy than conventional Bluetooth positioning in key monitoring areas, thus balancing the economy of full-area coverage with the high-precision positioning requirements of critical areas, resulting in a better balance between performance and cost.

[0014] (III) Simplifying user-side device configuration and improving ease of use and wearing comfort. This invention requires only a single positioning terminal device to complete the entire positioning operation, eliminating the need for users to carry or switch between multiple functional modules or auxiliary devices simultaneously. This single-device working mode not only reduces the hardware cost and power consumption of the terminal side but also alleviates the user's operational burden and carrying inconvenience. Especially in long-term continuous positioning or densely populated areas, it significantly improves the user experience and overall system availability. Attached Figure Description

[0015] Figure 1 This is a flowchart illustrating step S4 of the present invention. Detailed Implementation

[0016] The following description is intended to disclose the present invention and enable those skilled in the art to implement it. The preferred embodiments described below are merely examples, and other obvious variations will occur to those skilled in the art. The basic principles of the invention defined in the following description can be applied to other embodiments, modifications, improvements, equivalents, and other technical solutions that do not depart from the spirit and scope of the invention.

[0017] In the preferred embodiments of the present invention, those skilled in the art should note that the positioning terminal, Bluetooth beacon, and AoA involved in the present invention can be considered as prior art.

[0018] Preferred embodiment.

[0019] This invention aims to provide an indoor positioning solution that combines cost advantages with reliable performance, suitable for various application scenarios such as commercial and industrial locations. By collaboratively utilizing Bluetooth beacon signal strength and AoA measurement information, a fusion positioning mechanism is constructed to achieve conventional accuracy positioning based on Bluetooth beacons in ordinary areas, and high-precision positioning based on AoA technology in key areas of interest. This invention significantly reduces system deployment costs while ensuring overall positioning availability, achieving a reasonable balance between positioning accuracy and resource investment, thereby meeting the practical positioning needs in diverse indoor environments.

[0020] This invention discloses an indoor positioning method based on the fusion of Bluetooth beacon signal strength and AoA (Aspect of Orientation) of a mobile terminal, comprising the following steps: Step S1: The positioning terminal simultaneously performs Bluetooth signal scanning and Bluetooth broadcast data reporting through the integrated Bluetooth chip, enabling the positioning terminal to simultaneously possess signal acquisition and signal transmission states; the positioning terminal is a mobile terminal, a name tag, or other portable device integrated with a Bluetooth chip.

[0021] Step S2: Using a polling scheduling strategy, the Bluetooth beacon-based positioning process and the AoA-based positioning process are executed in parallel or alternately to obtain Bluetooth beacon positioning data and AoA positioning data respectively. Step S2 is specifically implemented as follows: Step S2.1: In the Bluetooth beacon positioning process, the positioning terminal scans and obtains the signals broadcast by the surrounding Bluetooth beacon devices. After filtering to remove invalid or interference data, it extracts the beacon's identification information, including UUID, major, and minor, and reports the identification information along with the corresponding received signal strength value to the positioning engine as the basic input data for beacon positioning. In step S2.2, during the AoA positioning process, the positioning terminal sends a Bluetooth broadcast signal packet according to a predetermined data format. This signal packet is received by the AoA base station deployed in the positioning area. The AoA base station parses and calculates the phase difference data of the Bluetooth signal reaching each antenna unit based on the received signal, and then sends the phase difference information and related identification information to the positioning engine for subsequent angle of arrival calculation. Step S3: The positioning engine independently calculates the positioning data for the Bluetooth beacon and the AoA positioning data, obtaining the Bluetooth beacon positioning coordinates and the AoA positioning coordinates, and temporarily stores them. In step S3, the positioning based on the Bluetooth beacon positioning data adopts the triangulation algorithm, and the positioning coordinate calculation method is shown in the following formula: , This represents the RSSI at a distance of 1 meter in the current environment, where n is the path loss parameter for the current environment; Positioning based on AoA location data employs the core observation equation, and the method for calculating the positioning coordinates is shown in the following formula: ; , , This indicates the coordinates and angle values ​​of the base station itself.

[0022] Step S4: As Figure 1 As shown, the third party obtains the device's current location through the positioning engine, and the positioning engine uses the positioning coordinates based on multiple selection mechanisms; when the AoA positioning coordinates exist and are within the validity period, the AoA positioning coordinates are used as the final positioning result; when the AoA positioning coordinates do not exist or have exceeded the validity period, if the Bluetooth beacon positioning coordinates exist and are within the validity period, the Bluetooth beacon positioning coordinates are used as the final positioning result.

[0023] When the AoA positioning coordinates do not exist or have expired, and the Bluetooth beacon positioning coordinates do not exist or have expired, it is determined that the current device is not in the positioning environment, and the result of no positioning data is output.

[0024] It is worth mentioning that the positioning terminal, Bluetooth beacon, and AoA technologies involved in this patent application should be regarded as prior art. The specific structure, working principle, control method, and spatial arrangement of these technologies can be adopted using conventional choices in the field and should not be regarded as the inventive point of this patent. This patent will not elaborate further.

[0025] For those skilled in the art, modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this invention should be included within the protection scope of this invention.

Claims

1. A method for fusing indoor positioning based on the signal strength of a mobile terminal's Bluetooth beacon and its AoA (Aspect-of-Area of ​​Attention), characterized in that, Includes the following steps: Step S1: The positioning terminal simultaneously performs Bluetooth signal scanning and Bluetooth broadcast data reporting through the integrated Bluetooth chip, enabling the positioning terminal to simultaneously possess signal acquisition and signal transmission states; Step S2: Using a polling scheduling strategy, the Bluetooth beacon-based positioning process and the AoA-based positioning process are executed in parallel or alternately to obtain Bluetooth beacon positioning data and AoA positioning data respectively. Step S3: The positioning engine independently calculates the positioning data of the Bluetooth beacon and the positioning data of the AoA, and obtains the positioning coordinates of the Bluetooth beacon and the positioning coordinates of the AoA, and temporarily stores them; Step S4: The third party obtains the current location of the device through the positioning engine, and the positioning engine uses the positioning coordinates based on multiple selection mechanisms; when the AoA positioning coordinates exist and are within the validity period, the AoA positioning coordinates are used as the final positioning result; when the AoA positioning coordinates do not exist or have exceeded the validity period, if the Bluetooth beacon positioning coordinates exist and are within the validity period, the Bluetooth beacon positioning coordinates are used as the final positioning result.

2. The indoor positioning method based on the fusion of mobile terminal Bluetooth beacon signal strength and AoA as described in claim 1, characterized in that, Step S2 is specifically implemented as follows: Step S2.1: In the Bluetooth beacon positioning process, the positioning terminal scans and obtains the signals broadcast by the surrounding Bluetooth beacon devices. After filtering to remove invalid or interference data, it extracts the beacon's identification information, including UUID, major, and minor, and reports the identification information along with the corresponding received signal strength value to the positioning engine as the basic input data for beacon positioning. In step S2.2, during the AoA positioning process, the positioning terminal sends a Bluetooth broadcast signal packet according to a predetermined data format. This signal packet is received by the AoA base station deployed in the positioning area. The AoA base station parses and calculates the phase difference data of the Bluetooth signal reaching each antenna unit based on the received signal, and then sends the phase difference information and related identification information to the positioning engine for subsequent angle of arrival calculation.

3. The indoor positioning method based on the fusion of mobile terminal Bluetooth beacon signal strength and AoA as described in claim 1, characterized in that, In step S3, the positioning based on Bluetooth beacon positioning data adopts the triangulation algorithm, and the positioning coordinates are calculated as shown in the following formula: , This represents the RSSI at a distance of 1 meter in the current environment, where n is the path loss parameter for the current environment; Positioning based on AoA location data employs the core observation equation, and the method for calculating the positioning coordinates is shown in the following formula: ; , , This indicates the coordinates and angle values ​​of the base station itself.

4. The indoor positioning method based on the fusion of mobile terminal Bluetooth beacon signal strength and AoA as described in claim 1, characterized in that, In step S4, when the AoA positioning coordinates do not exist or have expired, and the Bluetooth beacon positioning coordinates do not exist or have expired, it is determined that the current device is not in the positioning environment, and the result of no positioning data is output.

5. The indoor positioning method based on the fusion of mobile terminal Bluetooth beacon signal strength and AoA as described in claim 1, characterized in that, The positioning terminal is a mobile phone terminal, a name tag, or other portable device integrated with a Bluetooth chip.

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