CN109874172A - A Bluetooth positioning method, device, device and system - Google Patents

Abstract

The invention discloses a kind of bluetooth localization methods, comprising: the Bluetooth signal of several bluetooth nodes detected is obtained within the current detection period；Wherein, Bluetooth signal is greater than preset signal strength, and detection cycle is the period；The positioning coordinate for obtaining a upper detection cycle is the initial position co-ordinates in current detection period, and the confidence level of current Bluetooth node is calculated according to initial position co-ordinates and the coordinate vector for the bluetooth nodes for detecting Bluetooth signal；According to the weight of the bluetooth signal intensity of the bluetooth nodes detected and confidence calculations bluetooth nodes；According to the weight computing current positioning coordinate of bluetooth nodes, and current positioning coordinate is stored as to the initial position co-ordinates of next detection cycle.The embodiment of the invention also discloses a kind of bluetooth positioning device, a kind of bluetooth positioning device and a kind of bluetooth positioning systems.Using the embodiment of the present invention, accuracy and ease for use can be improved, remove the demand of acquisition early period data tranining database from, reduce cost.

Description

A Bluetooth positioning method, device, device and system

technical field

The present invention relates to Bluetooth positioning technology, in particular to a Bluetooth positioning method, device, device and system.

Background technique

With the rapid development of cities, large buildings such as large underground parking lots and shopping malls continue to emerge. In the above indoor environment, people hope to quickly determine their location and find their desired destination. The Bluetooth positioning technologies used in the prior art include the following two. One is to directly collect the signal strength value of the Bluetooth node from the intelligent terminal online to establish the relationship between the signal strength and the actual distance through some mapping methods such as fitting; During training, the fingerprint vector data of the offline Bluetooth module of the smart terminal is stored to obtain the fingerprint-location mapping database resource. When used, the fingerprint vector collected by the online module of the smart terminal is compared with each fingerprint vector in the fingerprint data resource. Select the reference position with higher proximity as the sample position for fusion output.

However, for the first solution, since the signal strength is greatly affected by environmental factors (temperature, humidity, physical occlusion, etc.), the actual distance value calculated by it is also extremely unstable and inaccurate; for the second solution In this scheme, the sample collection cost is extremely high when training the database, and any transformation/re-separation of the indoor scene will cause the fingerprint database in the area to fail, requiring collection and training again, resulting in increased costs.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present invention is to provide a Bluetooth positioning method, device, equipment and system, which does not need to directly fit the relationship between signal strength and actual distance, improves accuracy and ease of use, and eliminates the need for pre-collecting data to train a database ,cut costs.

To achieve the above purpose, an embodiment of the present invention provides a Bluetooth positioning method, including:

Acquire the Bluetooth signals of several Bluetooth nodes detected in the current detection period; wherein, the Bluetooth signal is greater than a preset signal strength, and the detection period is a time period;

Obtain the positioning coordinates of the previous detection period as the initial position coordinates of the current detection period, and calculate the confidence level of the current Bluetooth node according to the initial position coordinates and the coordinate vector of the Bluetooth node that detects the Bluetooth signal;

Calculate the weight of the bluetooth node according to the detected bluetooth signal strength of the bluetooth node and the confidence;

The current positioning coordinates are calculated according to the weights of the Bluetooth nodes, and the current positioning coordinates are stored as the initial position coordinates of the next detection cycle.

Compared with the prior art, in the Bluetooth positioning method disclosed by the present invention, firstly, the Bluetooth signals of several Bluetooth nodes detected in the current detection period are acquired, and the positioning coordinates obtained in the previous detection period are the initial position coordinates of the current detection period. ; Then, calculate the confidence level of the current Bluetooth node according to the coordinates of the initial position and the coordinate vector of the Bluetooth node that detected the Bluetooth signal; finally, calculate the confidence level according to the detected Bluetooth signal strength of the Bluetooth node and the confidence level The weight of the Bluetooth node, and the current positioning coordinates are calculated according to the weight of the Bluetooth node. The problem that the calculated actual distance value is inaccurate due to the influence of environmental factors in the prior art is solved, and at the same time, the problem that the cost increases due to the need to collect data in the early stage is solved. The Bluetooth positioning method disclosed by the present invention does not need to directly fit the signal strength. The relationship between the actual distance and the actual distance improves the accuracy and ease of use, eliminates the need for pre-collecting data to train the database, and reduces costs.

As an improvement of the above solution, if the current detection period is the initial detection period, the confidence level of the Bluetooth node that detects the Bluetooth signal for the first time is 1.

As an improvement of the above solution, each of the Bluetooth nodes sends Bluetooth signals with the same signal strength in the same period.

As an improvement of the above solution, the Bluetooth node is set in a passable area; wherein, the passable area is divided into several square areas of equal size, and four nodes of each square area are provided with the bluetooth node.

As an improvement of the above solution, the calculation of the current positioning coordinates according to the weight of the Bluetooth node specifically includes:

The current positioning coordinates are calculated according to the weight of the Bluetooth node and the coordinate vector of the Bluetooth node.

To achieve the above purpose, an embodiment of the present invention also provides a Bluetooth positioning device, including:

A Bluetooth signal detection unit, configured to acquire Bluetooth signals of several Bluetooth nodes detected in the current detection period; wherein, the Bluetooth signal is greater than a preset signal strength, and the detection period is a time period;

an initial position coordinate obtaining unit, used for obtaining the positioning coordinates of the previous detection period as the initial position coordinates of the current detection period;

a confidence level obtaining unit, configured to calculate the confidence level of the current Bluetooth node according to the initial position coordinates and the coordinate vector of the Bluetooth node that detects the Bluetooth signal;

a Bluetooth node weight acquisition unit, configured to calculate the weight of the Bluetooth node according to the detected Bluetooth signal strength and the confidence level of the Bluetooth node;

The current positioning coordinate obtaining unit is configured to calculate the current positioning coordinates according to the weight of the Bluetooth node, and store the current positioning coordinates as the initial position coordinates of the next detection cycle.

Compared with the prior art, in the Bluetooth positioning device disclosed in the present invention, firstly, the Bluetooth signal detection unit acquires the Bluetooth signals of several Bluetooth nodes detected in the current detection period, and the initial position coordinate acquisition unit acquires the positioning coordinates of the previous detection period. is the initial position coordinate of the current detection period; then, the confidence degree acquisition unit calculates the confidence degree of the current Bluetooth node according to the initial position coordinate and the coordinate vector of the Bluetooth node that detects the Bluetooth signal; finally, the Bluetooth node weight acquisition unit according to the detection The received Bluetooth signal strength and the confidence level of the Bluetooth node calculate the weight of the Bluetooth node, and the current positioning coordinate obtaining unit calculates the current positioning coordinate according to the weight of the Bluetooth node. The problem that the calculated actual distance value is inaccurate due to the influence of environmental factors in the prior art is solved, and at the same time, the problem of increasing the cost caused by the need to collect data in the early stage is solved. The Bluetooth positioning device disclosed in the present invention does not need to directly fit the signal strength. The relationship between the actual distance and the actual distance improves the accuracy and ease of use, eliminates the need for pre-collecting data to train the database, and reduces costs.

As an improvement of the above solution, if the current detection period is the initial detection period, the confidence level of the Bluetooth node that detects the Bluetooth signal for the first time is 1.

As an improvement of the above solution, the current positioning coordinate obtaining unit is specifically used for:

The current positioning coordinates are calculated according to the weight of the Bluetooth node and the coordinate vector of the Bluetooth node.

To achieve the above object, an embodiment of the present invention further provides a Bluetooth positioning device, which is characterized by comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processing When the computer executes the computer program, the Bluetooth positioning method according to any of the above embodiments is implemented.

To achieve the above purpose, an embodiment of the present invention further provides a Bluetooth positioning system, including several Bluetooth nodes and the Bluetooth positioning device according to any of the above embodiments; wherein,

The bluetooth node is set in a passable area; wherein, the passable area is divided into several square areas of equal size, and the bluetooth nodes are arranged on the four nodes of each square area; each The bluetooth nodes send bluetooth signals with the same signal strength according to the same period.

Description of drawings

1 is a flowchart of a Bluetooth positioning method provided by an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a Bluetooth positioning device 10 according to an embodiment of the present invention;

3 is a schematic structural diagram of a Bluetooth positioning device 20 provided by an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a Bluetooth positioning system 30 according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1

Referring to FIG. 1, FIG. 1 is a flowchart of a Bluetooth positioning method provided by an embodiment of the present invention; including:

S1. Acquire Bluetooth signals of several Bluetooth nodes detected in the current detection period; wherein, the Bluetooth signal is greater than a preset signal strength, and the detection period is a time period;

S2, obtaining the positioning coordinates of the previous detection period as the initial position coordinates of the current detection period, and calculating the confidence of the current Bluetooth node according to the initial position coordinates and the coordinate vector of the Bluetooth node that detects the Bluetooth signal;

S3. Calculate the weight of the Bluetooth node according to the detected Bluetooth signal strength and the confidence level of the Bluetooth node;

S4. Calculate the current positioning coordinates according to the weight of the Bluetooth node, and store the current positioning coordinates as the initial position coordinates of the next detection cycle.

It should be noted that the Bluetooth positioning method described in the embodiments of the present invention may be implemented by a mobile terminal, and the mobile terminal may be a mobile phone, a tablet computer, or other mobile terminals that can implement a positioning function. In the embodiment of the present invention, several Bluetooth nodes are arranged in a certain passable area for transmitting Bluetooth signals, and each of the Bluetooth nodes sends signals at the same periodicity, and the transmitted signal strengths are equal; wherein, the passable area is It is divided into several square areas of equal size, and the Bluetooth nodes are arranged on the four nodes of each square area. When the user holds the mobile terminal and enters the signal range of the Bluetooth node, the positioning function can be started.

The effective coverage radius of the selected Bluetooth module is 10 meters. In the range of m (m=5) meters, the intensity decays with the distance is relatively stable. If the distance exceeds the range, the distance discrimination accuracy will be reduced. In order to achieve meter-level positioning, the Bluetooth module is arranged on the four vertices of a large square area of 25 square meters. Therefore, in the passable area planned in advance, each square area with a size of 25 square meters can be covered by four Bluetooth nodes. If there is a situation where the communication area is less than 25 square meters, the minimum distance m between the Bluetooth nodes can be adjusted appropriately so that it is evenly distributed around the periphery and wraps the core area.

Specifically, in step S1, the bluetooth signals of several bluetooth nodes detected are acquired in the current detection period; wherein, the bluetooth signals are greater than the preset signal strength; preferably, the detection period may be 2s. When the positioning program is opened, it enters the area covered by the Bluetooth node. First, the signal strength of several Bluetooth nodes collected in the last 2s will be counted, and the Bluetooth nodes whose signal strength is greater than the preset signal strength will be screened out.

Specifically, in step S2, the positioning coordinates of the previous detection period are obtained as the initial position coordinates of the current detection period. It is worth noting that, if the current detection period is the initial detection period, that is, the user may hold the mobile terminal and just enter the Passing area, at this time, the positioning coordinates of the previous detection cycle that will not be acquired or the acquired positioning coordinates of the previous detection cycle are 0.

Considering that the movement of the mobile phone terminal is continuous, within the unit collection time interval (that is, the detection period), its displacement will not produce a large deviation from the position difference of the previous detection period, so the previous detection period in the embodiment of the present invention is estimated. The positioning coordinate Y _t-1 is the desired Gaussian curve N(X _i , Y _t-1 , θ) to simulate this law. Among them, X _i represents the coordinate vector of the i-th Bluetooth node, and the variance θ=10, so that the Bluetooth nodes within ten meters from the last positioning can still obtain a high degree of confidence. When the Bluetooth node is reached, it is still considered to be untrustworthy, so that its influence factor on positioning is small. confidence, then the calculation method of the confidence of the Bluetooth node is:

confidence _i =N(X _i ,Y _t-1 ,θ) Formula (1);

Wherein, if the current detection period is the initial detection period, the confidence of the Bluetooth node that detects the Bluetooth signal for the first time is 1, that is, confidence _i =1 at this time.

Specifically, in step S3, after determining the confidence of the Bluetooth node based on historical positioning, it is necessary to determine more detailed positioning coordinates in the area. Of course, it is considered that the mobile terminal should be the closest Bluetooth node, which is credible However, for the sake of higher robustness, the role of other Bluetooth nodes cannot be ignored. According to the difference between the signal strength of other Bluetooth nodes and the highest strength, different confidence levels are given to the remaining other Bluetooth nodes, and the Gaussian curve is used to calculate To simulate this law, assume that the signal strength of each Bluetooth node is Ri (i=1, 2, 3...), and take the largest value max(Ri) as the expected μ of the normal distribution N(Ri, μ, δ) , the variance is δ, preferably, the variance δ can be set to 10, so that the Bluetooth nodes whose signal strength difference is within 10db can still obtain a high degree of confidence, then the calculation method of the weight of each Bluetooth node is:

Specifically, in step S4, after the weight of each Bluetooth node is obtained, the current positioning coordinates are calculated according to the weight of the Bluetooth node and the coordinate vector of the Bluetooth node, and the estimated current positioning The coordinates are:

Y _t =∑ _i P _i *X _i formula (3);

Among them, Xi represents the coordinate vector of the _ith Bluetooth node.

It is worth noting that the current positioning coordinates are the final output positioning coordinates. In the process that the user is holding the mobile terminal and moving continuously, each time a group of Bluetooth nodes is obtained, after screening according to their strength, observe the difference between them and the previous detection. The periodic estimated positioning coordinates are used to determine the confidence of the current Bluetooth node, and then the current positioning coordinates are obtained. The current positioning coordinates output each time are used as the initial position coordinates in the next time interval (ie, the next detection period). Calculation. That is, in the subsequent positioning process, the working processes of steps S1 to S4 are repeatedly performed.

Further, by adopting the above scheme for positioning, the positioning accuracy has been greatly improved, but if the motion information features of the mobile terminal can be obtained, the motion information features of the mobile terminal and The linear fitting of the position estimation based on the signal strength measurement can further improve the estimation of the user's motion state at the current moment.

During the specific implementation, firstly, acquire the Bluetooth signals of several Bluetooth nodes detected in the current detection period, and obtain the positioning coordinates of the previous detection period as the initial position coordinates of the current detection period; then, according to the initial position coordinates and detection Calculate the confidence of the current Bluetooth node from the coordinate vector of the Bluetooth node to the Bluetooth signal; finally, calculate the weight of the Bluetooth node according to the detected Bluetooth signal strength of the Bluetooth node and the confidence, and calculate the weight of the Bluetooth node according to the Bluetooth signal. The weight of the node calculates the current positioning coordinates.

Compared with the prior art, the Bluetooth positioning method disclosed by the present invention solves the problem of inaccurate calculated actual distance value in the prior art due to the influence of environmental factors, and also solves the problem of increasing cost due to the need to collect data in the early stage. , the Bluetooth positioning method disclosed in the present invention does not need to directly fit the relationship between signal strength and actual distance, improves accuracy and ease of use, eliminates the need for pre-collecting data to train a database, and reduces costs. Even if the indoor scene changes, only the It is necessary to redistribute and calculate the configuration scheme of adjacent node groups in the background, and it is not necessary to collect and update the fingerprint database on the spot, which greatly reduces the maintenance cost.

Embodiment 2

Referring to FIG. 2, FIG. 2 is a schematic structural diagram of a Bluetooth positioning device 10 provided by an embodiment of the present invention; including:

The Bluetooth signal detection unit 11 is used for acquiring Bluetooth signals of several Bluetooth nodes detected in the current detection period; wherein, the Bluetooth signal is greater than a preset signal strength, and the detection period is a time period;

The initial position coordinate obtaining unit 12 is used to obtain the positioning coordinates of the previous detection period as the initial position coordinates of the current detection period;

A confidence level obtaining unit 13, configured to calculate the confidence level of the current Bluetooth node according to the initial position coordinates and the coordinate vector of the Bluetooth node that detects the Bluetooth signal;

A Bluetooth node weight acquisition unit 14, configured to calculate the weight of the Bluetooth node according to the detected Bluetooth signal strength and the confidence level of the Bluetooth node;

The current positioning coordinate obtaining unit 15 is configured to calculate the current positioning coordinates according to the weight of the Bluetooth node, and store the current positioning coordinates as the initial position coordinates of the next detection cycle.

It should be noted that the Bluetooth positioning apparatus 10 described in this embodiment of the present invention may be a mobile terminal, and the mobile terminal may be a mobile phone, a tablet computer, or other mobile terminals that can implement a positioning function. In the embodiment of the present invention, several Bluetooth nodes are arranged in a certain passable area for transmitting Bluetooth signals, and each of the Bluetooth nodes sends signals at the same periodicity, and the transmitted signal strengths are equal; wherein, the passable area is It is divided into several square areas of equal size, and the Bluetooth nodes are arranged on the four nodes of each square area. When the user holds the mobile terminal and enters the signal range of the Bluetooth node, the positioning function can be started.

The effective coverage radius of the selected Bluetooth module is 10 meters. In the range of m (m=5) meters, the intensity decays with the distance is relatively stable. If the distance exceeds the range, the distance discrimination accuracy will be reduced. In order to achieve meter-level positioning, the Bluetooth module is arranged on the four vertices of a large square area of 25 square meters. Therefore, in the passable area planned in advance, each square area with a size of 25 square meters can be covered by four Bluetooth nodes. If there is a situation where the communication area is less than 25 square meters, the minimum distance m between the Bluetooth nodes can be adjusted appropriately so that it is evenly distributed around the periphery and wraps the core area.

Specifically, the Bluetooth signal detection unit 11 acquires the Bluetooth signals of several Bluetooth nodes detected in the current detection period; wherein, the Bluetooth signal is greater than a preset signal strength; preferably, the detection period may be 2s. When the positioning program is opened, it enters the area covered by the Bluetooth node. First, the signal strength of several Bluetooth nodes collected in the last 2s will be counted, and the Bluetooth nodes whose signal strength is greater than the preset signal strength will be screened out.

Specifically, the initial position coordinate obtaining unit 12 obtains the positioning coordinates of the previous detection period as the initial position coordinates of the current detection period. Considering that the movement of the mobile phone terminal is continuous, within the unit collection time interval (ie the detection period) , its displacement will not have a large deviation from the position difference of the previous detection period, so the positioning coordinate Y _t-1 estimated by the previous detection period in the embodiment of the present invention is the desired Gaussian curve N(X _i , Y _t-1 , θ) to simulate this law. Among them, X _i represents the coordinate vector of the i-th Bluetooth node, and the variance θ=10, so that the Bluetooth nodes within ten meters from the last positioning can still obtain a high degree of confidence. When the bluetooth node is reached, it is still considered to be less credible, so that its influence factor on positioning is small. The coordinate vector calculates the confidence of the current Bluetooth node, and the calculation method of the confidence of the Bluetooth node is:

confidence _i =N(X _i ,Y _t-1 ,θ) Formula (1);

Wherein, if the current detection period is the initial detection period, the confidence of the Bluetooth node that detects the Bluetooth signal for the first time is 1, that is, confidence _i =1 at this time.

Specifically, after determining the confidence of the Bluetooth node based on historical positioning, it is necessary to determine more detailed positioning coordinates in the area. Of course, it is considered that the Bluetooth node that the mobile terminal should be the closest to has the highest reliability. For higher robustness, the role of other Bluetooth nodes cannot be ignored. According to the difference between the signal strength of other Bluetooth nodes and the highest strength, the remaining other Bluetooth nodes are given different confidence levels, and the Gaussian curve is used to simulate this law. Assuming that the signal strength of each Bluetooth node is Ri (i=1, 2, 3...), the maximum value max(Ri) is taken as the expected μ of the normal distribution N(Ri, μ, δ), and the variance is δ, Preferably, the variance δ can be set to 10, so that the bluetooth nodes whose signal strength difference is within 10db can still obtain a higher confidence degree. The confidence calculates the weight of the Bluetooth node, and the calculation method for the weight of each Bluetooth node is:

Specifically, after obtaining the weight of each Bluetooth node, the current positioning coordinate obtaining unit 15 calculates the current positioning coordinates according to the weight of the Bluetooth node and the coordinate vector of the Bluetooth node, and the estimated The current positioning coordinates are:

Y _t =∑ _i P _i *X _i formula (3);

Among them, Xi represents the coordinate vector of the _ith Bluetooth node.

It is worth noting that the current positioning coordinates are the final output positioning coordinates. In the process that the user is holding the mobile terminal and moving continuously, each time a group of Bluetooth nodes is obtained, after screening according to their strength, observe the difference between them and the previous detection. The periodic estimated positioning coordinates are used to determine the confidence of the current Bluetooth node, and then the current positioning coordinates are obtained. The current positioning coordinates output each time are used as the initial position coordinates in the next time interval (ie, the next detection period). Calculation.

Further, by adopting the above scheme for positioning, the positioning accuracy has been greatly improved, but if the motion information features of the mobile terminal can be obtained, the motion information features of the mobile terminal and The linear fitting of the position estimation based on the signal strength measurement can further improve the estimation of the user's motion state at the current moment.

During specific implementation, first, the Bluetooth signal detection unit 11 acquires the Bluetooth signals of several Bluetooth nodes detected in the current detection period, and the initial position coordinate acquisition unit 12 acquires the positioning coordinates of the previous detection period as the initial position coordinates of the current detection period; Then, the confidence degree acquisition unit 13 calculates the confidence degree of the current Bluetooth node according to the initial position coordinates and the coordinate vector of the Bluetooth node that currently detects the Bluetooth signal; finally, the Bluetooth node weight acquisition unit 14 is based on the detected Bluetooth node. The weight of the Bluetooth node is calculated based on the Bluetooth signal strength and the confidence level, and the current positioning coordinate obtaining unit 15 calculates the current positioning coordinate according to the weight of the Bluetooth node.

Compared with the prior art, the Bluetooth positioning device 10 disclosed in the present invention solves the problem that the calculated actual distance value is inaccurate due to the influence of environmental factors in the prior art, and also solves the problem of increasing the cost due to the need to collect data in the early stage. The problem is that the Bluetooth positioning device 10 disclosed in the present invention does not need to directly fit the relationship between signal strength and actual distance, improves accuracy and ease of use, eliminates the need for pre-collecting data to train a database, and reduces costs. Even if the indoor scene changes, It only needs to redistribute and calculate the configuration scheme of adjacent node groups in the background, and does not need to re-collect and update the fingerprint database on the spot, which greatly reduces the maintenance cost.

Embodiment 3

Referring to FIG. 3, FIG. 3 is a schematic structural diagram of a Bluetooth positioning device 20 provided by an embodiment of the present invention; the Bluetooth positioning device 20 in this embodiment includes: a processor 21, a memory 22, and a processor 21, a memory 22, and a device stored in the memory 22 and available in the A computer program running on the processor 21 . When the processor 21 executes the computer program, the steps in each of the foregoing Bluetooth positioning method embodiments are implemented, for example, steps S1 to S4 shown in FIG. 1 . Alternatively, when the processor 21 executes the computer program, the functions of the modules/units in the foregoing device embodiments are implemented, for example, the initial positioning of the coordinate obtaining unit 11 .

Exemplarily, the computer program may be divided into one or more modules/units, and the one or more modules/units are stored in the memory 22 and executed by the processor 21 to complete the present invention. invention. The one or more modules/units may be a series of computer program instruction segments capable of accomplishing specific functions, and the instruction segments are used to describe the execution process of the computer program in the Bluetooth positioning device 20 . For example, the computer program can be divided into a Bluetooth signal detection unit 11, an initial position coordinate acquisition unit 12, a confidence degree acquisition unit 13, a Bluetooth node weight acquisition unit 14, and a current positioning coordinate acquisition unit 15. Please refer to the specific functions of each module. The specific functions of each unit of the Bluetooth positioning device 10 described in the second embodiment above will not be repeated here.

The Bluetooth positioning device 20 may be a computing device such as a desktop computer, a notebook computer, a palmtop computer, and a cloud server. The Bluetooth positioning device 20 may include, but is not limited to, a processor 21 and a memory 22 . Those skilled in the art can understand that the schematic diagram is only an example of the Bluetooth positioning device 20, and does not constitute a limitation on the Bluetooth positioning device 20, and may include more or less components than the one shown, or combine certain components, or Different components, such as the Bluetooth positioning device 20, may also include input and output devices, network access devices, buses, and the like.

The so-called processor 21 may be a central processing unit (Central Processing Unit, CPU), and may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), Off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The processor is the control center of the Bluetooth positioning device 20, and uses various interfaces and lines to connect the entire Bluetooth positioning device 20. various parts.

The memory 22 can be used to store the computer programs and/or modules, and the processor 21 executes or executes the computer programs and/or modules stored in the memory 22 and calls the data stored in the memory 22, Various functions of the Bluetooth positioning device 20 are implemented. The memory 22 may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function (such as a sound playback function, an image playback function, etc.); the storage data area may Stores data (such as audio data, phonebook, etc.) created according to the use of the mobile phone, and the like. In addition, the memory 22 may include high-speed random access memory, and may also include non-volatile memory such as hard disk, internal memory, plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card , a flash memory card (Flash Card), at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

Wherein, if the modules/units integrated in the Bluetooth positioning device 20 are implemented in the form of software functional units and sold or used as independent products, they may be stored in a computer-readable storage medium. Based on this understanding, the present invention can implement all or part of the processes in the methods of the above embodiments, and can also be completed by instructing relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium. When the program is executed by the processor 21, the steps of the foregoing method embodiments can be implemented. Wherein, the computer program includes computer program code, and the computer program code may be in the form of source code, object code, executable file or some intermediate form, and the like. The computer-readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM, Read-Only Memory) , Random Access Memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable media may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer-readable media Electric carrier signals and telecommunication signals are not included.

Embodiment 4

Referring to FIG. 4, FIG. 4 is a schematic structural diagram of a Bluetooth positioning system 30 provided by an embodiment of the present invention; including several Bluetooth nodes 31 and the Bluetooth positioning device 10 described in any of the above embodiments; wherein,

The bluetooth node 31 is set in a passable area; wherein, the passable area is divided into several square areas of equal size, and the bluetooth node 31 is arranged on four nodes of each square area; Each of the bluetooth nodes 31 sends bluetooth signals with the same signal strength according to the same period.

It should be noted that, for the specific working process of the Bluetooth positioning device 10 , please refer to the working process of the Bluetooth positioning device 10 described in the second embodiment, which will not be repeated here.

In specific implementation, first, the Bluetooth positioning device 10 acquires the Bluetooth signals of several Bluetooth nodes 31 detected in the current detection period, and obtains the positioning coordinates of the previous detection period as the initial position coordinates of the current detection period; The Bluetooth positioning device 10 calculates the confidence of the current Bluetooth node according to the initial position coordinates and the coordinate vector of the Bluetooth node 31 that detects the Bluetooth signal; finally, the Bluetooth positioning device 10 The weight of the Bluetooth node is calculated based on the signal strength and the confidence, and the current positioning coordinates are calculated according to the weight of the Bluetooth node 31 .

Compared with the prior art, the Bluetooth positioning system 30 disclosed in the present invention solves the problem that the calculated actual distance value is inaccurate due to the influence of environmental factors in the prior art, and also solves the problem of increasing the cost due to the need to collect data in the early stage. The problem is that the Bluetooth positioning system 30 disclosed in the present invention does not need to directly fit the relationship between signal strength and actual distance, improves accuracy and ease of use, eliminates the need for pre-collecting data to train a database, and reduces costs. Even if the indoor scene changes, It only needs to redistribute and calculate the configuration scheme of adjacent node groups in the background, and does not need to re-collect and update the fingerprint database on the spot, which greatly reduces the maintenance cost.

It should be noted that the device embodiments described above are only schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical unit, that is, it can be located in one place, or it can be distributed over multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. In addition, in the drawings of the apparatus embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. Those of ordinary skill in the art can understand and implement it without creative effort.

The above are the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made, and these improvements and modifications may also be regarded as It is the protection scope of the present invention.

Claims (10)

1. a Bluetooth positioning method, is characterized in that, comprises: Acquire the Bluetooth signals of several Bluetooth nodes detected in the current detection period; wherein, the Bluetooth signal is greater than a preset signal strength, and the detection period is a time period; Obtain the positioning coordinates of the previous detection period as the initial position coordinates of the current detection period, and calculate the confidence level of the current Bluetooth node according to the initial position coordinates and the coordinate vector of the Bluetooth node that detects the Bluetooth signal; Calculate the weight of the bluetooth node according to the detected bluetooth signal strength of the bluetooth node and the confidence; The current positioning coordinates are calculated according to the weights of the Bluetooth nodes, and the current positioning coordinates are stored as the initial position coordinates of the next detection cycle. 2 . The Bluetooth positioning method according to claim 1 , wherein if the current detection period is the initial detection period, the confidence level of the Bluetooth node that detects the Bluetooth signal for the first time is 1. 3 . 3 . The Bluetooth positioning method according to claim 1 , wherein each of the Bluetooth nodes sends Bluetooth signals with the same signal strength according to the same period. 4 . 4. The Bluetooth positioning method according to claim 1, wherein the Bluetooth node is set in a passable area; wherein, the passable area is divided into several square areas of equal size, each of the The bluetooth nodes are arranged on the four nodes in the square area. 5. The Bluetooth positioning method according to claim 1, wherein the calculation of the current positioning coordinates according to the weight of the Bluetooth node specifically includes: The current positioning coordinates are calculated according to the weight of the Bluetooth node and the coordinate vector of the Bluetooth node. 6. A Bluetooth positioning device, characterized in that, comprising: A Bluetooth signal detection unit, configured to acquire Bluetooth signals of several Bluetooth nodes detected in the current detection period; wherein, the Bluetooth signal is greater than a preset signal strength, and the detection period is a time period; an initial position coordinate obtaining unit, used for obtaining the positioning coordinates of the previous detection period as the initial position coordinates of the current detection period; a confidence level obtaining unit, configured to calculate the confidence level of the current Bluetooth node according to the initial position coordinates and the coordinate vector of the Bluetooth node that detects the Bluetooth signal; a Bluetooth node weight acquisition unit, configured to calculate the weight of the Bluetooth node according to the detected Bluetooth signal strength and the confidence level of the Bluetooth node; The current positioning coordinate obtaining unit is configured to calculate the current positioning coordinates according to the weight of the Bluetooth node, and store the current positioning coordinates as the initial position coordinates of the next detection cycle. 7 . The Bluetooth positioning device according to claim 6 , wherein if the current detection period is the initial detection period, the confidence level of the Bluetooth node that detects the Bluetooth signal for the first time is 1. 8 . 8. The bluetooth positioning device according to claim 6, wherein the current positioning coordinate obtaining unit is specifically used for: The current positioning coordinates are calculated according to the weight of the Bluetooth node and the coordinate vector of the Bluetooth node. 9. A Bluetooth positioning device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, when the processor executes the computer program, The Bluetooth positioning method according to any one of claims 1 to 5. 10. A Bluetooth positioning system, characterized by comprising several Bluetooth nodes and the Bluetooth positioning device according to any one of claims 6 to 8; wherein, The bluetooth node is set in a passable area; wherein, the passable area is divided into several square areas of equal size, and the bluetooth nodes are arranged on the four nodes of each square area; each The bluetooth nodes send bluetooth signals with the same signal strength according to the same period.