HK1229431B - Position acquistion method and apparatus - Google Patents

Description

Position acquisition method and device

Technical Field

The present application belongs to the field of positioning technology, and specifically relates to a method and device for obtaining a position.

Background Art

In indoor environments, satellite signals are weak when they reach the ground and cannot penetrate buildings, so satellite positioning cannot be used for location positioning. However, in actual applications, location positioning is often required in indoor environments, that is, indoor positioning, to facilitate indoor location management, monitoring or tracking. For example, in supermarkets and shopping malls, the location of shelves, etc.; in electronic maps, the location of indoor devices can be located or tracked; electronic devices located indoors interact by locating each other's positions, etc.

Current indoor positioning technologies typically utilize Wi-Fi, Bluetooth, infrared, ultra-wideband, RFID, ZigBee, or ultrasonic technologies, leveraging the signal strength between devices. Specifically, the signal strength between a target device (whose location is to be determined) and several known devices (whose locations are known) is converted into the distance between them, allowing the target device's location to be calculated.

However, due to signal interference and differences in antenna, circuit and casing design between devices of different brands, there may be errors in signal strength, which may result in inaccurate location of the target device.

Summary of the Invention

In view of this, the technical problem to be solved by the present application is to provide a location acquisition method and device for solving the problem of inaccurate location acquisition in the prior art.

In order to solve the above technical problems, the present application provides a location acquisition method, including:

Selecting at least one group of N valid devices from among known devices that transmit signals to the target device or among known devices that receive signals transmitted by the target device;

For each group of N valid devices, adjust the value of the conversion scale factor to find a correction value for the conversion scale factor, the correction value being such that N circles or spheres formed with the position of each valid device as the center and the correction distance between each valid device and the target device as the radius have a unique intersection; wherein the conversion scale factor is used to convert the signal strength of a signal transmitted by the valid device to the target device, or a signal received by the target device, into a distance;

The position of the target device is calculated using the obtained at least one correction value of the conversion factor.

A position acquisition device, comprising:

a device selection module, configured to select at least one group of N valid devices from among known devices that transmit signals to a target device or among known devices that receive signals transmitted by the target device;

a correction module, configured to adjust, for each group of N valid devices, a value of a conversion scale factor, and find a correction value of the conversion scale factor such that N circles or spheres formed with the position of each valid device as the center and the correction distance between each valid device and the target device as the radius have a unique intersection; wherein the conversion scale factor is used to convert the signal strength of a signal transmitted by the valid device to the target device, or a signal received by the target device, into a distance;

The position acquisition module is used to calculate the position of the target device using the obtained at least one correction value of the conversion factor.

Compared with the existing technology, this application can achieve the following technical effects:

At least one group of N valid devices is selected from known devices that transmit signals to a target device or known devices that receive signals transmitted by the target device; for each group of N valid devices, the value of a conversion scale factor is adjusted to find a correction value of the conversion scale factor, wherein the correction value makes N circles or spheres formed with the position of each valid device as the center and the correction distance between each valid device and the target device as the radius have a unique intersection; wherein the conversion scale factor is used to convert the signal strength of the signal transmitted by the valid device to the target device or the signal received by the target device into a distance; and the position of the target device is calculated using at least one correction value of the conversion factor obtained. By finding the correction value of the conversion scale factor, the embodiment of the present application improves the accuracy of obtaining the position of the target device and reduces the problem of inaccurate position acquisition caused by signal strength error.

Of course, any product implementing this application does not necessarily need to achieve all of the technical effects described above at the same time.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

FIG1 is a flow chart of an embodiment of a location acquisition method according to an embodiment of the present application;

Figures 2a to 2k are schematic diagrams of position acquisition in a one-dimensional coordinate space according to an embodiment of the present application;

Figures 3a to 3m are schematic diagrams of position acquisition in a two-dimensional coordinate space according to an embodiment of the present application;

4a to 4c are schematic diagrams of position acquisition in a three-dimensional coordinate space according to an embodiment of the present application;

FIG5 is a schematic diagram of an arrangement of known devices in an indoor environment according to an embodiment of the present application;

FIG6 is a schematic diagram of a selection of effective devices in an embodiment of the present application;

FIG7 is a schematic diagram of another selection of effective devices in an embodiment of the present application;

FIG8 is a schematic structural diagram of an embodiment of a position acquisition device in an embodiment of the present application.

DETAILED DESCRIPTION

The following will describe the implementation methods of the present application in detail with reference to the accompanying drawings and examples, so that the implementation process of how the present application applies technical means to solve technical problems and achieve technical effects can be fully understood and implemented accordingly.

The technical solution of this application is mainly applicable to indoor positioning scenarios, using the location of a known device and its distance from the target device to obtain the location of the target device. Therefore, it is necessary to first determine the device distance between the known device and the target device.

Current indoor positioning technology primarily uses the signal strength of signals transmitted or received between a known device and a target device, converting this strength into distance by applying a scaling factor. This allows signal communication between the known and target devices, primarily through Wi-Fi, Bluetooth, infrared, ultra-wideband, RFID, ZigBee, or ultrasonic technologies.

In different application scenarios, known devices can be deployed to achieve the positioning of target devices, such as in supermarkets, shopping malls and other application scenarios.

As described in the background technology, due to signal interference and different antenna, circuit and casing designs of devices of different brands, there are errors in signal strength, resulting in multiple solutions or no solution for the calculated target device, making it impossible to accurately obtain the location of the target device.

In order to solve the technical problem that the existing technology cannot accurately obtain the location of the target device, the inventors have proposed the technical solution of the present application after a series of studies. In an embodiment of the present application, at least one group of N valid devices is selected from known devices that transmit signals to the target device or known devices that receive signals transmitted by the target device; for each group of N valid devices, the value of the conversion scale factor is adjusted to find a correction value of the conversion scale factor, wherein the correction value makes N circles or spheres formed with the position of each valid device as the center and the correction distance between each valid device and the target device as the radius have a unique intersection; wherein the conversion scale factor is used to convert the signal strength of the signal transmitted by the valid device to the target device or the signal received by the target device into distance; and the location of the target device is calculated using at least one correction value of the conversion factor obtained. By adjusting the conversion scale factor and finding the correction value, the embodiment of the present application can determine the unique location of the target device, thereby improving the accuracy of obtaining the location of the target device.

The technical solution of this application will be described in detail below with reference to the accompanying drawings.

FIG1 is a flow chart of an embodiment of a location acquisition method provided in an embodiment of the present application. The method may include the following steps:

101: Select at least one group of N valid devices from among known devices that transmit signals to a target device or among known devices that receive signals transmitted by the target device.

In the embodiment of the present application, the known device refers to a device whose position is known in the coordinate space. The target device is a device whose position is to be determined.

The known device and the target device refer to devices that can transmit data using wireless transmission technologies such as Bluetooth, Wi-Fi, and RFID.

Known devices can receive or transmit signals, and so can target devices. The receiving device can upload the signal to a computing system, which then selects N valid devices from among the known devices that transmitted signals to the target device or received signals from the target device. The system then uses the signal strength to determine the target device's location.

102: Adjust the value of the conversion scale factor to find a correction value of the conversion scale factor.

The correction value is such that N circles or spheres formed with the position of each valid device as the center and the correction distance between each valid device and the target device as the radius have a unique intersection point.

The conversion scale factor is used to convert the signal strength of the signal transmitted by the effective device to the target device or the signal received by the target device into a distance.

Among them, in one-dimensional or two-dimensional coordinate space, what is formed is a circle, and in three-dimensional or higher-dimensional coordinate space, what is formed is a sphere.

The correction distance is obtained by converting the correction value of the conversion scale factor. The correction value of the conversion scale factor can be an initial value or any value after adjustment.

The conversion factor refers to the parameter that converts signal strength to distance. The conversion formula is as follows:

d ² =C ² (R ₀ -R);

Where R is the signal strength of the received or transmitted signal, d represents the distance, and C is the conversion factor. _R0 can use the international standard value or the average signal strength when a known device is infinitely close to different models of main devices used to receive signals and upload to the computing system.

In this implementation scenario, the conversion scaling factor can specifically convert the signal strength of the signal transmitted by the effective device to the target device or the signal received by the target device into the distance. The conversion formula can be found above.

In the prior art, the conversion scale factor generally adopts an international standard value. In this embodiment, in order to solve the problem of inaccurate distance calculation caused by signal strength error, which in turn affects the accurate positioning of the target device, the value of the conversion scale factor can be adjusted.

The value of the conversion scale factor is adjusted, and the correction value of the conversion scale factor can be found by amplifying or reducing the value of the conversion scale factor to obtain the correction value. Of course, the correction value of the conversion scale factor can also be obtained by calculation. This will be described in detail in the following embodiments.

103: Calculate and obtain the position of the target device using the obtained at least one correction value of the conversion factor.

The method of calculating the position of the target device using the conversion scale factor can be the same as that in the prior art, for example, a triangle centroid algorithm can be used, which will not be described in detail here.

In this embodiment, a correction value is obtained by adjusting the value of the conversion scale factor. The correction value makes the N circles or spheres obtained with the correction distance between N valid devices and the target device as the radius have a unique intersection point. The unique intersection point is the location of the target device, so that the location of the target device can be obtained. The embodiment of the present application improves the accuracy of obtaining the target device location by adjusting the conversion scale factor and finding the correction value.

Among them, multiple groups of N valid devices can be selected to obtain multiple correction values of the conversion scale factor. The average value of the multiple correction values can be used to calculate the position of the target device, making the position acquisition more accurate.

Of course, the correction value of each conversion scale factor can also be used to first calculate the initial position of the target device; then the initial positions are averaged to obtain the final position of the target device, thereby also improving the accuracy of position acquisition.

In yet another embodiment, the value of the conversion scale factor is adjusted, and the correction value of the conversion scale factor can be found as follows:

Starting from the initial value of the conversion scale factor, the value of the conversion scale factor is enlarged or reduced, and when the current adjustment value of the conversion scale factor makes N circles or spheres formed with the position of each valid device as the center and the correction distance between each valid device and the target device as the radius have a unique intersection, the current adjustment value is used as the correction value of the conversion scale factor.

In this case, N is an integer greater than the dimension of the coordinate space.

That is, N can be equal to the dimension of the coordinate control space plus 1.

Therefore, in a one-dimensional coordinate space, N may be equal to 2, in a two-dimensional coordinate space, N may be equal to 3, and in a three-dimensional coordinate space, N may be equal to an integer of 4.

The N valid devices may refer to N known devices that are not in the same position in one-dimensional space, are not on the same line in two-dimensional space, or are not on the same plane in three-dimensional space.

The current distance is obtained by conversion according to the current adjusted value of the conversion scale factor. The current value of the conversion scale factor may be an initial value or any value after adjustment.

The initial value of the conversion scale factor may adopt an international standard value, or may be the average value of the conversion scale factor calculated according to the above conversion formula by measuring the signal strength obtained when any two known devices are one meter apart.

In the absence of signal strength errors, with the position of each valid device as the center and the distance between each valid device and the target device as the radius, the obtained N circles or N spheres have a unique intersection point.

Therefore, in this embodiment, in order to ensure that the N circles or N spheres corresponding to N valid devices have a unique intersection, this can be achieved by adjusting the value of the conversion scale factor, thereby reducing the problem of inaccurate position acquisition caused by signal strength error to a certain extent.

By adjusting the value of the conversion scale factor, a correction value of the conversion scale factor can be obtained. The correction distance obtained by the correction calculation can make the N circles or N spheres corresponding to the N valid devices have a unique intersection point.

Among them, starting from the initial value of the conversion scale factor, the value of the conversion scale factor is enlarged or reduced, and when the current adjustment value of the conversion scale factor makes N circles or spheres with the position of each valid device as the center and the correction distance between each valid device and the target device as the radius have a unique intersection, the current adjustment value is used as the correction value of the conversion scale factor. There are many possible implementation methods.

As yet another embodiment, starting from the initial value of the conversion scale factor, enlarging or reducing the value of the conversion scale factor, and using the current adjusted value as the correction value of the conversion scale factor when the current adjusted value of the conversion scale factor is such that N circles or spheres centered at the position of each valid device and having a correction distance between each valid device and the target device as a radius have a unique intersection point may include the following steps:

(X1) Select any one valid device from the N valid devices as a judgment device, and the other N-1 valid devices as positioning devices.

(X2) Starting from the initial value of the conversion scale factor as the current adjustment value, determine whether the N-1 circles or spheres formed with the current distance between the N-1 valid devices and the target device as the radius have an intersection, and the current distance between the judgment device and the target device is equal to the intersection distance between the judgment device and any intersection position.

The current distance is obtained by calculating the current adjustment value of the conversion scale factor.

(X3) If the judgment result of (X2) is yes, the current value of the conversion scale factor is used as the correction value of the conversion scale factor.

That is, if N-1 circles or spheres have an intersection, and the current distance between the judgment device and the target device is equal to the intersection distance between the judgment device and any intersection position, it indicates that the N circles formed with the current distances between the positioning device and the judgment device and the target device respectively as the radius have a unique intersection, and the current value is used as the correction value.

(X4) If the result of the judgment in (X2) is negative, that is, the N-1 circles or spheres do not intersect, or the current distance between the judgment device and the target device cannot be equal to the intersection distance between the judgment device and any intersection position, perform the following operations:

(X41) when the N-1 circles or spheres have two intersection positions, compare the current distance between the judgment device and the target device with a first intersection distance between the judgment device and the intersection position close to the judgment device, a second intersection distance between the judgment device and the intersection position far from the judgment device, and a center distance between the judgment device and the center point of the line connecting the two intersection positions;

(X411) If the current distance is smaller than the first intersection distance and smaller than the center distance, or if the current distance is smaller than the second intersection distance and larger than the center distance, amplify the conversion scale factor.

(X412) If the current distance is greater than the first intersection distance and less than the center distance; or the current distance is greater than the second intersection distance and greater than the center distance; or the current distance is greater than the first intersection distance and equal to the center distance, and the current distances of the determination device and the positioning device to the target device are respectively equal, reduce the conversion scale factor;

(X413) If the current distance is equal to the center distance, and the current distances between the judgment device and the positioning device and the target device are not equal, reselect a valid device as the judgment device, and continue the process after selecting the other N-1 valid devices as the positioning devices;

(X42) When the N-1 circles or spheres have no intersection and are separated from each other, and the N-1 circles or spheres are respectively separated from the circle or sphere formed with the current distance between the judgment device and the target device as the radius, and the current distance between the N valid devices and the target device is the same, the conversion scale factor is amplified.

That is, the N circles formed with the current distances between the positioning device and the judgment device and the target device as radii, and when the current distances between the positioning device and the judgment device and the target device are the same, the conversion scale factor is amplified.

After each enlargement or reduction of the conversion scale factor, the adjusted value after enlargement or reduction is returned to step (X2) as the current value to continue execution until the N-1 circles or spheres formed with the current distance between the N-1 valid devices and the target device as the radius have an intersection, and the current distance between the judgment device and the target device is equal to the intersection distance between the judgment device and any intersection position. At this time, the current value is the correction value.

The following will introduce in detail the adjustment of the conversion scale factor using one-dimensional coordinate space, two-dimensional coordinate space, and three-dimensional coordinate space respectively.

In one-dimensional coordinate space:

The position coordinates of the N valid devices are one-dimensional coordinates, N is equal to 2, and the N valid devices include two.

Starting from the initial value of the conversion scale factor, adjusting the conversion scale factor so that N circles or spheres formed with the position of each valid device as the center and the current distance between each valid device and the target device as the radius have a unique intersection, obtaining the correction value of the conversion scale factor may include:

(A1) Select one of the N valid devices as a positioning device and another as a judgment device.

(A2) In a one-dimensional coordinate space, there is only one positioning device, and a circle is formed with the current distance between the positioning device and the target device as the radius. For the convenience of description, it is named the positioning circle.

At this time, the two intersection positions formed by the line connecting the judgment device and the positioning device and the positioning circle are used as the intersection positions of the N-1 circles.

Then step (A2) specifically determines whether the current distance between the determination device and the target device is equal to the intersection distance between the determination device and any intersection position.

(A3) If the result of step (A2) is yes, the current value is used as the correction value.

(A4) If the result of step (A3) is no, the current distance between the judgment device and the target device is compared with the first intersection distance between the judgment device and the intersection position close to the judgment device, the second intersection distance between the judgment device and the intersection position far from the judgment device, and the center distance between the judgment device and the center point of the line connecting the two intersection positions.

As shown in Figures 2a to 2e, the positioning device A and the judgment device B form two circles, and the two intersection positions of the positioning circles are a and b respectively. The intersection position a is the intersection position close to the judgment device, and the intersection position b is the intersection position far away from the judgment device.

(A41) If the current distance is less than the first intersection distance and less than the center distance, enlarge the conversion scale factor.

As shown in FIG2a , by enlarging the conversion scale factor, the current distance can be made equal to the first intersection distance, and intersect at the intersection position a, as shown in FIG2b .

(A42) if the current distance is less than the second intersection distance and greater than the center distance, amplifying the conversion scale factor;

As shown in Figure 2c, by enlarging the conversion scale factor, the current distance can be made equal to the first intersection distance, and intersect at the intersection position b, as shown in Figure 2d.

(A43) if the current distance is greater than the first intersection distance and less than the center distance, reducing the conversion scale factor;

As shown in Figure 2e, by reducing the conversion scale factor, the current distance can be made equal to the first intersection distance, and the intersection is at the intersection position a, as shown in Figure 2f.

(A44) if the current distance is greater than the second intersection distance and greater than the center distance, reducing the conversion scale factor;

As shown in Figure 2g, by reducing the conversion scale factor, the current distance can be made equal to the second intersection distance, and intersect at the intersection position b, as shown in Figure 2h.

(A45) if the current distance is greater than the first intersection distance and equal to the center distance, and the current distances between the determination device and the positioning device and the target device are equal, reducing the conversion scale factor;

As shown in FIG2i , by reducing the conversion scale factor, the current distance can be made equal to the first intersection distance, and the intersection is at the intersection position a, as shown in FIG2j .

(A46) If the current distance is equal to the center distance, and the current distances between the judgment device and the positioning device are not equal to each other, the process returns to step (A1) and reselects a valid device as the judgment device and another valid device as the positioning device, and then continues the process; that is, the positioning device and the judgment device are swapped. This is shown in FIG2k.

In two-dimensional coordinate space:

The position coordinates of the N valid devices are two-dimensional coordinates, and the N valid devices include 3.

Starting from the initial value of the conversion scale factor, adjusting the conversion scale factor so that N circles or spheres formed with the position of each valid device as the center and the current distance between each valid device and the target device as the radius have a unique intersection, obtaining the correction value of the conversion scale factor may include:

(B1) Select any two of the N valid devices as positioning devices and the other one as a judgment device.

(B2) Starting with the initial value of the conversion scale factor as the current adjustment value, determine whether two circles formed with the current distance between the positioning device and the target device as the radius have an intersection, and whether the current distance between the determination device and the target device is equal to the intersection distance between the determination device and any intersection position.

The current distance is calculated using the current value of the conversion scale factor;

(B3) If the judgment results of (B2) are all yes, that is, the two circles formed by the positioning device have an intersection, and the current distance between the judgment device and the target device is equal to the intersection distance between the judgment device and any intersection position, then the current value of the conversion scale factor is used as the correction value of the conversion scale factor;

(B4) If the result of (B2) is negative, perform the following operations:

(B41) When the two circles have two intersection positions, the current distance between the judgment device and the target device is compared with the first intersection distance between the judgment device and the intersection position close to the judgment device, the second intersection distance between the judgment device and the intersection position far from the judgment device, and the center distance between the judgment device and the center point of the line connecting the two intersection positions.

As shown in Figures 3a to 3j, the two circles formed by the two positioning devices have two intersection positions, namely c and d. The intersection position c is the intersection position close to the judgment device C. The distance between the judgment device C and the intersection position c is the first intersection distance. Therefore, the distance from the intersection position d is the second intersection distance, and the distance from the center point m of the line connecting c and d is the center distance.

(B411) If the current distance is smaller than the first intersection distance and smaller than the center distance, enlarge the conversion scale factor.

As shown in Figure 3a, by enlarging the conversion scale factor, the current distance can be made equal to the first intersection distance, and the three circles intersect at the intersection position c, as shown in Figure 3b.

(B412) If the current distance is less than the second intersection distance and greater than the center distance, enlarge the conversion scale factor.

As shown in FIG3c, by enlarging the conversion scale factor, the current distance can be made equal to the second intersection distance, and the three circles intersect at the intersection position b, as shown in FIG3d.

(B413) If the current distance is greater than the first intersection distance and less than the center distance, reduce the conversion scale factor.

As shown in FIG3e , by reducing the conversion scale factor, the current distance can be made equal to the first intersection distance, and the three circles intersect at the intersection position c, as shown in FIG3f .

(B414) If the current distance is greater than the second intersection distance and greater than the center distance; reduce the conversion scale factor;

As shown in FIG3g , by reducing the conversion scale factor, the current distance can be made equal to the second intersection distance, and the three circles intersect at the intersection position d, as shown in FIG3h .

(B415) if the current distance is greater than the first intersection distance and equal to the center distance, and the current distances between the determination device and the positioning device and the target device are respectively equal, reducing the conversion scale factor;

As shown in FIG3i , by reducing the conversion scale factor, the current distance can be made equal to the first intersection distance, and the three circles intersect at the intersection position c.

(B416) If the current distance is equal to the center distance, and the current distances between the judgment device and the positioning device and the target device are not equal, reselect a valid device as the judgment device, and continue the process with the other two valid devices as the positioning devices;

As shown in Figure 3j.

(B42) When the two circles have no intersection and are separated from each other, and the two circles are respectively separated from a circle or a sphere formed with the current distance between the judgment device and the target device as a radius, and the current distances between the three valid devices and the target device are the same, the conversion scale factor is amplified.

As shown in FIG3k , the circles formed by the three valid devices A, B, and C are separated from each other, and the current distances between the three valid devices and the target device are the same. At this time, the conversion scale factor is amplified.

In addition, in the two-dimensional coordinate space, when the N-1 circles formed by the positioning device have one intersection position and are circumscribed, the method further includes:

If the circle formed by the current distance between the determination device and the target device as the radius contains any circle among the N-1 circles, a new group of N valid devices is selected to continue the execution; as shown in FIG31;

If a circle formed with the current distance between the judgment device and the target device as a radius is inscribed in any of the N-1 circles, and the inscribed point is not the intersection position, a new group of N valid devices is selected to continue execution.

When the N-1 circle formed by the positioning device has an intersection position and is inscribed, if the circle formed with the current distance between the judgment device and the target device as the radius is outside the N-1 circle, a new group of N valid devices is selected to continue execution; as shown in Figure 3m.

In three-dimensional coordinate space:

The position coordinates of the N valid devices are three-dimensional coordinates, and the N valid devices include 4.

Adjusting the conversion scale factor so that N circles or spheres formed with the position of each valid device as the center and the adjusted distance between each valid device and the target device as the radius have a unique intersection point may include: obtaining a correction value of the conversion scale factor.

(C1) Select any three of the N valid devices as positioning devices and the other one as a judgment device.

(C2) Starting from the initial value of the conversion scale factor as the current adjustment value, it is determined whether the three spheres formed with the current distance between the positioning device and the target device as the radius have an intersection, and whether the current distance between the judgment device and the target device is equal to the intersection distance between the judgment device and any intersection position.

The current distance is obtained by calculation using the current value of the conversion scale factor.

In the three-dimensional coordinate space, the intersection of the three spheres includes three spheres circumscribed, as shown in FIG4a ; three spheres intersecting, as shown in FIG4b ; and three spheres inscribed, as shown in FIG4c .

When the three balls are inscribed externally or internally, there is an intersection point.

When three spheres intersect, there are two intersection points.

(C3) If the judgment results of (C2) are all yes, that is, the three spheres formed by the positioning device have an intersection, and the current distance between the judgment device and the target device is equal to the intersection distance between the judgment device and any intersection position, then the current value of the conversion scale factor is used as the correction value of the conversion scale factor.

(C4) If the result of (C2) is negative, perform the following operations:

(C41) when the N-1 balls have two intersection positions, comparing the current distance between the judgment device and the target device with a first intersection distance between the judgment device and an intersection position close to the judgment device, a second intersection distance between the judgment device and an intersection position far from the judgment device, and a center distance between the judgment device and a center point of a line connecting the two intersection positions;

In the three-dimensional coordinate space, the center distance between the judgment device and the center point of the line connecting the two intersection positions specifically refers to the center distance between the judgment device and the plane formed by the center point of the line connecting the two intersection positions.

(C411) If the current distance is less than the first intersection distance and less than the center distance, enlarge the conversion scale factor;

(C412) if the current distance is less than the second intersection distance and greater than the center distance, enlarging the conversion scale factor;

(C413) if the current distance is greater than the first intersection distance and less than the center distance, reducing the conversion scale factor;

(C414) If the current distance is greater than the second intersection distance and greater than the center distance; reduce the conversion scale factor;

(C415) if the current distance is greater than the first intersection distance and equal to the center distance, and the current distances between the determination device and the positioning device and the target device are equal, reducing the conversion scale factor;

(C416) If the current distance is equal to the center distance, and the current distances between the judgment device and the positioning device and the target device are not equal, reselect a valid device as the judgment device, and continue the process with the other three valid devices as the positioning devices;

(C42) When the three spheres have no intersection and are separated from each other, and the three spheres are respectively separated from a circle or sphere formed with the current distance between the judgment device and the target device as a radius, and the current distances between the four valid devices and the target device are the same, the conversion scale factor is amplified.

In addition, in the two-dimensional coordinate space, when the N-1 circle has one intersection position and is circumscribed, the method further includes:

When the position coordinates of the N valid devices are three-dimensional coordinates, N is equal to 4. When there is no intersection among the N-1 spheres and any two spheres are contained, a new group of N valid devices is selected to continue execution.

Wherein, as another embodiment, in a one-dimensional coordinate space, when the position coordinates of the N valid devices are one-dimensional coordinates, N is equal to 2;

The method of adjusting the value of the conversion scale factor and finding the correction value of the conversion scale factor may be:

Select one of the two valid devices as a positioning device and the other as a judgment device;

When the device distance between the positioning device and the judgment device is less than the initial distance between the judgment device and the target device, the correction value of the conversion scale factor can be obtained according to the following calculation formula:

d ₁ -d ₂ =L;

d ₁ ² =C _cal ² (R ₀ -R ₁ );

d ₂ ² =C _cal ² (R ₀ -R ₂ );

Where L is the device distance between the positioning device and the judgment device, _R1 is the signal strength corresponding to the judgment device, and _R2 is the signal strength corresponding to the positioning device; C _cal is the correction value of the conversion scale factor, _d1 is the corrected distance between the judgment device and the target device, and _d2 is the corrected distance between the positioning device and the target device.

Thus, the correction value of the conversion scale factor is calculated as:

It should be noted that the square root of the above formula must be a positive value.

When the device distance between the positioning device and the judgment device is greater than the initial distance between the judgment device and the target device, the correction value of the conversion scale factor is obtained according to the following calculation formula:

d ₁ +d ₂ =L;

d ₁ ² =C _cal ² (R ₀ -R ₁ );

d ₂ ² =C _cal ² (R ₀ -R ₂ ).

Thus, the correction value of the conversion scale factor is calculated as:

It should be noted that the square root of the above formula must be a positive value.

In practical applications, for example, in large places such as supermarkets or warehouses, the known devices in the embodiments of the present application may be known devices that are pre-arranged indoors and have known locations.

Known devices can be arranged in a pre-set array, with multiple known devices placed on opposite sides of each target device's movement zone. A movement zone is the indoor range of movement of the target device. Indoor environments can include multiple movement zones. For example, a movement zone could be an aisle between shelves in a supermarket or warehouse, and known devices could be placed on shelves on either side of the aisle.

A schematic diagram of known device arrangement is shown in Figure 5. A plurality of known devices are deployed on opposite sides of the moving area.

In this actual application, the effective area range of the known device for receiving or transmitting signals is a semicircle or a hemisphere, and the effective area range of the known device is within the moving area, that is, the signals received or transmitted outside the effective area range will be automatically shielded.

At this time, as another embodiment:

The selecting at least one group of N valid devices from among known devices that transmit signals to the target device or among known devices that receive signals transmitted by the target device may include:

From known devices that transmit signals to the target device or known devices that receive signals transmitted by the target device, four valid devices located on opposite sides with unequal signal strengths and two valid devices on each side are selected in order of signal strength from strong to weak, wherein the coordinate values corresponding to only one coordinate axis of the position coordinates of two valid devices located on the same side are unequal.

The effective area for receiving or transmitting signals by the known device is a semicircle or a hemisphere.

The valid device with the strongest signal strength is the closest to the target device. Because the target device is mobile, if the signal at the second time is detected to be weaker than the signal at the first time, and the first and second times are consecutive, the signal at the first time is determined to be the strongest signal. This allows valid devices to be selected based on the signal strengths of each known device at the first time.

As shown in Figure 6, white circles represent target devices, and black circles represent valid devices. Using the known devices arranged as shown in Figure 5, four valid devices can be selected, as shown in Figure 6. Two valid devices on the same side have different coordinate values for only one axis, meaning they lie on the same straight line.

For each group of four valid devices, adjusting the value of the conversion scale factor to find the correction value of the conversion scale factor includes:

For each group of four valid devices, determining that the target device is located within an area formed by the four valid devices;

Calculate the correction conversion factor of the target device according to the following formula:

d _j ² =C _cal ² (R ₀ -R _j );

The position coordinates of the j-th valid device are (X _j1 , X _j2 , ..., X _jM ), where M is the dimension of the coordinate space, M=1, 2, 3, ... . . .

The location coordinates of the target device are (X _t1 , X _t2 , . . . , X _tM ).

Wherein, j=1, 2, 3, 4, _Xjm is the m-th dimension coordinate of the j-th valid device, _Xtm is the m-th dimension coordinate of the target device; _dj is the corrected distance between the j-th valid device and the target device; wherein, only the m-th dimension coordinates of the four valid devices are different.

Through the above calculation formula, two formulas for solving X _jm including C _cal can be obtained. By making the two formulas relative to each other, C _cal can be calculated.

Substituting C _cal into any formula for solving X _jm yields X _jm Substituting X _jm into the Euclidean distance formula yields coordinate values in other dimensions.

Among them, in order to improve the accuracy of position acquisition, multiple groups of four valid devices can be selected, for example, 5 groups, that is, 20 valid devices can be selected, so that the correction values of 5 conversion scale factors can be calculated. The average value of the 5 correction values can be used to solve the coordinate value of each dimension of the target device to form the position coordinates of the target device as the final position of the target device.

Each correction value can also be used to solve the coordinate value of each dimension of the target device to obtain multiple coordinate values corresponding to each dimension; then the average coordinate value of the multiple coordinate values corresponding to each dimension is solved, and the position coordinates of the target device are formed by the average coordinate value of each dimension as the final position of the target device.

The following uses a two-dimensional coordinate space as an example. In a group of valid devices, the position coordinates of the valid devices can be expressed as (X _j , Y _j ), and the position coordinates of the target device are (X _t , Y _t ). Assume that the X coordinates of two valid devices on the same side are equal, as shown in Figure 6 , that is, X ₁ = X ₂ , X ₃ = X ₄ ;

According to the Euclidean distance formula:

Since X ₁ = X ₂ , X ₃ = X ₄ , the Euclidean distance formula can be simplified to:

Combined with the distance conversion formula:

d _j ² =C _cal ² (R ₀ -R _j );

Thus we can calculate:

By making the two equations equal, we can calculate the correction value of the conversion factor:

After the correction value of the conversion scale factor is calculated, the position of the target device can be calculated according to the formula in the prior art.

Of course, as another embodiment, the correction conversion factor can be substituted into any of the above-mentioned formulas for solving Y _t to obtain Y _t , and Y _t can be substituted into the Euclidean distance formula to obtain X _t .

Since X ₁ = X ₂ and X ₃ = X ₄ , as another possible implementation, the position coordinates of any known device can be used as the origin of the two-dimensional coordinate space. Assuming that the position coordinates of the second known device are used as the origin of the two-dimensional coordinate space, the position coordinates of the second known device can be simplified to (0, 0). Then the position coordinates of the first known device can be simplified to (0, Y ₁ -Y ₂ ), the position coordinates of the third known device can be simplified to (X ₃ -X ₂ , Y ₃ -Y ₂ ), and the position coordinates of the fourth known device can be simplified to (X ₄ -X ₂ , Y ₄ -Y ₂ ). The position coordinates of the target device can be simplified to (X' _t , Y' _t ).

The above Euclidean distance formula can be simplified as:

As a possible implementation method, the location of the target device can be calculated using at least the above formulas (1), (2), and (3):

Among them, from (1) and (2) we can calculate:

From (2) and (3), we can calculate:

The coordinate value of each dimension of the target device is:

This can further simplify the calculation of the target device position coordinate value. According to the above formula, for each group of valid devices, multiple coordinate values corresponding to each dimension of the target device can be obtained. By calculating the average coordinate value, the position coordinate of the target device is formed by the average coordinate value of each dimension of the coordinate, that is, the position of the target device is obtained.

Of course, when selecting multiple groups of valid devices, multiple conversion scale factor correction values can be calculated. For any group of valid devices, the average value of multiple conversion scale factor correction values can be used to solve the coordinate value of each dimension of the target device to form the position coordinates of the target device, that is, to obtain the position of the target device.

In addition, as another possible implementation method, the location coordinates of the target device can be calculated according to the above formulas (1)(3)(4):

Among them, the above formulas (3) and (4) can be used to calculate:

From formulas (1) and (4), we can calculate:

Therefore, the coordinate value of each dimension of the target device can also be:

The following uses a three-dimensional coordinate space as an example. In a group of valid devices, the position coordinates of the valid devices can be expressed as (X _j , Y _j , Z _j ), and the position coordinates of the target device are (X _t , Y _t , Z _t ). Assume that the X and Z coordinates of two valid devices on the same side are equal, that is, X ₁ = X ₂ , X ₃ = X ₄ ; Z ₁ = Z ₂ , Z ₃ = Z ₄ ;

According to the Euclidean distance formula:

Since X ₁ = X ₂ , X ₃ = X ₄ ; Z ₁ = Z ₂ , Z ₃ = Z ₄ ; the Euclidean distance formula can be simplified to:

Combined with the distance conversion formula:

d _j ² =C _cal ² (R ₀ -R _j )

Thus we can calculate:

By making the two equations equal, we can calculate the correction value of the conversion factor:

After the correction value of the conversion scale factor is calculated, the position coordinates of the target device can be calculated according to the formula in the prior art.

Of course, to further simplify the calculation of the target device's position coordinates, since X ₁ = X ₂ , X ₃ = X ₄ ; Z ₁ = Z ₂ , Z ₃ = Z ₄ ; the position coordinates of any known device can be used as the origin of the three-dimensional coordinate space. Assuming that the position coordinates of the first known device are used as the origin of the two-dimensional coordinate space, the position coordinates of the first known device can be simplified to (0, 0, 0). The position coordinates of the second known device can be simplified to (0, Y ₂ - _{Y 1} , 0), the position coordinates of the third known device can be simplified to (0, 0, Z ₃ - _{Z 1} ), and the position coordinates of the fourth known device can be simplified to (X ₄ - X ₁ , 0, 0). The position coordinates of the target device can be simplified to (X' _t , Y' _t ).

The above Euclidean distance formula can be simplified as:

Therefore, it can be calculated according to formula (5) and formula (8):

According to formula (5) and formula (6), we can obtain:

According to formula (5) and formula (7), we can obtain:

The coordinate values of each dimension of the target device can be calculated as follows:

For each group of valid devices, the above formula can be used to obtain multiple coordinate values corresponding to each dimension of the target device, and then the average coordinate value of each dimension is solved, that is, the position coordinates of the target device can be formed by the average coordinate value of each dimension.

In addition, based on the arrangement of known devices in an indoor environment shown in FIG5 , as yet another embodiment, adjusting the value of the conversion scale factor for each group of four valid devices and finding the correction value of the conversion scale factor may include:

For each group of four valid devices, determine that the target device is located on a straight line where the two valid devices are located, and the sum of the distances between the target device and the two valid devices is equal to the distance between the two valid devices;

Calculate the correction conversion factor of the target device according to the following formula:

d ₁ +d ₂ =L;

d ₁ ² =C _cal ² (R ₀ -R ₁ );

d ₂ ² =C _cal ² (R ₀ -R ₂ ).

Where L is the device distance between two valid devices, _d1 and _d2 are the corrected distances between the two valid devices and the target device, and _R1 and _R2 are the signal strengths corresponding to the two valid devices.

The calculated correction value of the conversion scale factor is:

That is, in this practical application, no matter how many dimensions of space are used, by selecting appropriate effective equipment, it can be converted into one-dimensional space to calculate the correction value of the conversion scale factor, which simplifies the calculation algorithm and improves the positioning efficiency.

In this embodiment, after obtaining the correction conversion scale factor, the position of the target device can be calculated and obtained according to the existing technology.

Among them, in order to improve the accuracy of position acquisition, multiple groups of four valid devices can be selected, for example, 5 groups, that is, 20 valid devices can be selected, so that the correction values of 5 conversion scale factors can be calculated and obtained. The average value of the 5 correction values can be used to solve the coordinate value of each dimension of the target device to form the position coordinates of the target device.

Each correction value can also be used to solve the coordinate value of each dimension of the target device to obtain multiple coordinate values corresponding to each dimension; then the average coordinate value of the multiple coordinate values corresponding to each dimension is solved, and the average coordinate value of each dimension constitutes the position coordinate of the target device.

Therefore, as another embodiment, using each correction value of the conversion factor obtained, the position of the target device can be calculated according to the following calculation formula:

d ₁ ² =C _cal ² (R ₀ -R ₁ );

d ₂ ² =C _cal ² (R ₀ -R ₂ );

Wherein, _Xtn is the n-th coordinate of the target device, _X1n is the n-th coordinate of the first valid device, _X2n is the n-th coordinate of the second valid device, _d1 is the corrected distance between the first valid device and the target device, _d2 is the corrected distance between the second valid device and the target device, n=1, 2, ..., M, M is the dimension of the coordinate space, M=1, 2, ...

The position coordinates of the first valid device are (X ₁₁ , X ₁₂ , ..., X _1M ), and the position coordinates of the second valid device are (X ₂₁ , X ₂₂ , ..., X _2M ).

The location coordinates of the target device are (X _t1 , X _t2 , . . . , X _tM ).

Thus we can calculate:

Afterwards, the average coordinate value of the coordinate values of each dimension of the target device obtained by calculating each correction value may be used to form the position coordinates of the target device.

The calculation of the target device position coordinates is explained below using two-dimensional coordinate space and three-dimensional coordinate space as examples.

In a two-dimensional coordinate space, the position coordinates of the first valid device can be expressed as (X ₁ , Y ₁ ), the position coordinates of the second valid device can be expressed as (X ₂ , Y ₂ ), and the position coordinates of the target device can be expressed as (X _t , Y _t ).

Therefore, the calculation formula can be as follows:

d ₁ ² =C _cal ² (R ₀ -R ₁ );

d ₂ ² =C _cal ² (R ₀ -R ₂ );

That is, the coordinate value of each dimension of the target device can be calculated as follows:

In the three-dimensional coordinate space, the position coordinates of the first valid device can be expressed as ( _X1 , _Y1 , _Z1 ), the position coordinates of the second valid device can be expressed as ( _X2 , _Y2 , _Z2 ), and the position coordinates of the target device can be expressed as ( _Xt , _Yt , _Zt ).

Therefore, the calculation formula can be as follows:

d ₁ ² =C _cal ² (R ₀ -R ₁ );

d ₂ ² =C _cal ² (R ₀ -R ₂ );

That is, the coordinate value of each dimension of the target device can be calculated as follows:

In a special case shown in FIG7 , it is assumed that the Y coordinates of the effective device and the target device are equal in the two-dimensional coordinate space.

At this time, d ₁ +d ₂ =L; L = X ₂ -X ₁ ;

X _t =X ₁ +d ₁ =X ₂ -d ₂ ;

Thus, the coordinate value of each dimension of the target device can be calculated as follows:

Y _t =Y ₂ =Y ₁ .

By adjusting the conversion scale factor according to the embodiment of the present application to obtain a correction value of the conversion scale factor, the accuracy of obtaining the position of the target device is improved.

FIG8 is a schematic structural diagram of an embodiment of a position acquisition device provided in an embodiment of the present application. The device can be specifically configured in a computer system to achieve position acquisition through the computer system.

The device may include:

The device selection module 801 is configured to select at least one group of N valid devices from among known devices that transmit signals to a target device or among known devices that receive signals transmitted by the target device.

The correction module 802 is used to adjust the value of the conversion scale factor for each group of N valid devices and find a correction value of the conversion scale factor, wherein the correction value ensures that the N circles or spheres formed with the position of each valid device as the center and the correction distance between each valid device and the target device as the radius have a unique intersection.

The conversion scale factor is used to convert the signal strength of the signal transmitted by the effective device to the target device or the signal received by the target device into a distance.

Among them, in one-dimensional or two-dimensional coordinate space, what is formed is a circle, and in three-dimensional or higher-dimensional coordinate space, what is formed is a sphere.

The correction distance is obtained by converting the correction value of the conversion scale factor. The correction value of the conversion scale factor can be an initial value or any value after adjustment.

The value of the conversion scale factor is adjusted, and the correction value of the conversion scale factor is found by amplifying or reducing the value of the conversion scale factor to traverse and find the correction value.

Of course, the correction value of the conversion scale factor can also be obtained by calculation.

This will be described in detail in the following examples.

The position acquisition module 803 is configured to calculate the target device position using the obtained at least one correction value of the conversion factor.

In this embodiment, a correction value is obtained by adjusting the value of the conversion scale factor. The correction value makes the N circles or spheres obtained with the correction distance between N valid devices and the target device as the radius have a unique intersection point. The unique intersection point is the location of the target device, so that the location of the target device can be obtained. The embodiment of the present application improves the accuracy of obtaining the target device location by adjusting the conversion scale factor and finding the correction value.

Among them, multiple groups of N valid devices can be selected to obtain correction values of multiple correction conversion scale factors. The position acquisition module can specifically use the average correction value of the correction values of multiple conversion scale factors, and use the average correction value to calculate the target device position, so that the position acquisition is more accurate.

Of course, the correction value of each conversion scale factor can also be used to first calculate the position coordinate value of the target device; then the position coordinate values are averaged, and the obtained average position coordinate value is used to form the position coordinate of the target device position, thereby also improving the accuracy of position acquisition.

In yet another embodiment, the correction module may be specifically configured to:

Starting from the initial value of the conversion scale factor, the value of the conversion scale factor is enlarged or reduced, and when the current adjustment value of the conversion scale factor makes N circles or spheres formed with the position of each valid device as the center and the current distance between each valid device and the target device as the radius have a unique intersection, the current adjustment value is used as the correction value of the conversion scale factor.

In this case, N is an integer greater than the dimension of the coordinate space.

That is, N can be equal to the dimension of the coordinate control space plus 1.

Therefore, in a one-dimensional coordinate space, N may be equal to 2, in a two-dimensional coordinate space, N may be equal to 3, and in a three-dimensional coordinate space, N may be equal to an integer of 4.

The N valid devices may refer to N known devices that are not in the same position in one-dimensional space, are not on the same line in two-dimensional space, or are not on the same plane in three-dimensional space.

The current distance is obtained by conversion according to the current adjusted value of the conversion scale factor. The current value of the conversion scale factor may be an initial value or any value after adjustment.

The initial value of the conversion scale factor may adopt an international standard value, or may be the average value of the conversion scale factor calculated according to the above conversion formula by measuring the signal strength obtained when any two known devices are one meter apart.

In the absence of signal strength errors, with the position of each valid device as the center and the distance between each valid device and the target device as the radius, the obtained N circles or N spheres have a unique intersection point.

Therefore, in this embodiment, in order to ensure that the N circles or N spheres corresponding to N valid devices have a unique intersection, this can be achieved by adjusting the value of the conversion scale factor, thereby reducing the problem of inaccurate position acquisition caused by signal strength error to a certain extent.

By adjusting the value of the conversion scale factor, a correction value of the conversion scale factor can be obtained. The correction distance obtained by the correction calculation can make the N circles or N spheres corresponding to the N valid devices have a unique intersection point.

Among them, the correction module starts from the initial value of the conversion scale factor, amplifies or reduces the value of the conversion scale factor, and when the current adjustment value of the conversion scale factor makes N circles or spheres formed with the position of each valid device as the center and the correction distance between each valid device and the target device as the radius have a unique intersection, the current adjustment value is used as the correction value of the conversion scale factor. There are many possible implementation methods.

As yet another embodiment, the correction module may be specifically configured to:

Select any one valid device from the N valid devices as a judgment device, and the other N-1 valid devices as positioning devices;

Starting with an initial value of the conversion scale factor as a current adjustment value, determining whether N-1 circles or spheres formed with the current distances between the N-1 valid devices and the target device as radii have an intersection, and whether the current distance between the determination device and the target device is equal to the intersection distance between the determination device and any one of the intersections; wherein the current distance is calculated using the current value of the conversion scale factor;

If yes, using the current value of the conversion scale factor as the correction value of the conversion scale factor;

If not, when the N-1 circles or spheres have two intersection positions, compare the current distance between the judgment device and the target device with a first intersection distance between the judgment device and the intersection position close to the judgment device, a second intersection distance between the judgment device and the intersection position far from the judgment device, and a center distance between the judgment device and the center point of the line connecting the two intersection positions;

If the current distance is less than the first intersection distance and less than the center distance, or if the current distance is less than the second intersection distance and greater than the center distance, amplify the conversion scale factor;

If the current distance is greater than the first intersection distance and less than the center distance; or the current distance is greater than the second intersection distance and greater than the center distance; or the current distance is greater than the first intersection distance and equal to the center distance, and the current distances of the determination device and the positioning device to the target device are respectively equal, reducing the conversion scale factor;

If the current distance is equal to the center distance, and the current distances between the judgment device and the positioning device and the target device are not equal, a valid device is reselected as the judgment device, and the other N-1 valid devices are used as positioning devices before continuing the process;

When the N-1 circles or spheres have no intersection and are separated from each other, and the N-1 circles or spheres are respectively separated from a circle or sphere formed with the current distance between the judgment device and the target device as a radius, and the current distance between the N valid devices and the target device is the same, the conversion scale factor is amplified.

Wherein, when the position coordinates of the N valid devices are two-dimensional coordinates, N is equal to 3;

When the N-1 circles have one intersection position and are circumscribed, the correction module is further configured to:

If a circle formed by taking the current distance between the determination device and the target device as a radius contains any of the N-1 circles, a new group of N valid devices is selected to continue the execution;

If a circle formed with the current distance between the determination device and the target device as a radius intersects any one of the N-1 circles, the conversion scale factor is reduced.

When the N-1 circle has one intersection position and is inscribed, the method further includes:

If the circle formed by the current distance between the determination device and the target device as the radius is outside the N-1 circle, a new group of N valid devices is selected to continue the execution;

When the position coordinates of the N valid devices are three-dimensional coordinates, N is equal to 4;

The correction module is further configured to trigger the device selection module to reselect a group of N valid devices when the N-1 spheres have no intersection and any two spheres are contained.

As yet another embodiment, when the position coordinates of the N valid devices are one-dimensional coordinates, N is equal to 2;

The correction module is specifically used for:

Select one of the two valid devices as a positioning device and the other as a judgment device;

When the device distance between the positioning device and the judgment device is less than the initial distance between the judgment device and the target device, the correction value of the conversion scale factor is obtained according to the following calculation formula:

d ₁ -d ₂ =L;

d ₁ ² =C _cal ² (R ₀ -R ₁ );

d ₂ ² =C _cal ² (R ₀ -R ₂ );

Where L is the distance between the positioning device and the judgment device, _R1 is the signal strength corresponding to the judgment device, and _R2 is the signal strength corresponding to the positioning device; C _cal is the correction conversion factor, _d1 is the corrected distance between the judgment device and the target device, and _d2 is the corrected distance between the positioning device and the target device;

Thus, the correction value of the conversion scale factor is calculated as:

It should be noted that the square root of the above formula must be a positive value.

When the device distance between the positioning device and the judgment device is greater than the initial distance between the judgment device and the target device, the correction value of the conversion scale factor is obtained according to the following calculation formula:

d ₁ +d ₂ =L;

d ₁ ² =C _cal ² (R ₀ -R ₁ );

d ₂ ² =C _cal ² (R ₀ -R ₂ ).

Thus, the correction value of the conversion scale factor is calculated as:

It should be noted that the square root of the above formula must be a positive value.

In practical applications, for example in large places such as supermarkets or warehouses, the known devices in the embodiments of the present application may be devices that are pre-arranged indoors and whose positions are known, as shown in the layout diagram of Figure 5 . The effective area for the known device to receive or transmit signals is a semicircle or a hemisphere, and multiple known devices are arranged on opposite sides of each moving area of the target device; the effective area of the known device is within the moving area.

Therefore, as yet another embodiment, the device selection module may be specifically configured to:

From known devices that transmit signals to a target device or receive signals transmitted by the target device, select four valid devices located on opposite sides, with unequal signal strengths, and two valid devices on each side, in descending order of signal strength, wherein the coordinate values corresponding to only one coordinate axis of the position coordinates of the two valid devices on the same side are unequal; wherein the valid area for receiving or transmitting signals by the known devices is a semicircle or a hemisphere;

The correction module can be specifically used for:

For each group of four valid devices, determine that the target device is within the area formed by the connection of the four valid devices

Calculate the correction conversion factor of the target device according to the following formula:

d _j ² =C _cal ² (R ₀ -R _j );

The position coordinates of the j-th valid device are (X _j1 , X _j2 , ..., X _jM ), where M is the dimension of the coordinate space, M=1, 2, 3, ... . . .

Wherein, j=1, 2, 3, 4, _Xjm is the mth coordinate of the jth valid device, _Xtm is the mth coordinate of the target device; _dj is the corrected distance between the jth valid device and the target device; wherein the mth coordinates of the four valid devices are not equal.

Based on the arrangement diagram shown in FIG5 , the area in which the known device receives or transmits signals is a semicircle or a hemisphere; and multiple known devices are arranged on opposite sides of each moving area of the target device; the effective area of the known device is within the moving area; as another embodiment,

The device selection module can be specifically used to:

Select two valid devices located on the same straight line from known devices that transmit signals to the target device or known devices that receive signals transmitted by the target device, in descending order of signal strength;

The correction module is specifically used for:

For each group of two valid devices, determine that the target device is located on a straight line where the two valid devices are located, and the sum of the distances between the target device and the two valid devices is equal to the distance between the two valid devices;

Calculate the correction conversion factor of the target device according to the following formula:

d ₁ +d ₂ =L;

d ₁ ² =C _cal ² (R ₀ -R ₁ );

d ₂ ² =C _cal ² (R ₀ -R ₂ ).

Where L is the device distance between two valid devices, _d1 and _d2 are the corrected distances between the two valid devices and the target device, and _R1 and _R2 are the signal strengths corresponding to the two valid devices.

After obtaining the correction conversion scale factor, the position of the target device can be calculated according to the existing technology.

Of course, as another embodiment, the location acquisition module is specifically used to:

Using each correction value of the conversion factor, the coordinate value of each dimension of the target device is calculated according to the following calculation formula;

d ₁ ² =C _cal ² (R ₀ -R ₁ );

d ₂ ² =C _cal ² (R ₀ -R ₂ );

Wherein, _Xtn is the n-th coordinate of the target device, _X1n is the n-th coordinate of the first valid device, _X2n is the n-th coordinate of the second valid device, _d1 is the distance between the first valid device and the target device, and _d2 is the distance between the second valid device and the target device; n=1, 2, ..., M, where M is the dimension of the coordinate space, M=1, 2, 3, ....

The position coordinates of the first valid device are (X ₁₁ , X ₁₂ , ..., X _1M ), and the position coordinates of the second valid device are (X ₂₁ , X ₂₂ , ..., X _2M ).

The location coordinates of the target device are (X _t1 , X _t2 , . . . , X _tM ).

Thus we can calculate:

Since multiple groups of two valid devices can be selected to obtain multiple correction values, the average coordinate value of each dimension of the target device calculated using each correction value can be used to form the position coordinates of the target device.

The embodiment of the present application improves the accuracy of acquiring the position of the target device and reduces the problem of inaccurate position acquisition caused by signal strength error by finding a correction value of the conversion scale factor.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

Memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and/or non-volatile memory in the form of read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

Computer-readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include non-transitory media such as modulated data signals and carrier waves.

For example, certain terms are used in the specification and claims to refer to specific components. Those skilled in the art will understand that hardware manufacturers may use different terms to refer to the same component. This specification and claims do not distinguish components based on differences in name, but rather on differences in their functionality. Throughout the specification and claims, the term "including" is an open-ended term and should be interpreted as meaning "including, but not limited to." "Substantially" means that within an acceptable range of error, a person skilled in the art can solve the technical problem and substantially achieve the technical effect. Furthermore, the term "coupled" encompasses any direct and indirect electrical coupling means. Therefore, if a first device is described as being coupled to a second device, this means that the first device can be directly electrically coupled to the second device or indirectly electrically coupled to the second device via other devices or coupling means. The subsequent description of the specification describes preferred embodiments of the present application. However, this description is intended to illustrate the general principles of the present application and is not intended to limit the scope of the present application. The scope of protection of the present application shall be determined by the appended claims.

It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or system. In the absence of further limitations, an element defined by the phrase "comprises a..." does not exclude the presence of other identical elements in the product or system comprising the element.

The above description shows and describes several preferred embodiments of the present application. However, as previously mentioned, it should be understood that the present application is not limited to the form disclosed herein and should not be construed as excluding other embodiments. Instead, the present application can be used in various other combinations, modifications, and environments and can be modified within the scope of the application concept described herein through the above teachings or technology or knowledge in the relevant field. Modifications and changes made by those skilled in the art that do not depart from the spirit and scope of the present application should be protected by the claims appended hereto.

Claims (12)

1. A location acquisition method, characterized in that it includes: Select at least one group of N valid devices from known devices that transmit signals to the target device or from known devices that receive signals transmitted by the target device; For each group of N valid devices, the value of the conversion scale factor is adjusted to find a correction value for the conversion scale factor. The correction value is such that N circles or spheres formed with the position of each valid device as the center and the correction distance between each valid device and the target device as the radius have a unique intersection point. The conversion scale factor is used to convert the signal strength of the signal transmitted by the valid device to the target device or the signal received by the target device into distance. The location of the target device is calculated using at least one correction value of the obtained conversion factor; N is an integer greater than the dimension of the coordinate space; The step of adjusting the value of the conversion scaling factor to obtain a correction value for the conversion scaling factor, such that N circles or spheres formed with the position of each effective device as the center and the correction distance between each effective device and the target device as the radius, have a unique intersection point, includes: Select one valid device from the N valid devices as the judgment device, and the other N-1 valid devices as the positioning devices; Starting with the initial value of the conversion factor as the current adjustment value, it is determined whether N-1 circles or spheres formed with the current distance between the N-1 valid devices and the target device as the radius have an intersection point, and the current distance between the determining device and the target device is equal to the intersection distance between the determining device and any intersection point; wherein, the current distance is calculated using the current value of the conversion factor; If so, the current value of the conversion factor is used as the correction value of the conversion factor; If not, when the N-1 circles or spheres have two intersection points, the current distance between the judging device and the target device is compared with the first intersection distance between the judging device and the intersection point close to the judging device, the second intersection distance between the judging device and the intersection point far from the judging device, and the center distance between the judging device and the center point of the line connecting the two intersection points. If the current distance is less than the first intersection distance and less than the center distance, or if the current distance is less than the second intersection distance and greater than the center distance, then the scaling factor is increased. If the current distance is greater than the first intersection distance and less than the center distance; or the current distance is greater than the second intersection distance and greater than the center distance; or the current distance is greater than the first intersection distance and equal to the center distance, and the current distances of the judging device and the positioning device to the target device are equal, then the conversion factor is reduced. If the current distance is equal to the center distance, and the current distances of the judging device and the positioning device to the target device are not equal, a new valid device is selected as the judging device, and the other N-1 valid devices are selected as the positioning devices before execution continues. When the N-1 circles or spheres have no intersection and are mutually separated, and the N-1 circles or spheres are respectively separated from the circle or sphere formed with the current distance between the judgment device and the target device as the radius, and the N effective devices are at the same current distance from the target device, the scaling factor is amplified. 2. The method according to claim 1, wherein when the position coordinates of the N effective devices are two-dimensional coordinates, N equals 3; When the N-1 circles have a single intersection point and are externally tangent, the method further includes: If the circle formed with the current distance between the judgment device and the target device as the radius contains any of the N-1 circles, then a new set of N valid devices is selected to continue execution; If a circle formed with the current distance between the judgment device and the target device as its radius intersects any one of the N-1 circles, the conversion ratio factor is reduced. When the N-1 circles have an intersection point and are internally tangent, the method further includes: If the circle formed with the current distance between the judgment device and the target device as the radius is outside the N-1 circle, then select a new group of N valid devices to continue execution; When the position coordinates of the N effective devices are three-dimensional coordinates, N equals 4; When the N-1 balls have no intersection and any two balls contain each other, the method further includes: Select a new set of N valid devices to continue execution. 3. The method according to claim 1, wherein when the position coordinates of the N effective devices are one-dimensional coordinates, N equals 2; The process of adjusting the conversion ratio factor for each group of N valid devices, and finding the correction value for the conversion ratio factor, includes: Choose one of the two valid devices as the positioning device and the other as the judgment device; When the distance between the positioning device and the judgment device is less than the initial distance between the judgment device and the target device, the correction value of the conversion ratio factor is obtained according to the following calculation formula: _d1 - _d2 = L; d ₁ ² =C _cal ² (R ₀ -R ₁ ); d ₂ ² =C _cal ² (R ₀ -R ₂ ); Where L is the distance between two valid devices, _R1 is the signal strength corresponding to the judgment device, _R2 is the signal strength corresponding to the positioning device; _Ccal is the correction value of the conversion scaling factor, _d1 is the correction distance between the judgment device and the target device, _d2 is the correction distance between the positioning device and the target device, and _R0 is the average signal strength when the known device is infinitely close to different models of main devices used to receive signals and upload them to the computing system; When the distance between the positioning device and the judgment device is greater than the initial distance between the judgment device and the target device, the correction value of the conversion ratio factor is obtained according to the following calculation formula: _d1 + _d2 = L; d ₁ ² =C _cal ² (R ₀ -R ₁ ); d ₂ ² =C _cal ² (R ₀ -R ₂ ). 4. The method according to claim 1, wherein the effective area of the known device receiving or transmitting signals is a semicircle or a hemisphere, and multiple known devices are arranged on opposite sides of each moving area of the target device; the effective area of the known device is located within the moving area; Selecting at least one group of N valid devices from known devices that transmit signals to or receive signals transmitted by the target device includes: From the known devices that transmit signals to or receive signals from the target device, four effective devices are selected in descending order of signal strength. These devices are located on opposite sides with unequal signal strengths, and each side includes two effective devices. The coordinates of the two effective devices on the same side have only one coordinate axis with unequal values. The effective area of the known devices receiving or transmitting signals is a semicircle or a hemisphere. For each group of four valid devices, the conversion ratio factor is adjusted, and the correction value of the conversion ratio factor is found, including: For each group of four valid devices, the target device is determined to be located within the area formed by the connection of the four valid devices; The correction conversion factor for the target equipment is calculated using the following formula: d _j ² =C _cal ² (R ₀ -R _j ); Where j = 1, 2, 3, 4, _Xjm is the m-th dimension coordinate of the j-th effective device, _Xtm is the m-th dimension coordinate of the target device; _dj is the correction distance between the j-th effective device and the target device, _Ccal is the correction value of the conversion scaling factor, _R0 is the average signal strength when the known device is infinitely close to different models of master devices used to receive signals and upload data to the computing system, and _Rj is the signal strength corresponding to the effective device; where the m-th dimension coordinates of the four effective devices are not equal. 5. The method according to claim 1, wherein the area of the known device receiving or transmitting signals is a semicircle or a hemisphere, and multiple known devices are arranged on opposite sides of each moving area of the target device; the effective area of the known device is located within the moving area; Selecting at least one group of N valid devices from known devices that transmit signals to or receive signals transmitted by the target device includes: From the known devices that transmit signals to the target device or the known devices that receive signals transmitted by the target device, select two valid devices located on the same straight line in order of signal strength from strong to weak. The process of adjusting the conversion ratio factor for each of the four effective devices in each group, and finding the correction value for the conversion ratio factor, includes: For each group of four valid devices, the target device is determined to be located on the straight line between the two valid devices, and the sum of the distances from the target device to the two valid devices is equal to the distance between the two valid devices; The correction conversion factor for the target equipment is calculated using the following formula: _d1 + _d2 = L; d ₁ ² =C _cal ² (R ₀ -R ₁ ); d ₂ ² =C _cal ² (R ₀ -R ₂ ); Where L is the device distance between two effective devices, _d1 and _d2 are the corrected distances between the two effective devices and the target device, _Ccal is the correction value of the conversion scaling factor, _R1 and _R2 are the signal strengths corresponding to the two effective devices, and _R0 is the average signal strength when the known device is brought infinitely close to different models of master devices used to receive signals and upload them to the computing system. 6. The method according to claim 5, wherein calculating the position of the target device using at least one correction value of the obtained conversion factor comprises: Using the correction value of the obtained conversion factor, the coordinate value of each dimension of the target device is calculated according to the following calculation formula; d ₁ ² =C _cal ² (R ₀ -R ₁ ); d ₂ ² =C _cal ² (R ₀ -R ₂ ); Wherein, _Xtn is the nth dimension coordinate of the target device, _X1n is the nth dimension coordinate of the first effective device, _X2n is the nth dimension coordinate of the second effective device, _d1 is the correction distance between the first effective device and the target device, _Ccal is the correction value of the conversion scale factor, _{and d2} is the correction distance between the second effective device and the target device. The average coordinate value of each dimension of the target device, calculated using each correction value, constitutes the position coordinates of the target device. 7. A location acquisition device, characterized in that it comprises: The device selection module is used to select at least one group of N valid devices from known devices that transmit signals to the target device or from known devices that receive signals transmitted by the target device; The calibration module is used to adjust the value of the conversion scale factor for each group of N effective devices, and find the calibration value of the conversion scale factor. The calibration value is such that N circles or spheres formed with the position of each effective device as the center and the calibration distance between each effective device and the target device as the radius have a unique intersection point. The conversion scale factor is used to convert the signal strength of the signal transmitted by the effective device to the target device or the signal received by the target device into distance. A location acquisition module is used to calculate the location of the target device using at least one correction value of the obtained conversion factor; Wherein, N is an integer greater than the dimension of the coordinate space; the correction module is specifically used for: Select one valid device from the N valid devices as the judgment device, and the other N-1 valid devices as the positioning devices; Starting with the initial value of the conversion factor as the current adjustment value, it is determined whether N-1 circles or spheres formed with the current distance between the N-1 valid devices and the target device as the radius have an intersection point, and the current distance between the determining device and the target device is equal to the intersection distance between the determining device and any intersection point; wherein, the current distance is calculated using the current value of the conversion factor; If so, the current value of the conversion factor is used as the correction value of the conversion factor; If not, when the N-1 circles or spheres have two intersection points, the current distance between the judging device and the target device is compared with the first intersection distance between the judging device and the intersection point close to the judging device, the second intersection distance between the judging device and the intersection point far from the judging device, and the center distance between the judging device and the center point of the line connecting the two intersection points. If the current distance is less than the first intersection distance and less than the center distance, or if the current distance is less than the second intersection distance and greater than the center distance, then the scaling factor is increased. If the current distance is greater than the first intersection distance and less than the center distance; or the current distance is greater than the second intersection distance and greater than the center distance; or the current distance is greater than the first intersection distance and equal to the center distance, and the current distances of the judging device and the positioning device to the target device are equal, then the conversion factor is reduced. If the current distance is equal to the center distance, and the current distances of the judging device and the positioning device to the target device are not equal, a new valid device is selected as the judging device, and the other N-1 valid devices are selected as the positioning devices before execution continues. When the N-1 circles or spheres have no intersection and are mutually separated, and the N-1 circles or spheres are respectively separated from the circle or sphere formed with the current distance between the judgment device and the target device as the radius, and the N effective devices are at the same current distance from the target device, the scaling factor is amplified. 8. The apparatus according to claim 7, wherein when the position coordinates of the N effective devices are two-dimensional coordinates, N equals 3; When the N-1 circles have an intersection point and are externally tangent, the correction module is also used for: If the circle formed with the current distance between the judgment device and the target device as the radius contains any of the N-1 circles, then a new set of N valid devices is selected to continue execution; If a circle formed with the current distance between the judgment device and the target device as its radius intersects any one of the N-1 circles, the conversion ratio factor is reduced. When the N-1 circles have an intersection point and are internally tangent, the correction module is also used for: If the circle formed with the current distance between the judgment device and the target device as the radius is outside the N-1 circle, then select a new group of N valid devices to continue execution; When the position coordinates of the N effective devices are three-dimensional coordinates, N equals 4; When the N-1 balls have no intersection and any two balls contain each other, the correction module is also used to trigger the device selection module to reselect a group of N valid devices. 9. The apparatus according to claim 7, wherein when the position coordinates of the N effective devices are one-dimensional coordinates, N equals 2; The correction module is specifically used for: Choose one of the two valid devices as the positioning device and the other as the judgment device; When the distance between the positioning device and the judgment device is less than the initial distance between the judgment device and the target device, the correction value of the conversion ratio factor is obtained according to the following calculation formula: _d1 - _d2 = L; d ₁ ² =C _cal ² (R ₀ -R ₁ ); d ₂ ² =C _cal ² (R ₀ -R ₂ ); Where L is the device distance between the positioning device and the judgment device, _R1 is the signal strength corresponding to the judgment device, _R2 is the signal strength corresponding to the positioning device; _Ccal is the correction conversion ratio factor, _d1 is the correction distance between the judgment device and the target device, _d2 is the correction distance between the positioning device and the target device, and _R0 is the average signal strength when the known device is infinitely close to different models of main devices used to receive signals and upload them to the computing system; When the distance between the positioning device and the judgment device is greater than the initial distance between the judgment device and the target device, the correction value of the conversion ratio factor is obtained according to the following calculation formula: _d1 + _d2 = L; d ₁ ² =C _cal ² (R ₀ -R ₁ ); d ₂ ² =C _cal ² (R ₀ -R ₂ ). 10. The apparatus according to claim 7, wherein the effective area of the known device for receiving or transmitting signals is a semicircle or a hemisphere, and multiple known devices are arranged on opposite sides of each moving area of the target device; the effective area of the known device is located within the moving area; The device selection module is specifically used for: From the known devices that transmit signals to or receive signals from the target device, four effective devices are selected in descending order of signal strength. These devices are located on opposite sides with unequal signal strengths, and each side includes two effective devices. Among the position coordinates of two effective devices on the same side, only one coordinate axis corresponds to an unequal coordinate value. The effective area of the known devices receiving or transmitting signals is a semicircle or a hemisphere. The correction module is specifically used for: For each group of four valid devices, the target device is determined to be located within the area formed by the connection of the four valid devices. The correction conversion factor for the target equipment is calculated using the following formula: d _j ² =C _cal ² (R ₀ -R _j ); Where j = 1, 2, 3, 4, _Xjm is the m-th coordinate of the j-th effective device, _Xtm is the m-th coordinate of the target device; _dj is the correction distance between the j-th effective device and the target device, _Ccal is the correction value of the conversion scaling factor, _R0 is the average signal strength when the known device is infinitely close to different models of master devices used to receive signals and upload data to the computing system, and _Rj is the signal strength corresponding to the effective device; the m-th coordinates of the four effective devices are not equal. 11. The apparatus according to claim 7, wherein the area of the known device receiving or transmitting signals is a semicircle or a hemisphere; and multiple known devices are arranged on opposite sides of each moving area of the target device; the effective area of the known devices is located within the moving area; The device selection module is specifically used for: From the known devices that transmit signals to the target device or the known devices that receive signals transmitted by the target device, select two valid devices located on the same straight line in order of signal strength from strong to weak. The correction module is specifically used for: For each group of two valid devices, the target device is determined to be located on the straight line between the two valid devices, and the sum of the distances from the target device to the two valid devices is equal to the device distance between the two valid devices; The correction conversion factor for the target equipment is calculated using the following formula: _d1 + _d2 = L; d ₁ ² =C _cal ² (R ₀ -R ₁ ); d ₂ ² =C _cal ² (R ₀ -R ₂ ); Where L is the device distance between two valid devices, _d1 and _d2 are the corrected distances between the two valid devices and the target device, _Ccal is the correction value of the conversion scaling factor, _R1 and _R2 are the signal strengths corresponding to the two valid devices, and _R0 is the average signal strength when the known device is brought infinitely close to different models of master devices used to receive signals and upload data to the computing system. 12. The apparatus according to claim 11, wherein the position acquisition module is specifically used for: Using each correction value of the conversion factor, the coordinate value of each dimension of the target device is calculated according to the following formula; d ₁ ² =C _cal ² (R ₀ -R ₁ ); d ₂ ² =C _cal ² (R ₀ -R ₂ ); Wherein, _Xtn is the nth dimension coordinate of the target device, _X1n is the nth dimension coordinate of the first effective device, _X2n is the nth dimension coordinate of the second effective device, _d1 is the correction distance between the first effective device and the target device, _Ccal is the correction value of the conversion scale factor, _{and d2} is the correction distance between the second effective device and the target device; The average coordinate value of each dimension of the target device, calculated using each correction value, constitutes the position coordinates of the target device.