CN107079257A - Localization method and device based on bluetooth BLE - Google Patents
Localization method and device based on bluetooth BLE Download PDFInfo
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- CN107079257A CN107079257A CN201780000077.0A CN201780000077A CN107079257A CN 107079257 A CN107079257 A CN 107079257A CN 201780000077 A CN201780000077 A CN 201780000077A CN 107079257 A CN107079257 A CN 107079257A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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Abstract
The present invention relates to field of wireless communication, a kind of localization method and device based on bluetooth BLE are disclosed.In the present invention, the localization method based on bluetooth BLE is applied to terminal device, including scanning BLE slave units；After target BLE slave units are found in scanning, successively at least two positions, the distance between terminal device location Si in itself, and terminal device and target BLE slave units Ri is obtained；According to Si, the Ri got, the position of target BLE slave units is calculated.The invention also discloses a kind of positioner based on bluetooth BLE.Compared with prior art, the invention enables can very easily realize the positioning to target BLE slave units, the time for finding target BLE slave units is greatly shortened.Also, without deployment iBeacon or Bluetooth AP indoors, it is possible to realize the positioning to target BLE slave units, without complicated data processing architecture, reduction hardware cost.
Description
Technical field
The present invention relates to field of wireless communication, localization method and device more particularly to based on bluetooth BLE.
Background technology
Current short-distance wireless communication technology, in numerous electronic equipments, such as smart mobile phone, bracelet, wearable device, sensing
It is widely used in device etc..These electronic equipments support location technology.Positioning refers to realize position in environment indoors
Positioning, its a set of indoor location positioning being mainly integrated to form using multiple technologies such as wireless telecommunications, architecture, inertial navigation positioning
System.In addition to the cellular localization technology of communication network, common indoor wireless location technology also has：WLAN (Wi-Fi),
Bluetooth, infrared ray, ultra wide band, radio frequency identification (RFID), purple peak (ZigBee) and ultrasonic wave etc..
Localization method of the prior art, is to be based on mobile device, the positioning system being made up of Bluetooth AP and server mostly
System, it positions the transmission communication network for being repeatedly build broadcast message by Bluetooth AP by mobile device and carried out with server
Communication, after being calculated by server, obtains a kind of invention of the positional information of current mobile device, and be sent to mobile device.
Or, the bluetooth alignment system based on iBeacon, the alignment system includes iBeacon information issuing systems, iBeacon base stations
With mobile terminal composition, wherein information issuing system is by background management system, service authentication interface, radio-frequency antenna composition；Base station
It is made up of data memory module and Bluetooth RF antenna；Mobile terminal is by data processing module, bluetooth transceiver module, wireless receiving and dispatching
Module, Bluetooth RF reception antenna, radio transceiver antenna composition.
Above prior art tool has disadvantages that：1st, Bluetooth transmission communication network builds complicated, many Bluetooth APs of deployment, dimension
Nurse makees inconvenience, and hardware cost is high.2nd, the data for needing specialized server processing to be sent by Bluetooth AP, it may appear that data network
Delay and data bandwidth problem, equally also increase system cost.3rd, the device that is locally-located used in invention is cured,
Underaction, therefore do not accomplish the upgrading and change of a variety of localization methods.4th, the positioning mentioned in invention, is all that positioning is mobile eventually
The position at end, it is impossible to position the position of iBeacon or Bluetooth AP, and then in searching object, it is impossible to the thing lost or hidden
Body is positioned.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of localization method and device based on bluetooth BLE so that can be very
The positioning to target BLE slave units is easily realized, the time for finding target BLE slave units is greatly shortened.Also, without
Indoor deployment iBeacon or Bluetooth AP, it is possible to realize the positioning to target BLE slave units, at complicated data
Manage framework, reduction hardware cost.
In order to solve the above technical problems, the embodiments of the invention provide a kind of localization method based on bluetooth BLE, being applied to
Terminal device；The localization method based on bluetooth BLE includes：Scan BLE slave units；Scanning find target BLE slave units it
Afterwards, it is located at successively in terminal device at least two positions, obtains terminal device location Si, and terminal device in itself
With the distance between target BLE slave units Ri；According to Si, the Ri got, the position of target BLE slave units is calculated.
The embodiment of the present invention additionally provides a kind of positioner based on bluetooth BLE, applied to terminal device；Should be based on indigo plant
Tooth BLE positioner includes：Scan module, acquisition module and computing module；Scan module, for scanning BLE slave units；
Acquisition module, after finding target BLE slave units in scan module scanning, is located at least two in terminal device successively
Put, obtain the distance between terminal device location Si in itself, and terminal device and target BLE slave units Ri；Meter
Module is calculated, for according to Si, the Ri got, calculating the position of target BLE slave units.
The embodiment of the present invention in terms of existing technologies, by control terminal equipment at least two positions, is obtained
Terminal device the location of Si in itself, and the distance between terminal device and target BLE slave units Ri.And according to getting
Si, Ri, calculate the position of target BLE slave units so that can very easily realize the positioning to target BLE slave units,
Greatly shorten the time for finding target BLE slave units.Also, without deployment iBeacon or Bluetooth AP indoors, it is possible to real
Now to the positioning of target BLE slave units, without complicated data processing architecture, reduction hardware cost.
Brief description of the drawings
One or more embodiments are illustrative by the picture in corresponding accompanying drawing, these exemplary theorys
The element with same reference numbers label is expressed as similar element in the bright restriction not constituted to embodiment, accompanying drawing, removes
Composition is not limited the non-figure having in special statement, accompanying drawing.
Fig. 1 is the flow chart according to the localization method based on bluetooth BLE in first embodiment of the invention；
Fig. 2 is the flow chart according to the localization method based on bluetooth BLE in second embodiment of the invention；
Fig. 3 is the flow chart according to the localization method based on bluetooth BLE in third embodiment of the invention；
Fig. 4 is the target BLE slave units obtained according to terminal device in third embodiment of the invention in diverse location
Schematic diagram；
Fig. 5 is the target BLE slave units obtained according to terminal device in third embodiment of the invention in diverse location
Another schematic diagram；
Fig. 6 is the flow chart according to the localization method based on bluetooth BLE in four embodiment of the invention；
Fig. 7 is the flow chart according to the localization method based on bluetooth BLE in fifth embodiment of the invention；
Fig. 8 is the block diagram according to the positioner based on bluetooth BLE in sixth embodiment of the invention；
Fig. 9 is the block diagram according to the positioner based on bluetooth BLE in seventh embodiment of the invention；
Figure 10 is the block diagram according to the positioner based on bluetooth BLE in eighth embodiment of the invention；
Figure 11 is the block diagram according to the positioner based on bluetooth BLE in ninth embodiment of the invention；
Figure 12 is the block diagram according to the positioner based on bluetooth BLE in tenth embodiment of the invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with each reality of the accompanying drawing to the present invention
The mode of applying is explained in detail.However, it will be understood by those skilled in the art that in each embodiment of the invention,
In order that reader more fully understands the application and proposes many ins and outs.But, even if without these ins and outs and base
Many variations and modification in following embodiment, can also realize the application technical scheme claimed.
The first embodiment of the present invention is related to a kind of localization method based on bluetooth BLE, applied to terminal device.Specifically
Flow is as shown in figure 1, it includes：
Step 101, the low-power consumption bluetooth BLE switches for the equipment that opens a terminal, scan BLE slave units.
It is noted that BLE slave units can be the smart machine with communication function, and for example, BLE slave units
Started writing based on can be, but not limited to.Also, the bluetooth on terminal device can support bluetooth4.1/4.2 agreement.
Specifically, it is the bluetooth setting switch enable key of terminal device, when switch, which enables key, to be triggered, terminal device
It may search for neighbouring BLE slave units.When terminal device searches for BLE slave units, search result can in the form of a list be enumerated
Out.Also, the BLE slave units shown in list can be, but not limited to include following information：The name of BLE slave units, physics
Address (MAC Address), RSSI value (signal intensity that RSSI Chinese is interpreted as receiving is indicated) etc..
Step 102, judge whether to find target BLE slave units.If it is, into step 103；Otherwise, return to step
101。
Specifically, user from scan list can find needs and seek according to the name or MAC Address of BLE slave units
The target BLE slave units looked for.Click on the virtual push button for finding target BLE slave units.Terminal device is being received to mesh
When marking the searching instruction of BLE slave units, it is possible to determine that arrive target BLE slave units for scanning.
It should be noted that in actual design process, target BLE can also be found by another way from setting
It is standby.Such as, each BLE slave unit can be stored in terminal device in advance.Before scanning BLE slave units, first from prestoring
A target BLE slave unit is selected in BLE slave units.When target BLE slave units are arrived in scanning, it is possible to determine that to find target
BLE slave units.
Step 103, terminal device residing initial position S1 in itself is obtained.Obtain terminal device and target BLE slave units
The distance between R1.
Step 104, control terminal equipment obtains terminal device location S2 in itself again in other positions.Obtain
The distance between terminal device and target BLE slave units R2.
Step 105, according to S1, R1, S2, the R2 got, the position of target BLE slave units is calculated.
It should be noted that due to the first area scope residing for can determining target BLE slave units according to S1 and R1.Root
The second area scope residing for target BLE slave units can be determined according to S2 and R2.First area scope and second area scope
Overlapping positions, you can be defined as the location of target BLE slave units.Also, in actual design, in order that obtaining target
The position of BLE slave units is more accurate, can obtain S3, R3 with control terminal equipment the 3rd position.Finally according to S1,
R1, S2, R2, S3, R3, calculate the position of target BLE slave units.
By the above, it is seen that, present embodiment allows to very easily realize to target BLE slave units
Positioning, greatly shortens the time for finding target BLE slave units.Also, without disposing iBeacon or Bluetooth AP indoors, just
The positioning to target BLE slave units can be realized, without complicated data processing architecture, reduction hardware cost.
Second embodiment of the present invention is related to a kind of localization method based on bluetooth BLE.Second embodiment is
The improvement done on the basis of one embodiment.Mainly the improvement is that：In this second embodiment, calculated using weighted mass center
Method, calculates the region where target BLE slave units.
Idiographic flow is as shown in Fig. 2 it includes：
Step 201, the low-power consumption bluetooth BLE switches for the equipment that opens a terminal, scan BLE slave units.
It is noted that BLE slave units can be the smart machine with communication function, and for example, BLE slave units
Started writing based on can be, but not limited to.Also, the bluetooth on terminal device can support bluetooth4.1/4.2 agreement.It is actual
Application in, target BLE slave units periodically send broadcast data packet.When terminal device receives broadcast data packet.Eventually
End equipment can scan neighbouring BLE slave units.
Specifically, it is the bluetooth setting switch enable key of terminal device, when switch, which enables key, to be triggered, terminal device
It may search for neighbouring BLE slave units.When terminal device searches for BLE slave units, search result can in the form of a list be enumerated
Out.Also, the BLE slave units shown in list can be, but not limited to include following information：The name of BLE slave units, physics
Address (MAC Address), RSSI value (signal intensity that RSSI Chinese is interpreted as receiving is indicated) etc..
Step 202, judge whether to find target BLE slave units.If it is, into step 203；Otherwise, return to step
201。
Specifically, user from scan list can find needs and seek according to the name or MAC Address of BLE slave units
The target BLE slave units looked for.Click on the virtual push button for finding target BLE slave units.Terminal device is being received to mesh
When marking the searching instruction of BLE slave units, it is possible to determine that to find target BLE slave units.
It should be noted that in actual design process, target BLE can also be found by another way from setting
It is standby.Such as, each BLE slave unit can be stored in terminal device in advance.Before scanning BLE slave units, first from prestoring
A target BLE slave unit is selected in BLE slave units.When target BLE slave units are arrived in scanning, it is possible to determine that to find target
BLE slave units.
Step 203, terminal device residing initial position S1 in itself is obtained.Wherein, the initial bit of the terminal device of acquisition
It can be the origin of coordinates to put.
Step 204, according to RSSI value, computing terminal equipment is with target BLE slave units apart from R1.
In this step, the signal of target BLE slave units can be received first.And from the target BLE slave units received
Parsing obtains signal intensity RSSI value in signal.
It is noted that computing terminal equipment can be carried out using distance-finding method is obtained based on received signal strength RSSI value
With the distance of target BLE slave units.Such as：First, terminal device receives the Measured Power that target BLE slave units are sent
(Measured Power be between iBeacon modules and receiver at a distance of 1m when reference reception signal it is strong) and pass through wireless communication
RSSI value after road decay.Secondly, the model formation propagated according to indoor radio signal, determine terminal device and target BLE from
The distance of equipment.
Specifically, RSSI value P (d) is obtained；According to the propagation model formula P (d) of signal=P (d0) -10a ㏒ (Ri/
D0)+m calculates Ri；Wherein, a is preset value, and d0 is the pre-determined distance between terminal device and target BLE slave units, and P (d0) is
The datum tried to achieve according to d0.
For example, the d0 in formula is usually 1 meter.P (d0) is the distance between terminal device and target BLE slave units
For 1 meter when, terminal device receive power RSSI value.Power RSSI unit is dBm.A be wireless channel decay factor, this because
It is sub to be closely related with specific wireless environment.It can be stored in advance in terminal device.M is that an average is 0, obeys Gauss point
The random factor of cloth.In order to simplify calculating, it is 0 that can take m.I.e. according to P (d)=P (d0) -10a ㏒ (R1/d0), R1 is calculated.
Step 205, control terminal equipment obtains terminal device residing other positions S2 in itself in other positions, again.
Obtain the distance between terminal device and target BLE slave units R2.
This step can receive the signal of target BLE slave units first.And from the signal of the target BLE slave units received
Middle parsing obtains signal intensity RSSI value.According to the RSSI value of extraction, the location of adjustment terminal device.Set in mobile terminal
During standby position, terminal device can show itself moving direction and displacement.Terminal device can also point out RSSI value.Specifically
For, when the distance of terminal device and target BLE slave units changes, RSSI value can also change.Such as：
One：During terminal device is moved, if RSSI fade ins.Then show terminal device towards target BLE
Slave unit is moved, and target BLE slave units are located at the moving direction of terminal device.Ownership goal BLE slave units can be pointed out to be located at
The moving direction of terminal device.In order to which user control terminal equipment is in other positions, the data of acquisition are more accurate.Two：
If RSSI fade outs.Then show that terminal device is moved away from target BLE slave units, target BLE slave units are set positioned at terminal
The opposite direction of standby moving direction.Ownership goal BLE slave units can be pointed out to be located at the opposite of the moving direction of terminal device
Direction.In order to which user control terminal equipment is in other positions, the data of acquisition are more accurate.Three：If RSSI signals are first
Diminuendo after crescendo.Then show that target BLE slave units are located at the both sides that terminal device moves route.Ownership goal BLE can be pointed out
Slave unit is located at the both sides that terminal device moves route.In order to which user control terminal equipment is in other positions, the number of acquisition
According to more accurate.
The other positions of terminal device are the relative position relative to initial position.Terminal can be obtained in the following manner
Relative position of the equipment in other positions：Moving direction of the terminal device relative to initial position is obtained by acceleration transducer
And distance.According to moving direction and apart from computing terminal equipment other positions relative position.According to P (d)=P (d0) -10a
㏒ (R2/d0), calculates R2.
Step 206, using weighted mass center algorithm, according to the several of Si coordinate and each position of Ri value computing terminal equipment
What barycenter.
It is noted that S1, S2 can be defined as to two known node S1 coordinate (X1, Y1), S2 coordinate
(X2, Y2), barycenter (X12, Y12) (position of barycenter substantially target BLE slave units) is defined as by S12, then S12 to S1 away from
From for R1, then S12 to S2 distance is R2.The principle of weighted mass center algorithm is probably as follows with mathematic(al) representation：
(X12-X1)/R1=(X2-X12)/R2；
(Y12-Y1)/R1=(Y2-Y12)/R2.
Solving equations can be obtained：
X12=(X1/R1+X2/R2)/(1/R1+1/R2)；
Y12=(Y1/R1+Y2/R2)/(1/R1+1/R2).
Wherein, Ri/1 is the weights of Si nodes.Because terminal device distance objective BLE slave units it is closer to the distance when,
Measurement error to target BLE slave units position is smaller.I.e. Ri is got over hour, and above-mentioned weights are bigger, when Ri is bigger, above-mentioned power
Value is just smaller.
It should be noted that because target BLE slave units are located at the location of Si barycenter.Also, in actual design
In, in order that the position for obtaining target BLE slave units is more accurate.It can be obtained with control terminal equipment the 3rd position
S3、R3.Finally according to S1, R1, S2, R2, S3, R3, the position of target BLE slave units is calculated.In actual application, may be used also
With control terminal equipment at least N number of position, S n, R n are obtained.Wherein N is the natural number more than 3.
Using weighted mass center algorithm, according to S n coordinate and R n value calculate S n barycenter (X123..n,
Y123..n)。
X123..n=(X1/d1+X2/d2+X3/d3+...+X n/d n)/(1/d1+1/d2+1/d3...+1/dn)；
Y123..n=(Y1/d1+Y2/d2+Y3/d3+...+Y n/d n)/(1/d1+1/d2+1/d3...+1/dn).
Target BLE slave units are located at the region where geometry barycenter in present embodiment.Wherein, target BLE slave units
Position is the relative position relative to above-mentioned initial position.
By the above, it is seen that, present embodiment uses weighted mass center algorithm, calculates target BLE slave units institute
Region.So as to which there is provided a kind of specific calculation for calculating target BLE slave units position.Also, calculated by this
Mode so that the position for obtaining target BLE slave units is more accurate.
Third embodiment of the present invention is related to a kind of localization method based on bluetooth BLE.3rd embodiment and second
Embodiment is roughly the same.It is in place of the main distinction：In this second embodiment, using weighted mass center algorithm, target is calculated
Region where BLE slave units.And in the third embodiment, by arranging the equation formulations of circle, calculate target BLE slave units institute
Region.
Idiographic flow is as shown in figure 3, it includes：
Step 301, the low-power consumption bluetooth BLE switches for the equipment that opens a terminal, scan BLE slave units.
It is noted that BLE slave units can be the smart machine with communication function, and for example, BLE slave units
Started writing based on can be, but not limited to.Also, the bluetooth on terminal device can support bluetooth4.1/4.2 agreement.
Specifically, it is the bluetooth setting switch enable key of terminal device, when switch, which enables key, to be triggered, terminal device
It may search for neighbouring BLE slave units.When terminal device searches for BLE slave units, search result can in the form of a list be enumerated
Out.Also, the BLE slave units shown in list can be, but not limited to include following information：The name of BLE slave units, physics
Address (MAC Address), RSSI value (signal intensity that RSSI Chinese is interpreted as receiving is indicated) etc..
Step 302, judge whether to find target BLE slave units.If it is, into step 303；Otherwise, return to step
301。
Specifically, user from scan list can find needs and seek according to the name or MAC Address of BLE slave units
The target BLE slave units looked for.Click on the virtual push button for finding target BLE slave units.Terminal device is being received to mesh
When marking the searching instruction of BLE slave units, it is possible to determine that to find target BLE slave units.
It should be noted that in actual design process, target BLE can also be found by another way from setting
It is standby.Such as, each BLE slave unit can be stored in terminal device in advance.Before scanning BLE slave units, first from prestoring
A target BLE slave unit is selected in BLE slave units.When target BLE slave units are arrived in scanning, it is possible to determine that to find target
BLE slave units.
Step 303, terminal device residing initial position S1 in itself is obtained.Wherein, the initial bit of the terminal device of acquisition
It can be the origin of coordinates to put.
Step 304, according to RSSI value, computing terminal equipment is with target BLE slave units apart from R1.
Specifically, terminal device can receive the signal of target BLE slave units.Parsing obtains letter from the signal of reception
Number intensity RSSI value.According to the RSSI value of parsing, computing terminal equipment is with target BLE slave units apart from R1.
It is noted that computing terminal equipment can be carried out using distance-finding method is obtained based on received signal strength RSSI value
With the distance of target BLE slave units.First, terminal device receives the Measured Power that target BLE slave units are sent
(Measured Power be between iBeacon modules and receiver at a distance of 1m when reference reception signal it is strong) and pass through wireless communication
RSSI value after road decay.Secondly, the model formation propagated according to indoor radio signal, determine terminal device and target BLE from
The distance of equipment.
Specifically, RSSI value P (d) is obtained；According to the propagation model formula P (d) of signal=P (d0) -10a ㏒ (Ri/
D0)+m calculates Ri；Wherein, a is preset value, and d0 is the pre-determined distance between terminal device and target BLE slave units, and P (d0) is
The datum tried to achieve according to d0.
For example, the d0 in formula is usually 1 meter.P (d0) is the distance between terminal device and target BLE slave units
For 1 meter when, terminal device receive power RSSI value.Power RSSI unit is dBm.A be wireless channel decay factor, this because
It is sub to be closely related with specific wireless environment.It can be stored in advance in terminal device.M is that an average is 0, obeys Gauss point
The random factor of cloth.In order to simplify calculating, it is 0 that can take m.I.e. according to P (d)=P (d0) -10a ㏒ (R1/d0), R1 is calculated.
As shown in figure 4, due to terminal device, residing initial position is S1 in itself.Terminal device and target BLE slave units
Apart from R1.So, target BLE slave units are using S1 as the center of circle, and radius is on R1 circle.
Step 305, control terminal equipment obtains terminal device residing other positions S2 in itself in other positions, again.
Obtain the distance between terminal device and target BLE slave units R2.Now, target BLE slave units are using S2 as the center of circle, and radius is
On R2 circle.
The other positions of terminal device are the relative position relative to initial position.Terminal can be obtained in the following manner
Relative position of the equipment in other positions：Moving direction of the terminal device relative to initial position is obtained by acceleration transducer
And distance.According to moving direction and apart from computing terminal equipment other positions relative position.According to P (d)=P (d0) -10a
㏒ (R2/d0), calculates R2.
Step 306, in the horizontal direction, it is the equation formulations of radius row circle by center of circle Ri of Si.
Specifically, because target BLE slave units are located at using S1 as the center of circle, radius is on R1 circle.Simultaneously target BLE from
Equipment is located at using S2 as the center of circle, and radius is on R2 circle.So target BLE slave units are located at the intersecting area that above-mentioned two is justified.
Step 307, according to the value of Si coordinate and Ri, each round intersection point is calculated.
When above-mentioned two circle is tangent, according to the value of Si coordinate and Ri, it is a point A points to calculate two round intersection points
(as shown in Figure 4), can accurately realize the positioning of target BLE slave units.
It is noted that as shown in figure 5, in actual application process, if the intersection point of above-mentioned two circle is 2 points,
B points and C points respectively, then target BLE slave units be located in above-mentioned 2 points a bit.Now, in order that obtaining target BLE from setting
Standby position is more accurate.S3, R3 can be obtained with control terminal equipment the 3rd position.Finally according to S1, R1, S2,
R2, S3, R3, the position for calculating target BLE slave units are B points.Target BLE slave units are located at the intersection point institute that each circle has
Region, i.e. region where B points.Wherein, the position of target BLE slave units is the relative position relative to above-mentioned initial position
Put.
By the above, it is seen that, present embodiment calculates target BLE slave units by arranging round equation formulations
The region at place.So as to which there is provided a kind of specific calculation for calculating target BLE slave units position.Also, pass through this meter
Calculation mode so that the position for obtaining target BLE slave units is more accurate.
The 4th embodiment of the present invention is related to a kind of localization method based on bluetooth BLE.4th embodiment is
First, second or the 3rd improvement done on the basis of embodiment.Mainly the improvement is that：In the 4th embodiment, if
The positional precision of target BLE slave units exceeds preset value, then terminal device is moved into new position, reacquires Si, Ri, finally
According to all Si, Ri, the position of target BLE slave units is recalculated.
Idiographic flow is as shown in fig. 6, it includes：
Step 601, the low-power consumption bluetooth BLE switches for the equipment that opens a terminal, scan BLE slave units.
It is noted that BLE slave units can be the smart machine with communication function, and for example, BLE slave units
Started writing based on can be, but not limited to.Also, the bluetooth on terminal device can support bluetooth4.1/4.2 agreement.
Specifically, it is the bluetooth setting switch enable key of terminal device, when switch, which enables key, to be triggered, terminal device
It may search for neighbouring BLE slave units.When terminal device searches for BLE slave units, search result can in the form of a list be enumerated
Out.Also, the BLE slave units shown in list can be, but not limited to include following information：The name of BLE slave units, physics
Address (MAC Address), RSSI value (signal intensity that RSSI Chinese is interpreted as receiving is indicated) etc..
Step 602, judge whether to find target BLE slave units.If it is, into step 603；Otherwise, return to step
601。
Specifically, user from scan list can find needs and seek according to the name or MAC Address of BLE slave units
The target BLE slave units looked for.Click on the virtual push button for finding target BLE slave units.Terminal device is being received to mesh
When marking the searching instruction of BLE slave units, it is possible to determine that to find target BLE slave units.
It should be noted that in actual design process, target BLE can also be found by another way from setting
It is standby.Such as, each BLE slave unit can be stored in terminal device in advance.Before scanning BLE slave units, first from prestoring
A target BLE slave unit is selected in BLE slave units.When target BLE slave units are arrived in scanning, it is possible to determine that to find target
BLE slave units.
Step 603, terminal device residing initial position S1 in itself is obtained.Obtain terminal device and target BLE slave units
The distance between R1.
Step 604, control terminal equipment obtains terminal device location S2 in itself again in other positions.Obtain
The distance between terminal device and target BLE slave units R2.
Step 605, according to S1, R1, S2, the R2 got, the position of target BLE slave units is calculated.
It should be noted that due to the first area scope residing for can determining target BLE slave units according to S1 and R1.Root
The second area scope residing for target BLE slave units can be determined according to S2 and R2.First area scope and second area scope
Overlapping positions, you can be defined as the location of target BLE slave units.Also, in actual design, in order that obtaining target
The position of BLE slave units is more accurate, can obtain S3, R3 with control terminal equipment the 3rd position.Finally according to S1,
R1, S2, R2, S3, R3, calculate the position of target BLE slave units.
Step 606, judge whether the positional precision of target BLE slave units exceeds preset value.If it is, into step
607；Otherwise, terminate.
Specifically, because in actual application, there is error the position for the target BLE slave units that may be calculated.Lift
For example, the positional precision of target BLE slave units can be set within 1 square metre.If the position of target BLE slave units
Scope is within 1 square metre, then the positional precision of target BLE slave units is without departing from preset value.If the position of target BLE slave units
Scope is put more than 1 square metre, then the positional precision of target BLE slave units exceeds preset value.Also, it is it is noted that above-mentioned
Precision is not limited to be set within 1 square metre.Can be arbitrary value by above-mentioned accuracy Design according to actual design demand.
Step 607, terminal device is moved to new position, reacquires terminal device location Si in itself.Obtain
The distance between terminal device and target BLE slave units Ri.Wherein, new position is the institute with calculating target BLE slave units before
There is the position that position is different.
Step 608, according to all Si, the Ri got, the position of target BLE slave units is recalculated.
It is noted that if environmental error is larger, when recalculating the position of target BLE slave units, target BLE
The positional precision of slave unit no may also can exceed preset value.Now, user can stop above-mentioned positioning flow manually.
By the above, it is seen that, present embodiment can make the position for the target BLE slave units oriented more
Accurately.
The 5th embodiment of the present invention is related to a kind of localization method based on bluetooth BLE.5th embodiment and the 4th
Embodiment is roughly the same.Mainly the improvement is that：In the 4th embodiment, if the position essence of target BLE slave units
Degree exceeds preset value, then terminal device is moved into new position, reacquires Si, Ri, finally according to all Si, Ri, again
Calculate the position of target BLE slave units.And in the 5th embodiment, if the positional precision of target BLE slave units exceeds
Preset value, shows for asking the user whether the prompt message continually looked for.
Idiographic flow is as shown in fig. 7, it includes：
Step 701, the low-power consumption bluetooth BLE switches for the equipment that opens a terminal, scan BLE slave units.
It is noted that BLE slave units can be the smart machine with communication function, and for example, BLE slave units
Started writing based on can be, but not limited to.Also, the bluetooth on terminal device can support bluetooth4.1/4.2 agreement.
Specifically, it is the bluetooth setting switch enable key of terminal device, when switch, which enables key, to be triggered, terminal device
It may search for neighbouring BLE slave units.When terminal device searches for BLE slave units, search result can in the form of a list be enumerated
Out.Also, the BLE slave units shown in list can be, but not limited to include following information：The name of BLE slave units, physics
Address (MAC Address), RSSI value (signal intensity that RSSI Chinese is interpreted as receiving is indicated) etc..
Step 702, judge whether to find target BLE slave units.If it is, into step 703；Otherwise, return to step
701。
Specifically, user from scan list can find needs and seek according to the name or MAC Address of BLE slave units
The target BLE slave units looked for.Click on the virtual push button for finding target BLE slave units.Terminal device is being received to mesh
When marking the searching instruction of BLE slave units, it is possible to determine that to find target BLE slave units.
It should be noted that in actual design process, target BLE can also be found by another way from setting
It is standby.Such as, each BLE slave unit can be stored in terminal device in advance.Before scanning BLE slave units, first from prestoring
A target BLE slave unit is selected in BLE slave units.When target BLE slave units are arrived in scanning, it is possible to determine that to find target
BLE slave units.
Step 703, terminal device residing initial position S1 in itself is obtained.Obtain terminal device and target BLE slave units
The distance between R1.
Step 704, control terminal equipment obtains terminal device location S2 in itself again in other positions.Obtain
The distance between terminal device and target BLE slave units R2.
Step 705, according to S1, R1, S2, the R2 got, the position of target BLE slave units is calculated.
It should be noted that due to the first area scope residing for can determining target BLE slave units according to S1 and R1.Root
The second area scope residing for target BLE slave units can be determined according to S2 and R2.First area scope and second area scope
Overlapping positions, you can be defined as the location of target BLE slave units.Also, in actual design, in order that obtaining target
The position of BLE slave units is more accurate, can obtain S3, R3 with control terminal equipment the 3rd position.Finally according to S1,
R1, S2, R2, S3, R3, calculate the position of target BLE slave units.
Step 706, judge whether the positional precision of target BLE slave units exceeds preset value.If it is, into step
707；Otherwise, terminate.
Specifically, because in actual application, there is error the position for the target BLE slave units that may be calculated.Lift
For example, the positional precision of target BLE slave units can be set within 1 square metre.If the position of target BLE slave units
Scope is within 1 square metre, then the positional precision of target BLE slave units is without departing from preset value.If the position of target BLE slave units
Scope is put more than 1 square metre, then the positional precision of target BLE slave units exceeds preset value.Also, it is it is noted that above-mentioned
Precision is not limited to be set within 1 square metre.Can be arbitrary value by above-mentioned accuracy Design according to actual design demand.
Step 707, show for asking the user whether the prompt message continually looked for.
It should be noted that when the positional precision of target BLE slave units exceeds preset value, user is possibly can not be according to meter
Find target BLE slave units in the position of the target BLE slave units drawn.Now, user can be according to the information of display, control
Terminal device is moved to a new position, continues to obtain Si, Ri.Then according to all Si, Ri, target BLE is calculated from setting
Standby position.
By the above, it is seen that, present embodiment can make the position for the target BLE slave units oriented more
Accurately.
The step of various methods are divided above, be intended merely to description it is clear, can be merged into when realizing a step or
Some steps are split, multiple steps are decomposed into, as long as including identical logical relation, all protection domain in this patent
It is interior；To adding inessential modification in algorithm or in flow or introducing inessential design, but its algorithm is not changed
Core design with flow is all in the protection domain of the patent.
Sixth embodiment of the invention is related to a kind of positioner based on bluetooth BLE, applied to terminal device.Such as Fig. 8
Shown, the positioner based on bluetooth BLE includes：Scan module 81, acquisition module 82 and computing module 83.Scan module 81
For scanning BLE slave units.Acquisition module 82 is used for after target BLE slave units are found in the scanning of scan module 81, exists successively
On at least two positions, terminal device location Si in itself is obtained, is obtained between terminal device and target BLE slave units
Apart from Ri.Computing module 83 is used to, according to Si, the Ri got, calculate the position of target BLE slave units.
It is seen that, present embodiment is the device embodiment corresponding with first embodiment, and present embodiment can be with
First embodiment is worked in coordination implementation.The relevant technical details mentioned in first embodiment still have in the present embodiment
Effect, in order to reduce repetition, is repeated no more here.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in
In first embodiment.
It is noted that each module involved in present embodiment is logic module, and in actual applications, one
Individual logic unit can be a part for a physical location or a physical location, can also be with multiple physics lists
The combination of member is realized.In addition, will not be with solving institute of the present invention in the innovative part in order to protrude the present invention, present embodiment
The technical problem relation of proposition less close unit is introduced, but this be not intended that in present embodiment be not present it is other single
Member.
By the above, it is seen that, present embodiment allows to very easily realize to target BLE slave units
Positioning, greatly shortens the time for finding target BLE slave units.Also, without disposing iBeacon or Bluetooth AP indoors, just
The positioning to target BLE slave units can be realized, without complicated data processing architecture, reduction hardware cost.
Seventh embodiment of the invention is related to a kind of positioner based on bluetooth BLE.7th embodiment is the 6th
The improvement done on the basis of embodiment.Mainly the improvement is that：In the 7th embodiment, acquisition module at least includes：
Acquisition submodule and the first calculating sub module.First calculating sub module, for use weighted mass center algorithm, calculate target BLE from
The position of equipment.
As shown in figure 9, the positioner based on bluetooth BLE includes：Scan module 81, acquisition module 82 and computing module
83.Scan module 81 is used to scan BLE slave units.Acquisition module 82 is used to find target BLE from setting in the scanning of scan module 81
After standby, successively at least two positions, terminal device location Si in itself obtained, terminal device and target is obtained
The distance between BLE slave units Ri.Computing module 83 is used to, according to Si, the Ri got, calculate the position of target BLE slave units
Put.
It is noted that the initial position of terminal device is the origin of coordinates, other positions are relative to initial position
Relative position.The position of target BLE slave units is the relative position relative to initial position.
Wherein, acquisition module 82 at least includes：The calculating sub module 822 of acquisition submodule 821 and first.Acquisition submodule
821 are used to obtain moving direction and distance of the terminal device relative to initial position by acceleration transducer.First calculates son
Module 822 be used for according to moving direction and apart from computing terminal equipment other positions relative position.
In addition, the positioner based on bluetooth BLE also includes receiving module, parsing module and adjusting module.Receiving module,
Signal for receiving target BLE slave units.Parsing module, signal intensity RSSI is obtained for being parsed from the signal of reception
Value.Adjusting module (receiving module, parsing module and adjusting module are not indicated in figure), for the RSSI value according to parsing,
Adjust the other positions residing for terminal device.It is noted that for example, one：During terminal device is moved, such as
Fruit RSSI fade ins.Then show that terminal device is moved towards target BLE slave units, target BLE slave units are located at terminal device
Moving direction.Ownership goal BLE slave units can be pointed out to be located at the moving direction of terminal device.In order to user control terminal
Equipment is in other positions, and the data of acquisition are more accurate.Two：If RSSI fade outs.Then show terminal device away from mesh
The motion of BLE slave units is marked, target BLE slave units are located at the opposite direction of the moving direction of terminal device.User's mesh can be pointed out
Mark the opposite direction that BLE slave units are located at the moving direction of terminal device.In order to which user control terminal equipment is in other positions
When, the data of acquisition are more accurate.Three：If diminuendo after the crescendo of RSSI signals elder generation.Then show that target BLE slave units are located at terminal
Equipment moves the both sides of route.Ownership goal BLE slave units can be pointed out to be located at the both sides that terminal device moves route.In order to
User control terminal equipment is in other positions, and the data of acquisition are more accurate.
In addition, the first calculating sub module 822 is additionally operable to use weighted mass center algorithm, calculated according to Si coordinate and Ri value
The geometry barycenter of each position of terminal device, target BLE slave units are located at the region where geometry barycenter.
In addition, acquisition module 82 also includes：Receiving submodule 823, the calculating sub module 825 of analyzing sub-module 824 and second.
Receiving submodule 823, the signal for receiving target BLE slave units.Analyzing sub-module 824, for being solved from the signal of reception
Analysis obtains signal intensity RSSI value.Second calculating sub module 825 is used for the RSSI value according to parsing, computing terminal equipment and target
BLE slave units apart from Ri.
In addition, the second calculating sub module 825 includes：Acquiring unit and the second computing unit.Acquiring unit, for obtaining
RSSI value P (d).Second computing unit, based on the propagation model formula P (d) according to signal=P (d0) -10a ㏒ (Ri/d0)
Calculate Ri.Wherein, a is preset value, and d0 is the pre-determined distance between terminal device and target BLE slave units, and P (d0) is to be asked according to d0
The datum obtained.
Because second embodiment is mutually corresponding with present embodiment, therefore present embodiment can be mutual with second embodiment
It is engaged implementation.The relevant technical details mentioned in second embodiment are still effective in the present embodiment, implement second
The technique effect that can be reached in mode can similarly be realized in the present embodiment, in order to reduce repetition, no longer be gone to live in the household of one's in-laws on getting married here
State.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in second embodiment.
By the above, it is seen that, present embodiment uses weighted mass center algorithm, calculates target BLE slave units institute
Region.So as to which there is provided a kind of specific calculation for calculating target BLE slave units position.Also, calculated by this
Mode so that the position for obtaining target BLE slave units is more accurate.
Eighth embodiment of the invention is related to a kind of positioner based on bluetooth BLE.8th embodiment is real with the 7th
Apply mode roughly the same, be in place of the main distinction：In the 7th embodiment, acquisition module at least includes：Acquisition submodule
With the first calculating sub module.And in the 8th embodiment, the first calculating sub module includes：Setting unit and first calculates single
Member.
As shown in Figure 10, the positioner based on bluetooth BLE includes：Scan module 81, acquisition module 82 and calculating mould
Block 83.Scan module 81 is used to scan BLE slave units.Acquisition module 82 be used for scan module 81 scanning find target BLE from
After equipment, successively at least two positions, terminal device location Si in itself is obtained, terminal device and target is obtained
The distance between BLE slave units Ri.Computing module 83 is used to, according to Si, the Ri got, calculate the position of target BLE slave units
Put.
Wherein, acquisition module 82 at least includes：The calculating sub module 822 of acquisition submodule 821 and first.Acquisition submodule
821 are used to obtain moving direction and distance of the terminal device relative to initial position by acceleration transducer.First calculates son
Module 822 be used for according to moving direction and apart from computing terminal equipment other positions relative position.
In addition, acquisition module 82 also includes：Receiving submodule 823, the calculating sub module 825 of analyzing sub-module 824 and second.
Receiving submodule 823 is used for the signal for receiving target BLE slave units.Analyzing sub-module 824, for being parsed from the signal of reception
Obtain signal intensity RSSI value.Second calculating sub module 825 is used for the RSSI value according to parsing, computing terminal equipment and target
BLE slave units apart from Ri.
In addition, the second calculating sub module 825 includes：Acquiring unit and the second computing unit.Acquiring unit, for obtaining
RSSI value P (d).Second computing unit, based on the propagation model formula P (d) according to signal=P (d0) -10a ㏒ (Ri/d0)
Calculate Ri.Wherein, a is preset value, and d0 is the pre-determined distance between terminal device and target BLE slave units, and P (d0) is to be asked according to d0
The datum obtained.
In addition, the first calculating sub module 822 includes：The computing unit 8222 of setting unit 8221 and first.Setting unit
8221 are used in the horizontal direction, take center of circle Ri as the equation formulations of radius row circle of Si.First computing unit 8222 is used for root
According to Si coordinate and Ri value, each round intersection point is calculated.Target BLE slave units are located at where the intersection point that each circle has
Region.
Because the 3rd embodiment is mutually corresponding with present embodiment, therefore present embodiment can be mutual with the 3rd embodiment
It is engaged implementation.The relevant technical details mentioned in 3rd embodiment are still effective in the present embodiment, implement the 3rd
The technique effect that can be reached in mode can similarly be realized in the present embodiment, in order to reduce repetition, no longer be gone to live in the household of one's in-laws on getting married here
State.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in the 3rd embodiment.
By the above, it is seen that, present embodiment calculates target BLE slave units by arranging round equation formulations
The region at place.So as to which there is provided a kind of specific calculation for calculating target BLE slave units position.Also, pass through this meter
Calculation mode so that the position for obtaining target BLE slave units is more accurate.
Ninth embodiment of the invention is related to a kind of positioner based on bluetooth BLE.9th embodiment be the 6th,
The improvement done on the basis of 7th or the 8th embodiment, is mainly theed improvement is that：In the 9th embodiment, based on bluetooth
BLE positioner also includes the first judge module.
As shown in figure 11, the positioner based on bluetooth BLE includes：Scan module 81, acquisition module 82 and calculating mould
Block 83.Scan module 81 is used to scan BLE slave units.Acquisition module 82 be used for scan module 81 scanning find target BLE from
After equipment, successively at least two positions, terminal device location Si in itself is obtained, terminal device and target is obtained
The distance between BLE slave units Ri.Computing module 83 is used to, according to Si, the Ri got, calculate the position of target BLE slave units
Put.
In addition, the positioner based on bluetooth BLE also includes the first judge module 84.First judge module 84 is used to judge
Whether the positional precision of target BLE slave units exceeds preset value.Acquisition module 82 is additionally operable to the position essence in target BLE slave units
When degree exceeds preset value, terminal device is moved to new position, terminal device location Si in itself is reacquired.Obtain eventually
The distance between end equipment and target BLE slave units Ri.Wherein, new position is with calculating all of target BLE slave units before
The different position in position.Computing module, is additionally operable to, according to all Si, the Ri got, recalculate target BLE slave units
Position.
Because the 4th embodiment is mutually corresponding with present embodiment, therefore present embodiment can be mutual with the 4th embodiment
It is engaged implementation.The relevant technical details mentioned in 4th embodiment are still effective in the present embodiment, implement the 4th
The technique effect that can be reached in mode can similarly be realized in the present embodiment, in order to reduce repetition, no longer be gone to live in the household of one's in-laws on getting married here
State.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in the 4th embodiment.
By the above, it is seen that, present embodiment can make the position for the target BLE slave units oriented more
Accurately.
Tenth embodiment of the invention is related to a kind of positioner based on bluetooth BLE.Tenth embodiment is real with the 9th
Apply mode roughly the same, mainly the improvement is that：In the 9th embodiment, the positioner based on bluetooth BLE also includes
First judge module.And in the tenth embodiment, the positioner based on bluetooth BLE also includes the second judge module and display
Module.
As shown in figure 12, the positioner based on bluetooth BLE includes：Scan module 81, acquisition module 82 and calculating mould
Block 83.Scan module 81 is used to scan BLE slave units.Acquisition module 82 be used for scan module 81 scanning find target BLE from
After equipment, successively at least two positions, terminal device location Si in itself is obtained, terminal device and target is obtained
The distance between BLE slave units Ri.Computing module 83 is used to, according to Si, the Ri got, calculate the position of target BLE slave units
Put.
In addition, the positioner based on bluetooth BLE also includes the second judge module 85 and display module 86.Second judges mould
Block 85 is used to judge whether the positional precision of target BLE slave units to exceed preset value.Display module 86 is used in target BLE from setting
When standby positional precision exceeds preset value, show for asking the user whether the prompt message continually looked for.
Because the 5th embodiment is mutually corresponding with present embodiment, therefore present embodiment can be mutual with the 5th embodiment
It is engaged implementation.The relevant technical details mentioned in 5th embodiment are still effective in the present embodiment, implement the 5th
The technique effect that can be reached in mode can similarly be realized in the present embodiment, in order to reduce repetition, no longer be gone to live in the household of one's in-laws on getting married here
State.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in the 5th embodiment.
By the above, it is seen that, present embodiment can make the position for the target BLE slave units oriented more
Accurately.
It will be appreciated by those skilled in the art that realizing that all or part of step in above-described embodiment method can be by
Program instructs the hardware of correlation to complete, and the program storage is in a storage medium, including some instructions are to cause one
Individual equipment (can be single-chip microcomputer, chip etc.) or processor (processor) perform the whole of each embodiment method of the application
Or part steps.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only
Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can store journey
The medium of sequence code.
It will be understood by those skilled in the art that the respective embodiments described above are to realize the specific embodiment of the present invention,
And in actual applications, can to it, various changes can be made in the form and details, without departing from the spirit and scope of the present invention.
Claims (16)
1. a kind of localization method based on bluetooth BLE, it is characterised in that applied to terminal device；
The localization method based on bluetooth BLE includes：
Scan BLE slave units；
After target BLE slave units are arrived in scanning, it is located at successively in terminal device at least two positions, obtains the terminal and set
The standby position Si being presently in, and the distance between the terminal device and the target BLE slave units Ri；
According to described Si, the Ri got, the position of the target BLE slave units is calculated.
2. the localization method according to claim 1 based on bluetooth BLE, it is characterised in that the terminal device it is initial
Position is the origin of coordinates, and the other positions of the terminal device are the relative position relative to the initial position；
The position of the target BLE slave units is the relative position relative to the initial position.
3. the localization method according to claim 2 based on bluetooth BLE, it is characterised in that in scanning to target BLE from setting
After standby, the localization method based on bluetooth BLE also includes：
Receive the signal of the target BLE slave units；
Parsing obtains signal intensity RSSI value from the signal of reception；
According to the RSSI value of parsing, the location of described terminal device is adjusted.
4. the localization method according to claim 2 based on bluetooth BLE, it is characterised in that obtain institute in the following manner
State relative position of the terminal device in the other positions；
Moving direction and distance of the terminal device relative to the initial position are obtained by acceleration transducer；
Relative position according to the moving direction and apart from the calculating terminal device relative to the initial position.
5. the localization method according to claim 4 based on bluetooth BLE, it is characterised in that the institute that the basis is got
Si, Ri are stated, the position of the target BLE slave units is calculated, specifically includes：Using weighted mass center algorithm, according to Si coordinate
With the geometry barycenter of each position of Ri value computing terminal equipment, the target BLE slave units are located at where the geometry barycenter
Region；
Or, described Si, Ri that the basis is got calculate the position of the target BLE slave units, specifically included：
In horizontal direction, using Si as the center of circle, and round equation formulations are arranged by radius of Ri, according to the value of the coordinate of the Si and Ri, meter
Calculate each round intersection point, the target BLE slave units are located at the region where each circle shared intersection point.
6. the localization method according to claim 1 based on bluetooth BLE, it is characterised in that described to calculate the target
After the position of BLE slave units, the localization method based on bluetooth BLE also includes：
Judge whether the positional precision of the target BLE slave units exceeds preset value；
When the positional precision of the target BLE slave units exceeds preset value, the terminal device is moved to new position, again
The position Si that the terminal device is presently in is obtained, and reacquires the terminal device and the target BLE slave units
The distance between Ri；Wherein, the new position is different from least two position；
According to all described Si, the Ri got, the position of the target BLE slave units is recalculated.
7. the localization method according to claim 1 based on bluetooth BLE, it is characterised in that described to calculate the target
After the position of BLE slave units, the localization method based on bluetooth BLE also includes：
Judge whether the positional precision of the target BLE slave units exceeds preset value；
When the positional precision of the target BLE slave units exceeds preset value, show for asking the user whether what is continually looked for
Prompt message.
8. the localization method according to claim 1 based on bluetooth BLE, it is characterised in that obtain the terminal device with
The distance between target BLE slave units Ri, is specifically included：
Receive the signal of the target BLE slave units；
Parsing obtains signal intensity RSSI value from the signal of reception；
According to the RSSI value of parsing, the terminal device is calculated with the target BLE slave units apart from Ri.
9. a kind of positioner based on bluetooth BLE, it is characterised in that applied to terminal device；
The positioner based on bluetooth BLE includes：Scan module, acquisition module and computing module；
The scan module, for scanning BLE slave units；
The acquisition module, after finding target BLE slave units in scan module scanning, successively in terminal device position
At at least two positions, terminal device location Si in itself, and the terminal device and the target are obtained
The distance between BLE slave units Ri；
The computing module, for according to described Si, the Ri got, calculating the position of the target BLE slave units.
10. the positioner according to claim 9 based on bluetooth BLE, it is characterised in that the terminal device it is initial
Position is the origin of coordinates, and the other positions of the terminal device are the relative position relative to the initial position；
The position of the target BLE slave units is the relative position relative to the initial position.
11. the positioner according to claim 10 based on bluetooth BLE, it is characterised in that described based on bluetooth BLE's
Positioner also includes receiving module, parsing module and adjusting module；
The receiving module, the signal for receiving the target BLE slave units；
The parsing module, signal intensity RSSI value is obtained for being parsed from the signal of reception；
The adjusting module, for the RSSI value according to parsing, adjusts the location of described terminal device.
12. the positioner according to claim 10 based on bluetooth BLE, it is characterised in that the acquisition module is at least
Including：Acquisition submodule and the first calculating sub module；
The acquisition submodule, for obtaining shifting of the terminal device relative to the initial position by acceleration transducer
Dynamic direction and distance；
First calculating sub module, for according to the moving direction and first relative to described apart from the terminal device is calculated
Beginning position relative position.
13. the positioner according to claim 12 based on bluetooth BLE, it is characterised in that described first calculates submodule
Block, is additionally operable to use weighted mass center algorithm, according to the geometry barycenter of each position of Si coordinate and Ri value computing terminal equipment,
The target BLE slave units are located at the region where the geometry barycenter；
Or, first calculating sub module, in the horizontal direction, using Si as the center of circle, and the round side of row by radius of Ri
Journey formula, and for the coordinate and Ri value according to the Si, each round intersection point is calculated, the target BLE slave units are located at
Region where the intersection point that each circle has.
14. the positioner according to claim 9 based on bluetooth BLE, it is characterised in that described based on bluetooth BLE's
Positioner also includes the first judge module；
First judge module, for judging whether the positional precision of the target BLE slave units exceeds preset value；
The acquisition module, is additionally operable to, when the positional precision of the target BLE slave units exceeds preset value, the terminal be set
It is standby to be moved to new position, reacquire terminal device location Si in itself, and the terminal device and the mesh
Mark the distance between BLE slave units Ri；Wherein, the new position is all positions with calculating the target BLE slave units before
Put different positions；
The computing module, is additionally operable to, according to all described Si, the Ri got, recalculate the target BLE slave units
Position.
15. the positioner according to claim 9 based on bluetooth BLE, it is characterised in that described based on bluetooth BLE's
Positioner also includes the second judge module and display module；
Second judge module, for judging whether the positional precision of the target BLE slave units exceeds preset value；
The display module, for when the positional precision of the target BLE slave units exceeds preset value, showing and being used for inquiring
The prompt message whether family continually looks for.
16. the positioner according to claim 9 based on bluetooth BLE, it is characterised in that the acquisition module is also wrapped
Include：Receiving submodule, analyzing sub-module and the second calculating sub module；
The receiving submodule, the signal for receiving the target BLE slave units；
The analyzing sub-module, signal intensity RSSI value is obtained for being parsed from the signal of reception；
Second calculating sub module, for the RSSI value according to parsing, calculates the terminal device and the target BLE
Slave unit apart from Ri.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/073192 WO2018145289A1 (en) | 2017-02-09 | 2017-02-09 | Positioning method and apparatus based on bluetooth ble |
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| CN107079257A true CN107079257A (en) | 2017-08-18 |
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ID=59613512
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|---|---|---|---|
| CN201780000077.0A Pending CN107079257A (en) | 2017-02-09 | 2017-02-09 | Localization method and device based on bluetooth BLE |
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| WO (1) | WO2018145289A1 (en) |
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| CN111819869A (en) * | 2019-12-19 | 2020-10-23 | 深圳市汇顶科技股份有限公司 | Positioning method, device and system |
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| CN113490271B (en) * | 2021-07-07 | 2024-03-26 | 苏州统创信息科技有限公司 | Positioning searching method based on Bluetooth and GPS linkage |
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| CN111757245A (en) * | 2019-06-26 | 2020-10-09 | 广东小天才科技有限公司 | Positioning method of wearable device and service device |
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