CN110049502B - Wireless positioning method and system - Google Patents
Wireless positioning method and system Download PDFInfo
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- CN110049502B CN110049502B CN201910236723.4A CN201910236723A CN110049502B CN 110049502 B CN110049502 B CN 110049502B CN 201910236723 A CN201910236723 A CN 201910236723A CN 110049502 B CN110049502 B CN 110049502B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W16/00—Network planning, e.g. coverage or traffic planning tools; Network deployment, e.g. resource partitioning or cells structures
- H04W16/22—Traffic simulation tools or models
- H04W16/225—Traffic simulation tools or models for indoor or short range network
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- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The invention provides a wireless positioning method and a wireless positioning system, wherein the method comprises the following steps: 1) collecting, by a terminal or a radio base station, an actual data reception rate of data exchange when the terminal performs the data exchange with the radio base station; 2) and executing a positioning algorithm according to the received data receiving rate. According to the scheme of the invention, a hardware device such as a GPS (global positioning system) is not required to be specially arranged, and a large amount of special hardware for wireless positioning is not required to be deployed in the environment. The invention realizes positioning based on the data receiving rate, does not need to separately communicate aiming at the positioning, can match the data receiving rate with any existing wireless positioning algorithm, and can obtain better effect than the signal intensity in a certain environmental condition.
Description
Technical Field
The invention relates to terminal positioning based on wireless communication, in particular to a terminal positioning method and a terminal positioning system which can be directly applied to the Internet of things.
Background
With the development of the internet of things and wireless communication technology, the acquisition and transmission of perception data are more and more widely applied in industry and life. For example, machines (e.g., computers) are interconnected through the internet, people are interconnected through the mobile internet and mobile portable devices (e.g., mobile phones), and the internet of things interconnects everything by using ubiquitous communication technology. The terminal of the internet of things comprises everything, wireless communication needs to cover various occasions such as long distance, medium distance and short distance, in various wireless signals, 3G/4G/5G is suitable for long distance communication, WiFi is suitable for medium distance communication, Bluetooth is suitable for short distance communication, and the terminal of the internet of things is applied to a wide area network, a local area network and a personal area network respectively. Wearable equipment is a typical application of the internet of things in a personal area network, and for power consumption, a low-power bluetooth communication mode is generally adopted for data transmission of the wearable equipment.
One basic requirement of the application of the internet of things is the positioning of a terminal, for example, during the moving process of an industrial robot, the state and the position of the robot need to be monitored and sensing data are transmitted back in real time. Currently, there are two main positioning methods, satellite-based positioning and wireless signal-based positioning. The GPS positioning and the Beidou positioning belong to typical satellite positioning, and because satellite signals are sensitive to shielding and cannot penetrate through a roof or a wall, the satellite positioning is mainly applied to outdoor environments. WiFi location and bluetooth location are typical wireless locations, as wireless base stations are conveniently erected indoors and wireless signals are relatively insensitive to occlusion, wireless location is mainly applied to indoor environments.
According to different positioning algorithms, wireless positioning is mainly divided into signal propagation model positioning and fingerprint positioning, the signal propagation model positioning needs to know the position information of each wireless base station in advance, the algorithm is relatively simple to implement, the positioning result is less affected by the environment, and the positioning accuracy is relatively robust. The fingerprint positioning does not need to know the position information of each wireless base station, but needs to acquire the fingerprint data in the environment in advance, the positioning process is essentially the matching operation process of a fingerprint library, the algorithm is relatively complex to realize, the positioning result is greatly influenced by the environment, and the positioning precision generally decreases along with the time.
However, no matter which positioning algorithm is adopted, the existing wireless positioning is based on signal strength, and the existing wireless positioning based on signal strength has the following two problems:
first, the main function of a wireless base station in a real scene is communication, and the base station layout focuses more on the problem of communication coverage, that is, normal communication can be performed at any position specified in the environment. In the wireless positioning application, in order to ensure that any position specified in the environment can be normally positioned, some wireless positioning resources (such as hardware devices like WiFi probes or bluetooth beacons) need to be additionally deployed besides the existing wireless communication resources.
Second, wireless signal strength may not be available in certain application scenarios (e.g., apple system does not obtain WiFi signal strength). The wireless device generally sends a beacon frame according to a fixed frequency, and the terminal can analyze the current signal strength after receiving the beacon frame, but some types of wireless devices (such as bluetooth) send the beacon frame only in a non-connection state, and will not send the beacon frame any more in a connection state, so that the terminal cannot obtain the current signal strength.
Disclosure of Invention
Therefore, an object of the present invention is to overcome the above-mentioned drawbacks of the prior art, and to provide a wireless positioning method, including:
1) collecting, by a terminal or a radio base station, an actual data reception rate of data exchange when the terminal performs the data exchange with the radio base station;
2) and executing a positioning algorithm according to the received data receiving rate.
Preferably, the method according to the present invention, wherein said wireless base station and said terminal employ bluetooth for said data exchange.
Preferably, the method according to the invention, wherein,
the step 1) comprises the following steps: when the terminal exchanges data with the wireless base station, the terminal transmits data to the wireless base station by adopting a fixed frequency;
the step 2) comprises the following steps: the wireless base station characterizes an actual data reception rate of the data exchange by a received data interval; or
The step 1) comprises the following steps: when the terminal exchanges data with the wireless base station, the wireless base station transmits data to the terminal by adopting a fixed frequency;
the step 2) comprises the following steps: the terminal characterizes the actual data reception rate of the data exchange with respect to the received data interval.
Preferably, the method according to the invention, wherein,
the step 2) comprises the following steps: the wireless base station obtains the actual data receiving rate of the data exchange according to the real-time flow measured by the wireless network card; or
And the terminal obtains the actual data receiving rate of the data exchange according to the real-time flow measured by the wireless network card.
Preferably, the method according to the present invention, wherein step 2) comprises:
and executing a positioning algorithm according to the data receiving rate and the wireless signal strength to obtain the position information of the terminal.
Preferably, the method according to the present invention, wherein step 2) comprises:
and respectively obtaining two positioning information aiming at the terminal according to the data receiving rate and the wireless signal strength, and performing weighted average on the two positioning information to determine the position information of the terminal.
Preferably, the method according to the present invention, wherein step 2) comprises:
and executing a positioning algorithm on the received data receiving rate by adopting a positioning model obtained by data training based on the data receiving rate.
A wireless location system, comprising: a terminal, a wireless base station, and a positioning calculation device, wherein:
the wireless base station is used for exchanging data with the terminal;
said terminal or said base station for collecting and providing actual data reception rates of said data exchanges to said location calculation means;
and the positioning calculation device is used for executing a positioning algorithm according to the data receiving rate.
Preferably, the system according to the present invention, wherein said wireless base station and said terminal employ WiFi or bluetooth for said data exchange.
Preferably, the system according to the invention, wherein,
the terminal is used for sending data by adopting a fixed frequency when exchanging data with the wireless base station, and the wireless base station is used for representing the actual data receiving rate of the data exchange by the received data interval; or
The wireless base station is used for transmitting data by adopting a fixed frequency when exchanging data with the terminal, and the terminal is used for representing the actual data receiving rate of the data exchange by the received data interval.
Preferably, the system according to the invention, wherein,
and the terminal or the base station is used for obtaining the actual data receiving rate of the data exchange according to the real-time flow measured by the wireless network card.
Preferably, the system according to the present invention further comprises a plurality of wireless base stations, wherein the wireless base stations are configured to exchange data with the terminal, the terminal or the base stations are configured to collect actual data receiving rates of data exchange corresponding thereto and provide the actual data receiving rates to the positioning calculation device, and the positioning calculation device is configured to execute a positioning algorithm according to the data receiving rates of data exchange with the respective base stations and the terminal.
Compared with the prior art, the embodiment of the invention has the advantages that:
only the terminal is provided with the communication module, hardware devices such as a GPS and the like do not need to be specially arranged, and the manufacturing cost and the operation power consumption of the terminal are reduced.
It is not necessary to deploy large amounts of dedicated hardware for wireless positioning in the environment.
The present invention realizes positioning based on a data reception rate that can be acquired only when a terminal performs necessary data transmission with a radio base station without separately communicating for positioning. The data reception rate can be matched with any existing wireless positioning algorithm, and better effect can be obtained in certain environmental conditions than the signal strength is adopted. For example, more data for the data receiving rate can be conveniently obtained in the same time span, thereby improving the accuracy and response time of wireless positioning. For another example, the discrimination of the data receiving rate is better than the traditional signal strength in monotonicity and stability, and better conforms to the principle of the existing wireless positioning algorithm.
Drawings
Embodiments of the invention are further described below with reference to the accompanying drawings, in which:
FIG. 1 is a schematic diagram of an Internet of things scenario requiring wireless location;
FIG. 2 is a flow diagram of a method of wireless location based on data reception rate according to one embodiment of the present invention;
fig. 3 is a fluctuation diagram of data reception intervals of bluetooth, in which (a) - (f) correspond to test results of distances between a terminal and a radio base station of 50 meters, 100 meters, 150 meters, 200 meters, 250 meters, 300 meters, respectively;
fig. 4 is a fluctuation graph of signal intensity of bluetooth under the same conditions as fig. 3, in which (a) - (f) correspond to test results of distances between the terminal and the radio base station of 50 meters, 100 meters, 150 meters, 200 meters, 250 meters, and 300 meters, respectively;
fig. 5(a) is a graph showing the data reception interval of the bluetooth corresponding to fig. 3, and fig. 5(b) is a graph showing the signal intensity of the bluetooth corresponding to fig. 4;
fig. 6(a) is a fluctuation rate of a data reception interval of the bluetooth corresponding to fig. 3, and fig. 6(b) is a fluctuation rate of a signal intensity of the bluetooth corresponding to fig. 4;
fig. 7(a) is a diagram of the number of data reception frames of bluetooth corresponding to fig. 3, and fig. 7(b) is a diagram of the number of beacon reception frames of bluetooth corresponding to fig. 4.
Detailed Description
As analyzed in the background art, in the existing wireless positioning technology implemented by using signal strength, many additional WiFi base stations or bluetooth base stations need to be deployed, and if the wireless signal strength cannot be obtained, wireless positioning cannot be implemented, for example, bluetooth does not send a beacon frame in a connected state, so that the signal strength of a terminal cannot be obtained through beacon frame analysis, thereby causing positioning failure.
The inventor finds that data other than the signal strength can change monotonically with the distance between the terminal and the base station, and the data is the data receiving rate. Fig. 3-7 show the results of the inventors' tests in which bluetooth is used to communicate with a base station to characterize the data reception rate in terms of data reception intervals (the effective data reception rate is inversely proportional to the data reception intervals when the data frame length is fixed). In this experiment, the effects of location based on data reception intervals and signal strengths were compared by analyzing the data reception intervals and bluetooth signal strengths as the quality of the location data sources. The following metrics for comparing data quality include: the system comprises a fluctuation rate and a discrimination, wherein the fluctuation rate refers to the change degree of data at the same position along with time, and the discrimination refers to the change degree of the data at the same moment along with distance. For this experiment, the effective range of data reception interval was 0 to 2s, and the effective range of Bluetooth signal strength was-80 db to-110 db.
Fig. 3 is a fluctuation diagram of data reception intervals of bluetooth in 45 seconds, in which (a) - (f) correspond to test results of distances between a terminal and a radio base station of 50 meters, 100 meters, 150 meters, 200 meters, 250 meters, and 300 meters, respectively. Where the abscissa is a continuous time interval (from 0 to 45 seconds), the ordinate is the span of the data at the same location over the time received, and the two horizontal lines represent the median and mean, respectively. Where "1983" in "span _50cm _1983_ 1.64" in fig. 3(a) is the number of frames of data, and 1.64 is the fluctuation rate, similar expressions are used for fig. 3(b) - (f). As can be seen from comparison of (a) to (f) of fig. 3, the fluctuation of the data reception interval increases as the distance between the radio base station and the terminal increases, and the fluctuation thereof in the effective range is relatively gentle at a short distance (within about 200 cm). Also, as can be seen by comparing fig. 3(a) - (f), the data amount of the data reception interval (i.e., the number of data points in the figure) decreases as the distance between the radio base station and the terminal increases.
Fig. 4 is a fluctuation graph of signal strength of bluetooth under the same conditions as fig. 3, in which (a) - (f) correspond to test results of distances between the terminal and the radio base station of 50 meters, 100 meters, 150 meters, 200 meters, 250 meters, and 300 meters, respectively, and the abscissa and ordinate thereof can refer to the explanation with respect to fig. 3. As can be seen by comparing (a) to (f) of fig. 4, the fluctuation of the bluetooth signal intensity decreases as the distance between the radio base station and the terminal increases, and the fluctuation in the effective range is relatively gentle at a long distance (greater than about 200 cm). Similarly to fig. 3, the data amount of the bluetooth signal strength also decreases as the distance between the radio base station and the terminal increases.
As can be seen by comparing fig. 3 and fig. 4 in a whole, in the same situation, the data volume of the data receiving interval is much larger than that of the bluetooth signal strength (fig. 3 has more data points), which makes the fluctuation of the bluetooth signal strength within the effective range more gradual at a long distance (greater than about 200cm), but is not favorable for positioning based on the bluetooth signal strength because the available data volume of the bluetooth signal strength is very small. In addition, for the same time span, the data volume of the data receiving interval is obviously more than that of the Bluetooth signal intensity, so that when the two types of data are respectively used as positioning data sources, the data receiving interval with more data volume is more beneficial to improving the accuracy and the response time of wireless positioning.
Fig. 5 is a differentiated view corresponding to fig. 3 and 4, in which fig. 5(a) is a differentiated view of a data reception interval of the bluetooth corresponding to fig. 3, and fig. 5(b) is a differentiated view of a signal intensity of the bluetooth corresponding to fig. 4. In fig. 5, the abscissa represents the distance between the radio base station and the terminal, and the ordinate represents the data reception interval and the signal strength of data at the same position in the same time span. Referring to fig. 5(a), it can be seen that the data reception interval changes relatively steadily as the distance between the radio base station and the terminal increases, and it can be considered that the data reception interval increases monotonically as the distance increases. In contrast, as can be seen from fig. 5(b), the bluetooth signal strength exhibits a decreasing trend as the distance between the radio base station and the terminal increases as a whole, but the decreasing trend is not stable, as it appears to fluctuate at a plurality of values. Based on the results shown in fig. 5, it can be concluded that the signal strength and the data receiving interval both reflect the distance trend between the terminal and the wireless base station to some extent, and compared with the conventional signal strength, the monotonicity and stability of the data receiving interval are better, which makes the data using the data receiving interval more consistent with the principle of the existing wireless positioning algorithm.
Fig. 6 is a fluctuation rate graph corresponding to fig. 3 and 4, in which fig. 6(a) is a fluctuation rate of a data reception interval of the bluetooth corresponding to fig. 3, and fig. 6(b) is a fluctuation rate of a signal intensity of the bluetooth corresponding to fig. 4. As can be seen by comparing fig. 6(a) and 6(b), the data reception interval of bluetooth is almost equivalent to the fluctuation rate of the signal strength at various distances.
Fig. 7 is a frame number distinction diagram corresponding to fig. 3 and 4, in which fig. 7(a) is a data reception frame number diagram of bluetooth corresponding to fig. 3, and fig. 7(b) is a beacon reception frame number diagram of bluetooth corresponding to fig. 4. The ordinate of fig. 7 represents the frame number value at the distance of the corresponding abscissa. As can be seen from fig. 7(a) and 7(b), the number of data reception frames and the number of bluetooth beacon reception frames decrease monotonically with increasing distance, except that at any one distance, the number of data reception frames is much larger than the number of bluetooth beacon reception frames, which proves that the data reception interval has a larger data amount, and is very beneficial to improving the accuracy and response time of wireless positioning.
It is to be understood that fig. 3-7 above are test results for bluetooth communication, the maximum transmission distance of bluetooth is typically several meters to ten and several meters, and for other communication modes, such as WiFi (the maximum transmission distance is typically several tens of meters to several hundreds of meters), it may also reflect similar trends, such as large fluctuation of the fluctuation pattern of the data receiving interval in a range greater than several tens of meters.
Based on the above experimental results, the inventors have proposed a wireless positioning method that can achieve positioning without considering a terminal connection state by using existing wireless communication resources in an environment. The inventor finds, through research, that there is a correlation between the data receiving rate and the distance between the terminal and the wireless base station, which is particularly obvious for transmission modes with relatively small transmitting power (for example, using WiFi and bluetooth), and appears as follows: the closer to the radio base station, the higher the data reception rate. Thus, the data reception rate may be used instead of the wireless signal strength as a data source for the wireless location algorithm. In the present invention, the wireless base station may be any device capable of exchanging data with a terminal, such as a wireless router or a hot spot formed by another terminal.
For some terminals, the application layer can obtain the real-time traffic information measured by the wireless network card (for example, the android system can obtain the real-time traffic of WiFi), so that the data receiving rate data can be directly utilized. However, for other terminals, where the underlying layer does not provide a real-time data reception rate (e.g., a tailored embedded Linux system), a data reception interval may be employed to characterize the data reception rate for such terminals. The reason for this is that the inventors found that the data reception rate is inversely proportional to the data reception interval under the condition that the length of the data frame is fixed.
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 illustrates a wireless location system that may be used with the present invention. Referring to fig. 1, the positioning system includes a plurality of wireless base stations and a robot (terminal), and a positioning calculation device (not shown), which may be integrated on the wireless base stations or the robot, or may be provided as a separate device. In one embodiment of the present invention, the wireless base station is a device that can be used for data exchange with the terminal, and the actual data reception rate at the time of data exchange is collected by either the wireless base station or the robot and supplied to the positioning calculation device, and the positioning calculation device executes the positioning algorithm based on the data reception rate. In the present invention, the positioning calculation means may employ any one of existing positioning algorithms, which is different from the prior art in that it uses the obtained data reception rate instead of the conventional signal strength for calculation.
Referring to fig. 1, in this embodiment of the present invention, respective wireless base stations may be deployed at known positions in a communication environment. In some application scenarios of the internet of things, the robot itself needs to communicate with the wireless base station to acquire data of the external device, so that the robot can be located by utilizing the process of transmitting data to the robot by the wireless base station without separately setting additional communication specially used for wireless location. For example, real-time data of the external device is acquired when the robot moves, the posture of the external device is monitored by the internet of things system, and the real-time data (such as the acceleration of other devices, the environmental tilt angle and the like) is provided to the robot through the wireless base station.
The following describes a wireless positioning method based on data receiving rate according to the present invention by using the wireless positioning system shown in fig. 1 as an example. It is assumed that the positioning calculation device is provided on the robot and the wireless base station communicates with the robot by means of bluetooth. The bluetooth base station collects data of the external device at a frequency of 50Hz and transmits the data at the lowest transmission power. The length of each data frame is fixed to be 24 bytes, and the sequence is as follows: start code data (2 bytes), timestamp (4 bytes), 3-axis acceleration data (6 bytes), 3-axis angular velocity data (6 bytes), 3-axis tilt angle data (6 bytes). At this time, the data transmission rate of the bluetooth base station is 24 × 8 × 50 ÷ 1000 ÷ 9.6 kbps.
Referring to fig. 2, a wireless positioning method according to an embodiment of the present invention is described, which includes:
And 2, the Bluetooth base station collects data of the external equipment and sends the data to the robot at the rate of 9.6 kpbs.
And 3, recording the time stamp of each data frame while receiving the data by the robot, and determining the time interval between the adjacent data frames (namely the data receiving interval) according to the time stamp.
And 4, taking the time interval as a data source of the positioning algorithm, and executing the positioning algorithm. In an embodiment of the present invention, existing time interval data may be collected as a sample to train a time interval-based positioning model, and the time interval measured through the foregoing steps is directly input into the trained positioning model to obtain a positioning result when step 4 is implemented. In another embodiment of the present invention, the corresponding relationship between the time interval and the signal strength may be predetermined, and in the step 4, the time interval measured by the previous step is converted into a signal strength value and input into the existing positioning model based on the signal strength to obtain the positioning result.
According to another embodiment of the invention, the wireless base station may also communicate with the robot via WiFi.
According to another embodiment of the present invention, the transmission power used when the wireless base station communicates with the terminal is determined by the requirement of the wireless base station to actually transmit data (e.g. acceleration of other devices, environmental tilt angle, etc.) with the terminal in a specific application scenario.
According to another embodiment of the present invention, the actual data receiving rate of data exchange is obtained by the terminal or the wireless base station according to the real-time traffic measured by its wireless network card, and the data receiving rate is provided to the positioning calculation device to execute the positioning algorithm by the positioning calculation device according to the data receiving rate.
According to another embodiment of the present invention, the available bandwidth or packet loss rate is used instead of the data receiving rate, and the available bandwidth or packet loss rate is provided to the positioning calculation device to execute the positioning algorithm by the positioning calculation device according to the available bandwidth or packet loss rate. The reason for the available bandwidth is that both the available bandwidth and the data reception rate correspond to the amount of data traffic transmitted per second, and the available bandwidth is generally slightly larger than the data reception rate, so the available bandwidth may alternatively be used to characterize the approximate value of the data reception rate. The lower layers of the network (e.g., the data link layer) are typically represented by bandwidth, the higher layers of the network (e.g., the application layer) are typically represented by the data reception rate, and the passing of data from the higher layers to the lower layers adds a header and control fields and possibly an acknowledgement layer by layer. In the above embodiment, the data sending rate is a fixed value, and in the case of a fixed sending rate, the signal is weakened along with the increase of the transmission distance, so that the packet loss rate is increased, and therefore the packet loss rate may be used instead of the data receiving rate.
According to another embodiment of the present invention, when a data frame transmitted by the terminal and the radio base station does not include a time stamp, a time when the data frame is received is taken as the time stamp of the data frame to obtain a data reception interval according to a difference between time stamps of adjacent data frames.
According to an embodiment of the present invention, the positioning calculation means may be a machine learning model obtained by training using an existing positioning algorithm with a data reception rate (or a data reception interval) of the terminal and the base station as a sample.
According to an embodiment of the present invention, the positioning calculation device may be further configured to provide the terminal and/or the radio base station with its positioning result for the terminal.
The above-described embodiments of the present invention have the following advantages:
1. the embodiment of the invention only needs the terminal to be provided with the communication module, and does not need to be specially provided with hardware devices such as a GPS (global positioning system), thereby reducing the manufacturing cost and the operation power consumption of the terminal.
2. The solution of the above embodiment does not necessitate deploying a large amount of dedicated hardware in the environment for wireless positioning.
3. The above-described embodiments perform positioning based on the data reception rate, which can be acquired only when the terminal performs necessary data transmission with the radio base station, without separately performing communication for positioning.
4. The data receiving rate used by the embodiment of the invention can be matched with any existing wireless positioning algorithm, and better effect than the signal intensity can be obtained under certain environmental conditions. For example, more data for the data receiving rate can be conveniently obtained in the same time span, thereby improving the accuracy and response time of wireless positioning. For another example, the discrimination of the data receiving rate is better than the traditional signal strength in monotonicity and stability, and better conforms to the principle of the existing wireless positioning algorithm.
In addition, the inventor invents that the wireless positioning method based on the data receiving rate and the wireless positioning method based on the signal strength have certain complementarity under different environments and communication conditions. As can be seen from the analysis of fig. 3 to 7, when the distance between the radio base station and the terminal is within a certain relatively small range of values, the data amount of the data reception rate is sufficient and the fluctuation is relatively small.
To this end, the present invention proposes a wireless positioning method combining a wireless positioning method based on a data reception rate and a wireless positioning method based on a signal strength, and according to an embodiment of the present invention, the method includes: and uniformly taking the data receiving rate and the signal strength as data sources of a wireless positioning algorithm, or respectively taking the data receiving rate and the signal strength as data sources of the wireless positioning algorithm, and carrying out weighted average on the two obtained positioning results to obtain a final positioning result.
It should be noted that, all the steps described in the above embodiments are not necessary, and those skilled in the art may make appropriate substitutions, replacements, modifications, and the like according to actual needs. For example, the invention can be applied to other scenes needing wireless positioning besides the internet of things.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (11)
1. A positioning method for a short-range wireless communication manner, wherein data exchange between a wireless base station and a terminal employs a signal whose data reception rate monotonically changes with a distance between the wireless base station and the terminal, the method comprising:
1) collecting, by a terminal or a radio base station, an actual data reception rate of data exchange when the terminal performs the data exchange with the radio base station;
2) and training an obtained positioning model by adopting data based on a data receiving rate, and inputting the received data receiving rate into the positioning model to obtain a positioning result of the terminal.
2. The method of claim 1, wherein the wireless base station and the terminal employ bluetooth for the data exchange.
3. The method of claim 1 or 2,
the step 1) comprises the following steps: when the terminal exchanges data with the wireless base station, the terminal transmits data to the wireless base station by adopting a fixed frequency, and the wireless base station represents the actual data receiving rate of the data exchange according to the received data interval; or
The step 1) comprises the following steps: when the terminal exchanges data with the wireless base station, the wireless base station transmits data to the terminal by adopting a fixed frequency, and the terminal represents the actual data receiving rate of the data exchange according to the received data interval.
4. The method of claim 1 or 2,
the step 1) comprises the following steps: the wireless base station obtains the actual data receiving rate of the data exchange according to the real-time flow measured by the wireless network card; or
And the terminal obtains the actual data receiving rate of the data exchange according to the real-time flow measured by the wireless network card.
5. The method according to claim 1 or 2, wherein step 2) comprises:
and executing a positioning algorithm according to the data receiving rate and the wireless signal strength to obtain the position information of the terminal.
6. The method according to claim 1 or 2, wherein step 2) comprises:
and respectively obtaining two positioning information aiming at the terminal according to the data receiving rate and the wireless signal strength, and performing weighted average on the two positioning information to determine the position information of the terminal.
7. A positioning system for short-range wireless communication, comprising: a terminal, a wireless base station, and a positioning calculation device, wherein data exchange between the wireless base station and the terminal uses a signal in which a data reception rate monotonically changes with a distance between the wireless base station and the terminal, wherein:
the wireless base station is used for exchanging data with the terminal;
said terminal or said radio base station for collecting and providing to said location calculation means an actual data reception rate of said data exchange;
and the positioning calculation device adopts a positioning model obtained by data training based on the data receiving rate, and inputs the received data receiving rate into the positioning model to obtain a positioning result of the terminal.
8. The system of claim 7, wherein the wireless base station and the terminal employ WiFi or bluetooth for the data exchange.
9. The system of claim 7 or 8,
the terminal is used for sending data by adopting a fixed frequency when exchanging data with the wireless base station, and the wireless base station is used for representing the actual data receiving rate of the data exchange by the received data interval; or
The wireless base station is used for transmitting data by adopting a fixed frequency when exchanging data with the terminal, and the terminal is used for representing the actual data receiving rate of the data exchange by the received data interval.
10. The system of claim 7 or 8,
and the terminal or the wireless base station is used for obtaining the actual data receiving rate of the data exchange according to the real-time flow measured by the wireless network card.
11. A system according to claim 7, comprising a plurality of radio base stations for exchanging data with the terminal, the terminal or stations being arranged to collect actual data reception rates for data exchanges corresponding thereto and to provide them to the location calculation means, the location calculation means being arranged to perform a location algorithm in dependence on the data reception rates for data exchanges with the respective radio base stations and the terminal.
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| CN103079271A (en) * | 2013-02-06 | 2013-05-01 | 乐鑫信息科技（上海）有限公司 | Positioning method on basis of wireless local area network |
| CN109218967A (en) * | 2018-10-10 | 2019-01-15 | 中国人民解放军陆军工程大学 | Method and device for calibrating positioning base station of UWB system |
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| CN109218967A (en) * | 2018-10-10 | 2019-01-15 | 中国人民解放军陆军工程大学 | Method and device for calibrating positioning base station of UWB system |
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