CN111447581B - Indoor positioning method based on Bluetooth beacon equipment - Google Patents
Indoor positioning method based on Bluetooth beacon equipment Download PDFInfo
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- CN111447581B CN111447581B CN202010215801.5A CN202010215801A CN111447581B CN 111447581 B CN111447581 B CN 111447581B CN 202010215801 A CN202010215801 A CN 202010215801A CN 111447581 B CN111447581 B CN 111447581B
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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
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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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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- H—ELECTRICITY
- 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 embodiment of the invention provides an indoor positioning method based on Bluetooth beacon equipment, which comprises the following steps: acquiring induction data received by a user terminal within M seconds; the sensing data comprise sensed unique identification of the Bluetooth beacon equipment and sensing signal intensity of each Bluetooth beacon equipment; replacing the unique identifier of each Bluetooth beacon device with a corresponding unique identifier of a location point; calculating the positioning weight of each unique identifier of the position point according to the total number of the induction data received by the user terminal in the M seconds, the correction parameters, the average induction intensity under the unique identifier of each position point in the M seconds and the total number of the induction data under the unique identifier of each position point; and determining the unique identifier of the position point with the maximum positioning weight as the positioning point within the M seconds. The embodiment of the invention can obtain the effect of accurate positioning while obtaining relatively low deployment cost.
Description
Technical Field
The invention belongs to the technical field of positioning, and particularly relates to an indoor positioning method based on Bluetooth beacon equipment.
Background
Current indoor positioning methods are indoor positioning methods including UWB, WIFI, and the like, but these methods require the deployment of expensive base stations.
How to reduce the cost of positioning equipment deployment and obtain accurate positioning effect is a technical problem which needs to be solved urgently.
Disclosure of Invention
The invention aims to provide a positioning method with high equipment deployment cost and high positioning precision.
In order to solve the above technical problem, in a first aspect, an embodiment of the present invention provides an indoor positioning method based on a bluetooth beacon device, which is applicable to a server, and includes:
acquiring induction data received by a user terminal within M seconds; the sensing data comprise sensed unique identification of the Bluetooth beacon equipment and sensing signal intensity of each Bluetooth beacon equipment; wherein M is greater than 0;
replacing the unique identifier of each Bluetooth beacon device with a corresponding unique identifier of a position point according to the corresponding relationship between the unique identifier of the Bluetooth beacon device and the unique identifier of the position point of the Bluetooth beacon device, which is pre-stored in the server;
counting the total number of the induction data received by the user terminal within the M seconds according to the induction data;
calculating the average induction intensity under the unique identifier of each position point and the total induction data number under the unique identifier of each position point in the M seconds;
calculating the positioning weight of each unique identifier of the position point according to the total number of the induction data received by the user terminal in the M seconds, the correction parameters, the average induction intensity under the unique identifier of each position point in the M seconds and the total number of the induction data under the unique identifier of each position point;
and determining the unique identifier of the position point with the maximum positioning weight as the positioning point within the M seconds.
Preferably, the initial default value of the correction parameter is 85, wherein the unit of the correction parameter is dbm.
Preferably, the correction parameters are updated periodically; the correction parameters are obtained through the following steps:
counting induction data received by a server in a period; the sensing data comprises Q sensing signal strengths;
carrying out grouping statistics on the Q induction signal intensities according to the induction signal intensities, and counting the number of each induction signal intensity; q is greater than or equal to 1;
the most numerous sensing signal strengths are used as the correction parameters.
Preferably, the positioning weight uniquely identified by each of the position points is calculated by the following formula:
y＝N/|RSSI_AVG|+NUM/total_num
the method comprises the steps that N is a correction parameter, RSSI _ AVG is average induction intensity under a position point unique identifier, NUM is the total number of induction data under the position point unique identifier in the M seconds, and total _ NUM is the total number of induction data received by a user terminal in the M seconds.
In a second aspect, an embodiment of the present invention further provides an indoor positioning method based on a bluetooth beacon device, which is applicable to a user terminal, and includes:
acquiring induction data received by the user terminal within M seconds; the sensing data comprise sensed unique identification of the Bluetooth beacon equipment and sensing signal intensity of each Bluetooth beacon equipment; wherein M is greater than 0;
replacing the unique identifier of each Bluetooth beacon device with a corresponding unique identifier of a position point according to the corresponding relation between the unique identifier of the Bluetooth beacon device and the unique identifier of the position point of the Bluetooth beacon device, wherein the unique identifier of the Bluetooth beacon device is issued by a server;
counting the total number of the induction data received by the user terminal within the M seconds according to the induction data;
calculating the average induction intensity under the unique identifier of each position point and the total induction data number under the unique identifier of each position point in the M seconds;
calculating the positioning weight of each unique identifier of the position point according to the total number of the induction data received by the user terminal in the M seconds, the correction parameters, the average induction intensity under the unique identifier of each position point in the M seconds and the total number of the induction data under the unique identifier of each position point; wherein, the correction parameter is issued by a server;
determining the unique identifier of the position point with the maximum positioning weight as the positioning point within the M seconds;
and uploading the unique identifier of the position point with the maximum positioning weight, the unique identifier of the user terminal and the induction time to a server.
Preferably, the initial default value of the correction parameter is 85, wherein the unit of the correction parameter is dbm.
Preferably, the correction parameters are updated periodically; the correction parameters are calculated by the following steps:
counting induction data received by a server in a period; the sensing data comprises Q sensing signal strengths;
carrying out grouping statistics on the Q induction signal intensities according to the induction signal intensities, and counting the number of each induction signal intensity; wherein Q is greater than or equal to 1;
the most numerous sensing signal strengths are used as the correction parameters.
Preferably, the positioning weight uniquely identified by each of the position points is calculated by the following formula:
y＝N/|RSSI_AVG|+NUM/total_num
the method comprises the steps that N is a correction parameter, RSSI _ AVG is average induction intensity under a position point unique identifier, NUM is the total number of data pieces under the position point unique identifier in the M seconds, and total _ NUM is the total number of data pieces received by the user terminal in the M seconds.
According to the indoor positioning method based on the Bluetooth beacon device, the Bluetooth beacon device is used for replacing an expensive base station, and therefore deployment cost is reduced. In addition, the embodiment of the invention can obtain the positioning effect of accurate positioning while obtaining relatively low deployment cost.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flowchart of an indoor positioning method based on a bluetooth beacon device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that the step numbers used herein are for convenience of description only and are not intended as limitations on the order in which the steps are performed.
The terms "comprises" and "comprising" indicate the presence of the described features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
The term "and/or" refers to and includes any and all possible combinations of one or more of the associated listed items.
The embodiment of the invention provides an indoor positioning method based on Bluetooth beacon equipment, which is suitable for a server and comprises the steps of S1-S6. It should be noted that, by using the indoor positioning method based on bluetooth beacon devices provided in the embodiments of the present invention, bluetooth beacon devices need to be deployed at various location points in advance according to project requirements, and each bluetooth beacon device needs to be labeled and distinguished through a unique identifier. And then, storing the mapping relation between the unique identifier of each position point and the unique identifier of the corresponding deployed Bluetooth beacon device on the server.
In addition, in the early stage of the project, initial correction parameters may be calculated in advance through steps S7-S9; or directly adopting an initial default value as the correction parameter. Preferably, the default initial value is 85, wherein the correction parameter has a unit of dbm.
When the initial correction parameters are calculated through steps S7-S9, the staff member who needs the project carries the device capable of receiving the bluetooth signal to receive the broadcast data packet of the bluetooth beacon device, that is, to receive the sensing data, and uploads the sensing data received in one cycle to the server to calculate the correction parameters. It should be understood that the device capable of receiving the bluetooth signal may be an electronic device such as a smart phone, a smart tablet computer, etc. capable of receiving a bluetooth broadcast data packet, and may also be an IC card including a bluetooth sensing chip, which is not limited herein.
Wherein, the steps S7-S9 are specifically as follows:
s7, counting the induction data received by the server in a period; the sensing data comprises Q sensing signal strengths;
s8, carrying out grouping statistics on the Q induction signal intensities according to the induction signal intensities, and counting the number of each induction signal intensity; q is greater than or equal to 1;
and S9, taking the induction signal intensity with the largest quantity as a correction parameter.
After the preparation work described above is completed, the indoor positioning method based on the bluetooth beacon device provided by the embodiment of the present invention can be used for positioning.
The indoor positioning method based on the Bluetooth beacon device provided by the embodiment of the invention is suitable for a server, and comprises the following steps:
s1, acquiring sensing data received by the user terminal within M seconds; the sensing data comprise sensed unique identification of the Bluetooth beacon equipment and sensing signal intensity of each Bluetooth beacon equipment; wherein M is greater than 0.
In the embodiment of the present invention, the user terminal is preferably any electronic device capable of receiving a bluetooth broadcast data packet, such as a smart phone and a smart tablet computer equipped with a bluetooth function, and may also be an IC card including a bluetooth sensing chip, which is not limited herein.
S2, replacing the unique identifier of each Bluetooth beacon device with the corresponding unique identifier of the position point according to the corresponding relation between the unique identifier of the Bluetooth beacon device and the unique identifier of the position point where the Bluetooth beacon device is located, wherein the unique identifier of the Bluetooth beacon device is stored in the server in advance.
In the embodiment of the invention, the corresponding relation between the unique identifier of the Bluetooth beacon device and the unique identifier of the position point where the Bluetooth beacon device is located is pre-stored in a server. The position point refers to an installation place of the bluetooth beacon device, the unique position point identifier refers to that the position point is represented by an identifier, and the identifiers of all the position points are different, so that the identifier of the position point is unique.
And S3, counting the total number of the sensing data received by the user terminal within the M seconds according to the sensing data.
And S4, calculating the average induction intensity under each position point unique identifier and the total induction data number under each position point unique identifier in the M seconds.
And S5, calculating the positioning weight of each unique identifier of the position point according to the total number of the induction data received by the user terminal in the M seconds, the correction parameters, the average induction intensity under each unique identifier of the position point in the M seconds and the total number of the induction data under each unique identifier of the position point.
In an embodiment of the invention, the correction parameters are updated periodically. The correction parameters are calculated through steps S7-S9.
In the embodiment of the present invention, the positioning weight of the unique identifier of each location point is calculated by the following formula:
y＝N/|RSSI_AVG|+NUM/total_num (1)
the method comprises the steps that N is a correction parameter, RSSI _ AVG is average induction intensity under a position point unique identifier, NUM is the total number of induction data under the position point unique identifier in the M seconds, and total _ NUM is the total number of induction data received by a user terminal in the M seconds.
And S6, determining the unique identifier of the position point with the maximum positioning weight as the positioning point within the M seconds.
In the embodiment of the present invention, it should be understood that an execution subject of the embodiment of the present invention is a server, that is, the indoor positioning method based on the bluetooth beacon device provided in the embodiment of the present invention is executed by the server.
In order to more clearly describe the present invention, a detailed example is shown below.
The default value is used as a correction parameter, and the sensing data received by the user terminal in unit time (for example, 5 seconds) is (the unique identifier of the bluetooth beacon device is identified by beacon _ id, and the sensing intensity is identified by rssi):
beacon_id＝a,rssi＝-68；
beacon_id＝b,rssi＝-82
beacon_id＝c,rssi＝-86
replacing the unique identifier of the bluetooth beacon device with the unique identifier of the location point (identified by the region _ id), the following is performed:
region_id＝1,rssi＝-68；
region_id＝1,rssi＝-82
region_id＝2,rssi＝-86
calculating the total induction data number: total _ num is 3
Calculating the average induction intensity of the points under the unique identifier of each position point and the total induction data number under the unique identifier of each position
region_id＝1,RSSI_AVG＝-70,NUM＝2；
region_id＝2,RSSI_AVG＝-86,NUM＝1
According to the formula (1), calculating the positioning weight under the unique identifier of each position point (the correction parameter N takes the default value of 85),
region_id＝1：y＝85/|-70|+2/3＝1.88
region_id＝2：y＝85/|-86|+1/3＝1.32
taking the maximum value according to the calculation result: 1.88, the position point with the unique position point identifier of 1 is the positioning point.
The embodiment of the invention utilizes the Bluetooth beacon equipment to replace an expensive base station, thereby reducing the deployment cost. In addition, the embodiment of the invention can obtain accurate positioning effect while obtaining relatively low deployment cost.
The embodiment of the invention also provides an indoor positioning method based on the Bluetooth beacon device, which is suitable for the user terminal and comprises the steps of S10-S15. It should be noted that, by using the indoor positioning method based on bluetooth beacon devices provided in the embodiments of the present invention, bluetooth beacon devices need to be deployed at various location points in advance according to project requirements, and each bluetooth beacon device needs to be labeled and distinguished through a unique identifier. And then, storing the mapping relation between the unique identifier of each position point and the unique identifier of the corresponding deployed Bluetooth beacon device on the server. And then the server synchronizes the mapping relation between the unique identifier of each position point and the unique identifier of the corresponding deployed Bluetooth beacon device to the user terminal, wherein the user terminal can be understood as a client.
In addition, in the early stage of the project, the initial correction parameters may be calculated in advance through steps S16-18; or directly adopting an initial default value as the correction parameter.
When the initial correction parameters are calculated through steps S16-S18, at least one worker who needs the project carries at least one device capable of receiving bluetooth signals to receive the broadcast data packet of the bluetooth beacon device, i.e., to receive the sensing data, and uploads all the sensing data received in one cycle to the server to calculate the correction parameters. It should be understood that the device capable of receiving the bluetooth signal may be an electronic device such as a smart phone, a smart tablet computer, etc. capable of receiving a bluetooth broadcast data packet, and may also be an IC card including a bluetooth sensing chip, which is not limited herein.
Of course, a default initial value may be directly adopted as the correction parameter, and preferably, the default initial value is 85.
Preferably, the correction parameters are updated periodically.
Wherein, the steps S16-S18 are specifically as follows:
s16, counting the induction data received by the server in a period; the sensing data comprises Q sensing signal strengths;
s17, carrying out grouping statistics on the Q induction signal intensities according to the induction signal intensities, and counting the number of each induction signal intensity; q is greater than or equal to 1;
and S18, taking the induction signal intensity with the largest quantity as a correction parameter.
After the preparation work described above is completed, the indoor positioning method based on the bluetooth beacon device provided by the embodiment of the invention can be used for positioning. The execution subject of the method provided by the embodiment of the invention is a user terminal, and the method comprises the following steps:
acquiring induction data received by the user terminal within M seconds; the sensing data comprise sensed unique identification of the Bluetooth beacon equipment and sensing signal intensity of each Bluetooth beacon equipment; wherein M is greater than 0;
replacing the unique identifier of each Bluetooth beacon device with a corresponding unique identifier of a position point according to the corresponding relation between the unique identifier of the Bluetooth beacon device and the unique identifier of the position point of the Bluetooth beacon device, wherein the unique identifier of the Bluetooth beacon device is issued by a server;
counting the total number of the induction data received by the user terminal within the M seconds according to the induction data;
calculating the average induction intensity under the unique identifier of each position point and the total induction data number under the unique identifier of each position point in the M seconds;
calculating the positioning weight of each unique identifier of the position point according to the total number of the induction data received by the user terminal in the M seconds, the correction parameters, the average induction intensity under the unique identifier of each position point in the M seconds and the total number of the induction data under the unique identifier of each position point; wherein, the correction parameter is issued by the server.
In the embodiment of the present invention, the positioning weight of the unique identifier of each location point is calculated by the following formula:
y＝N/|RSSI_AVG|+NUM/total_num
the method comprises the steps that N is a correction parameter, RSSI _ AVG is average induction intensity under a position point unique identifier, NUM is the total number of data pieces under the position point unique identifier in the M seconds, and total _ NUM is the total number of data pieces received by the user terminal in the M seconds.
Determining the unique identifier of the position point with the maximum positioning weight as the positioning point within the M seconds;
and uploading the unique identifier of the position point with the maximum positioning weight, the unique identifier of the user terminal and the induction time to a server.
The embodiment of the invention utilizes the Bluetooth beacon equipment to replace an expensive base station, thereby reducing the deployment cost. In addition, the embodiment of the invention can obtain accurate positioning effect while obtaining relatively low deployment cost.
The embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program, and when the computer program runs, the device where the computer-readable storage medium is located is controlled to execute the above-mentioned indoor positioning method based on bluetooth beacon device.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the computer program is executed. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (8)
1. An indoor positioning method based on Bluetooth beacon equipment is suitable for a server and is characterized by comprising the following steps:
acquiring induction data received by a user terminal within M seconds; the sensing data comprise sensed unique identification of the Bluetooth beacon equipment and sensing signal intensity of each Bluetooth beacon equipment; wherein M is greater than 0;
replacing the unique identifier of each Bluetooth beacon device with a corresponding unique identifier of a position point according to the corresponding relationship between the unique identifier of the Bluetooth beacon device and the unique identifier of the position point of the Bluetooth beacon device, which is pre-stored in the server;
counting the total number of the induction data received by the user terminal within the M seconds according to the induction data;
calculating the average induction intensity under the unique identifier of each position point and the total induction data number under the unique identifier of each position point in the M seconds;
calculating the positioning weight of each unique identifier of the position point according to the total number of the induction data received by the user terminal in the M seconds, the correction parameters, the average induction intensity under the unique identifier of each position point in the M seconds and the total number of the induction data under the unique identifier of each position point;
and determining the unique identifier of the position point with the maximum positioning weight as the positioning point within the M seconds.
2. The bluetooth beacon device based indoor positioning method according to claim 1, wherein the initial default value of the correction parameter is 85; wherein the unit of the correction parameter is dbm.
3. The bluetooth beacon device based indoor positioning method of claim 2, wherein the correction parameter is periodically updated; the correction parameters are obtained through the following steps:
counting induction data received by a server in a period; the sensing data comprises Q sensing signal strengths;
carrying out grouping statistics on the Q induction signal intensities according to the induction signal intensities, and counting the number of each induction signal intensity; q is greater than or equal to 1;
the most numerous sensing signal strengths are used as the correction parameters.
4. The indoor positioning method based on Bluetooth beacon device as claimed in any one of claims 1-3, wherein the positioning weight of each unique identifier of the location point is calculated by the following formula:
y＝N/|RSSI_AVG|+NUM/total_num
the method comprises the steps that N is a correction parameter, RSSI _ AVG is average induction intensity under a position point unique identifier, NUM is the total number of induction data under the position point unique identifier in the M seconds, and total _ NUM is the total number of induction data received by a user terminal in the M seconds.
5. An indoor positioning method based on Bluetooth beacon equipment is suitable for a user terminal and is characterized by comprising the following steps:
acquiring induction data received by the user terminal within M seconds; the sensing data comprise sensed unique identification of the Bluetooth beacon equipment and sensing signal intensity of each Bluetooth beacon equipment; wherein M is greater than 0;
replacing the unique identifier of each Bluetooth beacon device with a corresponding unique identifier of a position point according to the corresponding relation between the unique identifier of the Bluetooth beacon device and the unique identifier of the position point of the Bluetooth beacon device, wherein the unique identifier of the Bluetooth beacon device is issued by a server;
counting the total number of the induction data received by the user terminal within the M seconds according to the induction data;
calculating the average induction intensity under the unique identifier of each position point and the total induction data number under the unique identifier of each position point in the M seconds;
calculating the positioning weight of each unique identifier of the position point according to the total number of the induction data received by the user terminal in the M seconds, the correction parameters, the average induction intensity under the unique identifier of each position point in the M seconds and the total number of the induction data under the unique identifier of each position point; wherein, the correction parameter is issued by a server;
determining the unique identifier of the position point with the maximum positioning weight as the positioning point within the M seconds;
and uploading the unique identifier of the position point with the maximum positioning weight, the unique identifier of the user terminal and the induction time to a server.
6. The Bluetooth beacon device based indoor positioning method of claim 5, wherein the initial default value of the correction parameter is 85; wherein the unit of the correction parameter is dbm.
7. The bluetooth beacon device based indoor positioning method of claim 6, wherein the correction parameters are periodically updated; the correction parameters are calculated by the following steps:
counting induction data received by a server in a period; the sensing data comprises Q sensing signal strengths;
carrying out grouping statistics on the Q induction signal intensities according to the induction signal intensities, and counting the number of each induction signal intensity; wherein Q is greater than or equal to 1;
the most numerous sensing signal strengths are used as the correction parameters.
8. The indoor positioning method based on Bluetooth beacon device as claimed in any one of claims 5-7, wherein the positioning weight of each unique identifier of the location point is calculated by the following formula:
y＝N/|RSSI_AVG|+NUM/total_num
the method comprises the steps that N is a correction parameter, RSSI _ AVG is average induction intensity under a position point unique identifier, NUM is the total number of data pieces under the position point unique identifier in the M seconds, and total _ NUM is the total number of data pieces received by the user terminal in the M seconds.
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