CN113365206B - Method and device for determining terminal position - Google Patents

Method and device for determining terminal position Download PDF

Info

Publication number
CN113365206B
CN113365206B CN202010143478.5A CN202010143478A CN113365206B CN 113365206 B CN113365206 B CN 113365206B CN 202010143478 A CN202010143478 A CN 202010143478A CN 113365206 B CN113365206 B CN 113365206B
Authority
CN
China
Prior art keywords
terminal
network device
distance
determining
rssi
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202010143478.5A
Other languages
Chinese (zh)
Other versions
CN113365206A (en
Inventor
史亮
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Jingdong Century Trading Co Ltd
Beijing Wodong Tianjun Information Technology Co Ltd
Original Assignee
Beijing Jingdong Century Trading Co Ltd
Beijing Wodong Tianjun Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Jingdong Century Trading Co Ltd, Beijing Wodong Tianjun Information Technology Co Ltd filed Critical Beijing Jingdong Century Trading Co Ltd
Priority to CN202010143478.5A priority Critical patent/CN113365206B/en
Publication of CN113365206A publication Critical patent/CN113365206A/en
Application granted granted Critical
Publication of CN113365206B publication Critical patent/CN113365206B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • 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
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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
    • H04W4/025—Services making use of location information using location based information parameters
    • 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
    • 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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses a method and a device for determining a terminal position, and relates to the technical field of computers. One embodiment of the method comprises the following steps: obtaining, by the first network device, a set of distances associated with a set of received signal strength information, RSSI, signals for the terminal; obtaining, by a second network device, a set of direction angles associated with the set of RSSI signals for the terminal; and determining a position of the terminal at a second time based on the set of distances and the set of direction angles. The implementation reduces hardware cost and improves the accuracy of determining the position by the software.

Description

Method and device for determining terminal position
Technical Field
The present invention relates to the field of computer technologies, and in particular, to a method and an apparatus for determining a terminal position.
Background
Along with the rapid growth of data services and multimedia services, the demands of people for positioning are increasing, and particularly in indoor environments, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots and the like, the indoor position information of mobile terminals, articles, equipment and the like needs to be determined. Through indoor positioning, on one hand, the position information of a specific main body can be obtained or set, and on the other hand, the motion trail of the specific main body can be tracked and determined in real time, so that corresponding prompt and early warning can be made. The Bluetooth positioning technology is used as an emerging indoor environment positioning technology, and is widely applied by virtue of the advantages of low cost, high precision, convenient deployment and the like.
The existing indoor directional tracking prediction schemes mainly have two kinds: based on hardware equipment support, the system work of a plurality of Bluetooth equipment is related, and the positioning accuracy is improved by combining with complex system design, for example, a plurality of Bluetooth peripheral equipment, a radio frequency signal receiver and other hardware equipment are paved; based on the support of the software algorithm, various algorithms are mainly used for optimizing the calculation of the signal value, so that the purpose of determining the position with high precision is achieved.
In the process of implementing the present invention, the inventor finds that at least the following problems exist in the prior art:
Based on hardware equipment support, the investment cost is high, and the laying labor is large; based on the support of the software algorithm, the necessary hardware assistance is lacked, so that the orientation precision is not high.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a method and a device for indoor positioning, which adopt a simple hardware device and an algorithm with high efficiency and applicability, and acquire the sampling data of the movement distance and the direction of a terminal by combining a Bluetooth base station with a signal detection device, so that the hardware cost and the laying difficulty are reduced; and obtaining a course angle through data fusion processing of the real-time relative distance and the real-time relative direction so as to determine the position of the terminal at a specific moment.
To achieve the above object, according to one aspect of the embodiments of the present invention, there is provided a method for determining a location of a terminal, including:
obtaining, by the first network device, a set of distances associated with a set of received signal strength information, RSSI, signals for the terminal;
obtaining, by a second network device, a set of direction angles associated with the set of RSSI signals for the terminal; and
And determining the position of the terminal at the second moment based on the distance set and the direction angle set.
According to an aspect of the embodiment of the present invention, there is provided a method for determining a location of a terminal, wherein the RSSI signal set is associated with a broadcast signal sent by the first network device.
According to an aspect of the embodiments of the present invention, there is provided a method for determining a terminal position, wherein each distance in the set of distances and each direction angle in the set of direction angles is obtained by:
Receiving, by the first network device and the second network device, an RSSI signal associated with the broadcast signal from the terminal at a first time;
generating, by the first network device, a distance between the terminal and the first network device at the first time based on the RSSI signal; and
A direction angle between the terminal and the first network device at the first time is generated by the second network device based on the RSSI signal.
According to an aspect of the embodiment of the present invention, there is provided a method for determining a location of a terminal, wherein the determining, based on the distance set and the direction angle set, the location of the terminal at a second time includes:
Generating a motion curve based on the set of distances and the set of direction angles;
Determining a distance and a course angle between the terminal and the first network equipment at the second moment according to the motion curve; and
And determining the position of the terminal at the second moment by using the distance and the course angle.
According to an aspect of the embodiment of the present invention, the first network device is a bluetooth base station device, and the second network device is a signal detection device.
According to an aspect of the embodiment of the present invention, there is provided a method for determining a location of a terminal, wherein the RSSI signal is denoised before generating the distance between the terminal and the first network device at the first moment.
According to an aspect of an embodiment of the present invention, there is provided a method for determining a location of a terminal, wherein the first network device is located at a predetermined distance from the second network device.
According to an aspect of the embodiment of the present invention, there is provided a method for determining a location of a terminal, wherein the second network device is turned on or off at predetermined time intervals.
According to an aspect of an embodiment of the present invention, there is provided an apparatus for determining a location of a terminal, including:
A calculation module for obtaining, by a first network device, a set of distances associated with a set of received signal strength information, RSSI, signals of a terminal; obtaining, by a second network device, a set of direction angles associated with the set of RSSI signals for the terminal; and
And a determination module: and determining the position of the terminal at the second moment based on the distance set and the direction angle set.
One embodiment of the above invention has the following advantages or benefits: because the technical means that the Bluetooth base station is used for obtaining the distance data and the signal detection device is used for obtaining the sampling data of the movement direction of the terminal is adopted, the technical problems that the supporting cost is only high based on hardware and the supporting precision is only low based on software are solved, and the technical effects of saving the cost and improving the precision are achieved.
Further effects of the above-described non-conventional alternatives are described below in connection with the embodiments.
Drawings
The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
Fig. 1 is a schematic diagram of a main flow of a method for determining a terminal position according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another flow of a method of determining a terminal position according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an algorithm flow for determining a terminal position according to an embodiment of the invention
Fig. 4 is a schematic view of main modules of an apparatus for determining a terminal position according to an embodiment of the present invention;
FIG. 5 is an exemplary system architecture diagram in which embodiments of the present invention may be applied;
fig. 6 is a schematic diagram of a computer system suitable for use in implementing an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which various details of the embodiments of the present invention are included to facilitate understanding, and are to be considered merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram of main flow of a method of determining a terminal position according to an embodiment of the present invention, and as shown in fig. 1, the main flow of the method of determining a terminal position includes steps S101, S102 and S103.
Step S101: a set of distances associated with a set of received signal strength information, RSSI, signals for the terminal is obtained by the first network device.
First, the first network device is installed in an appropriate place in the indoor environment. In one embodiment, the first network device acts as a bluetooth base station, such as a bluetooth beacon device or the like. The first network device continuously transmits broadcast signals and waits for feedback of terminal devices entering the coverage range of Bluetooth broadcast signals.
After the terminal device enters the coverage of the bluetooth broadcast signal, the bluetooth base station may obtain Received Signal Strength Information (RSSI) from the terminal device. The terminal may be any bluetooth connection capable device such as a hand-held phone, a mobile phone, a computer, a wearable smart device, etc.
After the terminal equipment enters the coverage area of the Bluetooth base station, the base station receives a plurality of RSSI signals from the terminal equipment in real time. The base station may calculate the distance between the terminal and the base station at each moment based on the RSSI signal received at that moment. Preferably, before calculating the distance, the bluetooth base station eliminates the component of abrupt high-frequency noise by decomposing and reconstructing the RSSI signal by using a wavelet denoising transformation method for the RSSI signal acquired in real time, so as to improve the positioning accuracy.
In one embodiment, the actual relative distance is derived using a real-time sampled RSSI signal value location algorithm according to the ranging formula provided by the common bluetooth protocol specification. The ranging formula is shown as formula (1):
d=10 ((abs (RSSI) -a)/(10 n)) equation (1)
Where d represents the calculated distance (in units such as meters); RSSI represents received signal strength (negative value); a represents signal strength when a transmitting end (first network device) and a receiving end (terminal) are separated by 1 meter; n represents the ambient attenuation factor.
The parameters a and n in the formula are fixed values. Because of the different indoor environments, the corresponding parameter values of each transmitting source (Bluetooth device) are different. The parameters in the formula can be calculated according to experiments, and can also be set according to actual needs, for example, A can be set to 59, and n can be set to 2.0.
Step S102: a set of direction angles associated with the set of RSSI signals for the terminal is obtained by a second network device.
The second network device is placed at a predetermined distance from the first network device. The second network device may be a signal detection device, such as a signal detector, for receiving the RSSI signal of the terminal and detecting the direction of movement of the terminal in real time. The predetermined distance is dependent on the actual need and may be, for example, 5-10 cm.
Alternatively, in one embodiment, the second network device may be turned on and off at predetermined time intervals to further conserve power. Typically, the direction of travel of the terminal is not constantly changing, so the second network device may be turned off intermittently to further save power. For example, any time interval, such as an interval of 1-2 seconds, may be set according to actual needs. The airport lounge and other large-scale indoor environments and small-scale indoor environments such as home can be set with different time intervals.
When the second network device is turned off, only the first network device receives the RSSI signal and determines the distance; after a predetermined interval, the second network device is turned on, receives the RSSI signal and determines the direction.
The second network device calculates the direction between the terminal and the network device based on the received RSSI signal, e.g., in one embodiment, identified by the direction angle. Alternatively, after the terminal device enters the coverage area of the bluetooth base station, the second network device receives less RSSI signals from the terminal device than the first network device as the second network device is turned on and/or turned off. The second network device calculates the direction angle based on its received RSSI signal.
Step S103: and determining the position of the terminal at the second moment based on the distance set and the direction angle set.
In steps S101 and S102, the distance set and the direction angle set have been obtained in real time. In this step, a selective localization algorithm is further applied to remove abnormal data with respect to distance data and direction angle data obtained in real time. Any optional positioning algorithm may be selected that is suitable, and preferably in this embodiment a weighted K-nearest neighbor positioning algorithm is illustrated as an example. It should be noted that the present embodiment is described by taking the weighted K-order neighbor positioning algorithm as an example, and the present embodiment is not limited to the weighted K-order neighbor positioning algorithm.
The principle of the K-nearest neighbor algorithm is that after a new instance is given, K samples closest to the instance are selected from training samples according to the similarity to the instance, and then the value of the new instance is determined from the K samples. The algorithm assumes that all instances correspond to points in Rn of an n-dimensional space in which any one instance x can be represented as a feature vector as follows:
<a1(x),a2(x),…an(x)>
Where a (x) represents the r-th attribute value of the instance. The similarity between any two examples X i and X j, using the euclidean distance as the basis for determining the similarity, can be expressed as formula (2):
The positioning coordinates are shown in formula (3):
In the present embodiment, a K-nearest neighbor algorithm is applied for each distance data and each direction angle data. Each distance data and each direction angle data is taken as a new instance, and data that deviates significantly from the nearest neighbors is removed by comparing with the K nearest neighbors of the instance. K is generally within 20, and k=5.
And carrying out data fusion on the distance data and the direction angle data calculated by the K nearest neighbor algorithm by adopting a curve fitting algorithm, and calculating and analyzing course angle data by combining 3D modeling and a space coordinate system. The heading angle represents the current angle between the terminal and the reference direction (north, south, east) and the reference direction, and for example, the heading angle can take north as the reference direction. By determining the change of the course angle, the movement direction of the terminal can be tracked and predicted in real time.
Performing curve fitting on the two data by adopting a curve fitting algorithm to obtain a motion trail curve to draw the distance and course angle between the terminal and the Bluetooth base station; and determining the distance and direction between the terminal and the Bluetooth base station at the specific moment in the future according to the trend of the motion curve, so as to determine the position of the terminal at the specific moment in the future.
Preferably, a polynomial curve fitting of a least squares algorithm may be employed as the curve fitting algorithm of the present embodiment. It should be noted that any other algorithm used may be used. As shown in formula (4):
(x 0,y0)、(x1,y1)…(xi,yi)…(xn,yn) represents a point, n > =k; and k is 3, namely a cubic polynomial.
The matrix is equivalent to X a=y, and a coefficient matrix a is obtained, and a fitting curve is obtained. In this embodiment, the matrix X may be a distance data set, the matrix Y is a direction angle data set, and the obtained matrix a is a motion curve data set.
After the motion curve data set is obtained, the position and the direction of the terminal at a specific moment in the future are determined according to the trend of the motion curve.
Fig. 2 is a schematic diagram of another main flow of a method for determining a terminal position according to an embodiment of the present invention.
As shown in fig. 2, the overall process of the indoor terminal position determining method can be illustrated with fig. 2. The user holds the terminal device, or wears the terminal device into coverage of the first network device, such as a bluetooth base station. And the terminal receives a broadcast signal sent by the Bluetooth base station and feeds back an RSSI signal to the broadcast signal. The Bluetooth base station calculates the distance value between the terminal and the Bluetooth base station in real time according to the received RSSI signal; the signal detector calculates a real-time direction angle between the terminal and the base station in real time according to the RSSI signal.
Alternatively, the signal detector is turned on/off at 1-2 second intervals. As shown, the terminal travels a distance in this direction, but is not offset from this direction. The signal detector calculates a real-time direction angle between the terminal and the base station in real time according to the RSSI signal at the moment.
After the real-time distance and the real-time direction angle are obtained, denoising the distance data and the direction angle data, removing abnormal values by using a K nearest neighbor algorithm, and performing curve fitting on the two data by using a three-time least square algorithm to obtain a motion track curve to draw the motion of the terminal. And determining the distance between the terminal and the base station at the specific future moment and the course angle of the terminal according to the trend of the motion curve, so as to determine the position of the terminal at the specific future moment.
Fig. 3 is a schematic diagram of an overall process of determining a terminal position according to an embodiment of the present invention.
As shown in fig. 3, a wavelet denoising algorithm is adopted at the first network equipment end to denoise an RSSI signal; then, calculating relative distance data in real time according to the RSSI signal value; and carrying out weighted K neighbor positioning algorithm processing on the distance data to remove abnormal values.
Correspondingly, the second network equipment end acquires an RSSI signal value by adopting a signal detector, and if the travelling direction of the terminal is changed, the second network equipment acquires the change difference of the RSSI signal; the signal detector calculates relative direction angle data from the RSSI values. If the direction is numbered, the RSSI value and the calculated direction angle data are also changed; and carrying out weighted K neighbor positioning algorithm processing on the direction angle data to remove abnormal values.
After the distance data and the direction angle data are respectively calculated and obtained at the first network equipment end and the second network equipment end, carrying out data fusion on the distance data and the direction angle data by adopting a three-time least square algorithm, and calculating a course angle in real time; and combining the 3D model and a space coordinate system, and tracking and determining the position of the terminal at a specific moment in real time.
Fig. 4 is a schematic diagram of an apparatus for determining a terminal position according to an embodiment of the present invention, where the apparatus for determining a terminal position includes a first network device and a second network device, and includes modules 401, 402, 403, 404, as shown in fig. 4.
A first network device:
module 401: and the transmitting module is used for transmitting the broadcast signals.
Module 402: a receiving module for receiving an RSSI signal associated with a broadcast signal from the terminal; and also for receiving direction angle data from the second network device.
Module 403: and the calculation module is used for generating the distance data between the terminal and the first network equipment in real time based on the RSSI signal.
Module 404: and the determining module is used for determining the position of the terminal at a specific future moment based on the distance and the direction angle obtained in real time.
A second network device:
Module 401: and the sending module is used for sending the direction angle data to the first network equipment.
Module 402: and the receiving module is used for receiving the RSSI signal received from the terminal.
Module 403: and the calculation module is used for generating the direction angle data between the terminal and the first network equipment in real time based on the RSSI signal.
Fig. 5 illustrates an exemplary system architecture 500 to which the method of determining a terminal position or the apparatus of determining a terminal position of the embodiment of the present invention may be applied.
As shown in fig. 5, the system architecture 500 may include terminal devices 501, 502, 503, a bluetooth network 504, and first and second network devices 505, 506. The network 504 is used as a medium to provide communication links between the terminal devices 501, 502, 503 and the server 505. Network 504 employs a bluetooth network in an embodiment of the present invention.
A user may interact with a first network device 505, a second network device 506, through a network 504 using terminal devices 501, 502, 503, to receive or send messages, etc. Various communication client applications may be installed on the terminal devices 501, 502, 503, such as shopping class applications, web browser applications, search class applications, instant messaging tools, mailbox clients, social platform software, etc. (by way of example only).
The terminal devices 501, 502, 503 may be a variety of electronic devices having a display screen and supporting web browsing, including but not limited to smartphones, tablets, laptop and desktop computers, and the like.
The first network device 505 and the second network device 506 may perform analysis and other processes on the received data, and feed back the processing results (e.g., distance information and direction angle information) to the terminal device.
It should be noted that, the method for determining the location of the terminal according to the embodiment of the present invention is generally performed by the first network device 505 and the second network device 506, and accordingly, the location determining device for determining the location of the terminal is generally disposed in the first network device 505 and the second network device 506.
It should be understood that the number of terminal devices, networks and network devices in fig. 5 are merely illustrative. There may be any number of terminal devices, networks, and network devices, as desired for implementation.
Referring now to FIG. 6, there is illustrated a schematic diagram of a computer system 600 suitable for use in implementing an embodiment of the present invention. The terminal device shown in fig. 6 is only an example, and should not impose any limitation on the functions and the scope of use of the embodiment of the present invention.
As shown in fig. 6, the computer system 600 includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage section 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the system 600 are also stored. The CPU 601, ROM 602, and RAM 603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
The following components are connected to the I/O interface 605: an input portion 606 including a keyboard, mouse, etc.; an output portion 607 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage section 608 including a hard disk and the like; and a communication section 609 including a network interface card such as a LAN card, a modem, or the like. The communication section 609 performs communication processing via a network such as the internet. The drive 610 is also connected to the I/O interface 605 as needed. Removable media 611 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is installed as needed on drive 610 so that a computer program read therefrom is installed as needed into storage section 608.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication portion 609, and/or installed from the removable medium 611. The above-described functions defined in the system of the present invention are performed when the computer program is executed by a Central Processing Unit (CPU) 601.
The computer readable medium shown in the present invention may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules involved in the embodiments of the present invention may be implemented in software or in hardware. The described modules may also be provided in a processor, for example, as: a processor includes a sending module, a receiving module, a filtering module, a computing module, and a determining module. The names of these modules do not constitute limitations on the module itself in some cases, and for example, the transmitting unit may also be described as "a module that transmits a broadcast signal".
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be present alone without being fitted into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to include:
obtaining, by the first network device, a set of distances associated with a set of received signal strength information, RSSI, signals for the terminal;
obtaining, by a second network device, a set of direction angles associated with the set of RSSI signals for the terminal; and
And determining the position of the terminal at the second moment based on the distance set and the direction angle set.
According to the technical scheme of the embodiment of the invention, the RSSI signal set is associated with the broadcast signal sent by the first network equipment.
According to the technical solution of the embodiment of the present invention, each distance in the distance set and each direction angle in the direction angle set are obtained by:
Receiving, by the first network device and the second network device, an RSSI signal associated with the broadcast signal from the terminal at a first time;
generating, by the first network device, a distance between the terminal and the first network device at the first time based on the RSSI signal; and
A direction angle between the terminal and the first network device at the first time is generated by the second network device based on the RSSI signal.
According to the technical solution of the embodiment of the present invention, the determining the location of the terminal at the second moment based on the distance set and the direction angle set includes:
Generating a motion curve based on the set of distances and the set of direction angles;
Determining a distance and a course angle between the terminal and the first network equipment at the second moment according to the motion curve; and
And determining the position of the terminal at the second moment by using the distance and the course angle.
According to the technical scheme of the embodiment of the invention, the first network equipment is Bluetooth base station equipment, and the second network equipment is signal detection equipment.
According to the technical scheme of the embodiment of the invention, the method further comprises the following steps:
and denoising the RSSI signal before generating the distance between the terminal and the first network equipment at the first moment.
According to the technical scheme of the embodiment of the invention, the first network equipment is separated from the second network equipment by a preset distance.
According to the technical scheme of the embodiment of the invention, the second network equipment is opened or closed at preset time intervals.
According to the technical scheme of the embodiment, as the technical means that the Bluetooth base station is adopted to obtain the distance data and the signal detection device is adopted to obtain the terminal movement direction sampling data is adopted, the technical problems that the supporting cost is too high only based on hardware and the supporting precision is not high only based on software are solved, and the technical effects of saving the cost and improving the precision are achieved
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives can occur depending upon design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A method for determining a location of a terminal, comprising:
obtaining a distance set associated with a Received Signal Strength Information (RSSI) signal set of a terminal by first network equipment, wherein the first network equipment is a Bluetooth base station;
Obtaining, by a second network device, a set of direction angles associated with the set of RSSI signals for the terminal, wherein the set of direction angles comprises direction angles between the terminal and the first network device at respective times; and
Determining a position of the terminal at a second moment based on the distance set and the direction angle set;
The determining the location of the terminal at the second time based on the set of distances and the set of direction angles includes:
performing curve fitting on the two data comprising the distance set and the direction angle set by adopting a curve fitting algorithm to generate a motion curve, wherein the motion curve depicts the relationship between the distance and the course angle of the terminal and the first network equipment;
determining the distance and course angle between the terminal and the first network equipment at the second moment according to the trend of the motion curve; and
And determining the position of the terminal at the second moment by using the distance and the course angle.
2. The method of claim 1, wherein the set of RSSI signals is associated with broadcast signals transmitted by the first network device.
3. The method of claim 2, wherein each distance in the set of distances and each direction angle in the set of direction angles is obtained by:
Receiving, by the first network device and the second network device, an RSSI signal associated with the broadcast signal from the terminal at a first time;
generating, by the first network device, a distance between the terminal and the first network device at the first time based on the RSSI signal; and
A direction angle between the terminal and the first network device at the first time is generated by the second network device based on the RSSI signal.
4. The method of claim 1, wherein the first network device is a bluetooth base station device and the second network device is a signal detection device.
5. A method according to claim 3, further comprising:
and denoising the RSSI signal before generating the distance between the terminal and the first network equipment at the first moment.
6. The method of claim 1, wherein the first network device is a predetermined distance from the second network device.
7. The method of claim 1, wherein the second network device is turned on or off at predetermined time intervals.
8. An apparatus for determining a location of a terminal, comprising:
A calculation module for obtaining, by a first network device, a set of distances associated with a set of received signal strength information, RSSI, signals of a terminal; obtaining, by a second network device, a set of direction angles associated with the set of RSSI signals of the terminal, wherein the first network device is a bluetooth base station, the set of direction angles including direction angles between the terminal and the first network device at respective times; and
And a determination module: determining a position of the terminal at a second moment based on the distance set and the direction angle set;
The determining module is further used for performing curve fitting on the two data comprising the distance set and the direction angle set by adopting a curve fitting algorithm to generate a motion curve; determining the distance and course angle between the terminal and the first network equipment at the second moment according to the trend of the motion curve; and determining the position of the terminal at the second moment by using the distance and the course angle, wherein the motion curve depicts the relationship between the distance and the course angle of the terminal and the first network device.
9. An electronic device for determining a location of a terminal, comprising:
One or more processors;
Storage means for storing one or more programs,
When executed by the one or more processors, causes the one or more processors to implement the method of any of claims 1-7.
10. A computer readable medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any of claims 1-7.
CN202010143478.5A 2020-03-04 2020-03-04 Method and device for determining terminal position Active CN113365206B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202010143478.5A CN113365206B (en) 2020-03-04 2020-03-04 Method and device for determining terminal position

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202010143478.5A CN113365206B (en) 2020-03-04 2020-03-04 Method and device for determining terminal position

Publications (2)

Publication Number Publication Date
CN113365206A CN113365206A (en) 2021-09-07
CN113365206B true CN113365206B (en) 2024-08-16

Family

ID=77523526

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202010143478.5A Active CN113365206B (en) 2020-03-04 2020-03-04 Method and device for determining terminal position

Country Status (1)

Country Link
CN (1) CN113365206B (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102045837A (en) * 2009-10-20 2011-05-04 华为技术有限公司 Mobile node positioning method and device
CN103763680A (en) * 2014-01-23 2014-04-30 清华大学 Indoor positioning and tracking method and system based on signal propagation
CN109541662A (en) * 2018-11-13 2019-03-29 中国联合网络通信集团有限公司 A kind of localization method and device

Family Cites Families (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ATE522831T1 (en) * 2007-03-08 2011-09-15 Trimble Ab METHOD AND INSTRUMENTS FOR ESTIMATING TARGET MOTION
CN102064895B (en) * 2010-12-21 2013-06-12 西安电子科技大学 Passive positioning method for combining RSSI and pattern matching
CN102665273A (en) * 2012-04-19 2012-09-12 中国科学技术大学苏州研究院 Wireless sensor network node positioning method
CN102749613B (en) * 2012-06-20 2014-04-02 暨南大学 Indoor positioning method on basis of rotary antenna
CN104185273A (en) * 2014-08-26 2014-12-03 中国科学院电子学研究所 Anchor-node-free positioning method, system and device for distance measuring
KR101541144B1 (en) * 2014-08-27 2015-08-03 국방과학연구소 Method for Underwater Object Location Determination using Proximity Sensor of Compass Direction and Device thereof
CN105510870B (en) * 2015-12-19 2018-05-18 长安大学 A kind of smart machine indoor locating system and method
CN105551058B (en) * 2016-02-02 2018-04-03 天津大学 A kind of combination SURF feature extractions and the cylindrical picture matching process of curve matching
CN107613558B (en) * 2017-07-11 2020-04-28 同济大学 Base station positioning system and method based on single receiving antenna

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102045837A (en) * 2009-10-20 2011-05-04 华为技术有限公司 Mobile node positioning method and device
CN103763680A (en) * 2014-01-23 2014-04-30 清华大学 Indoor positioning and tracking method and system based on signal propagation
CN109541662A (en) * 2018-11-13 2019-03-29 中国联合网络通信集团有限公司 A kind of localization method and device

Also Published As

Publication number Publication date
CN113365206A (en) 2021-09-07

Similar Documents

Publication Publication Date Title
Shin et al. Enhanced weighted K-nearest neighbor algorithm for indoor Wi-Fi positioning systems
EP3045931B1 (en) Mechanism for determining location history via multiple historical predictors
Turgut et al. Indoor localization techniques for smart building environment
CN102656871B (en) Method, apparatus and computer program to perform location specific information retrieval using a gesture-controlled handheld mobile device
Tomažič et al. Confidence-interval-fuzzy-model-based indoor localization
CN104703128B (en) A kind of indoor locating system and method based on WLAN wireless signal strengths
CN111311649A (en) Indoor internet-of-things video tracking method and system
WO2022143819A1 (en) Navigation two-dimensional code (qr code) generation method, and park navigation method and apparatus
CN103714080A (en) Spatial index structure tree based method and device for providing results of searching spatial objects
CN107528906B (en) Positioning method, terminal, Bluetooth node, electronic device and storage medium
US10051412B2 (en) Locational information transmission system, locational information transmission apparatus, and information processing device
CN103997717A (en) Real-time indoor positioning system and method
CN113910224B (en) Robot following method and device and electronic equipment
WO2011106361A2 (en) Method and apparatus for estimating cellular tower location
Lee Location-aware speakers for the virtual reality environments
Li et al. Accurate RFID localization algorithm with particle swarm optimization based on reference tags
CN104320848A (en) Indoor locating implementation system and method based on cloud computing
CN113365206B (en) Method and device for determining terminal position
CN111563934B (en) Monocular vision odometer scale determination method and device
CN112788743B (en) Positioning method and device based on ultra-wideband technology
Tiku et al. Machine Learning for Indoor Localization and Navigation
Rizk et al. Adaptability Matters: Heterogeneous Graphs for Agile Indoor Positioning in Cluttered Environments
KR20070110169A (en) Apparatus and method for creating location and apparatus and method recognizing location of mobile object
KR20180023753A (en) Indoor navigatioin and real-time tracking system based on ble beacon by calculating of location
CN113132910B (en) Position detection method, position detection device, electronic equipment and computer readable medium

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant