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WO2018145289A1 - Procédé et appareil de positionnement basés sur bluetooth ble - Google Patents

Procédé et appareil de positionnement basés sur bluetooth ble Download PDF

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Publication number
WO2018145289A1
WO2018145289A1 PCT/CN2017/073192 CN2017073192W WO2018145289A1 WO 2018145289 A1 WO2018145289 A1 WO 2018145289A1 CN 2017073192 W CN2017073192 W CN 2017073192W WO 2018145289 A1 WO2018145289 A1 WO 2018145289A1
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WIPO (PCT)
Prior art keywords
slave device
terminal device
target
ble slave
ble
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.)
Ceased
Application number
PCT/CN2017/073192
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English (en)
Chinese (zh)
Inventor
陈法海
赵所峰
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.)
Shenzhen Goodix Technology Co Ltd
Original Assignee
Shenzhen Huiding 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.)
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Publication date
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Priority to CN201780000077.0A priority Critical patent/CN107079257A/zh
Priority to PCT/CN2017/073192 priority patent/WO2018145289A1/fr
Publication of WO2018145289A1 publication Critical patent/WO2018145289A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • 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

Definitions

  • the present invention relates to the field of wireless communications, and in particular, to a Bluetooth BLE-based positioning method and apparatus.
  • Positioning refers to the realization of positional positioning in an indoor environment, which mainly adopts an indoor position positioning system formed by integration of various technologies such as wireless communication, base station positioning, and inertial navigation positioning.
  • common indoor wireless positioning technologies include: wireless local area network (Wi-Fi), Bluetooth, infrared, ultra-wideband, radio frequency identification (RFID), Zifeng (ZigBee) and ultrasound.
  • the positioning system consists of a Bluetooth AP and a server.
  • the positioning is performed by the mobile device repeatedly communicating the broadcast information through the Bluetooth AP to communicate with the server, and calculating by the server. After that, an invention of the current location information of the mobile device is obtained and sent to the mobile device.
  • the positioning system comprises an iBeacon information distribution system, an iBeacon base station and a mobile terminal, wherein the information distribution system is composed of a background management system, a service authentication interface, and a radio frequency antenna; the base station is composed of a data storage module and a Bluetooth radio frequency.
  • Antenna composition; the mobile terminal is composed of a data processing module, a Bluetooth transceiver module, a wireless transceiver module, a Bluetooth RF receiving antenna, and a wireless RF transceiver antenna.
  • the above prior art has many disadvantages: 1.
  • the Bluetooth transmission communication network is complicated to construct, and many Bluetooth APs are deployed, which is inconvenient to maintain and has high hardware cost. 2, need a special server to process the data sent by the Bluetooth AP, there will be data network delay and data bandwidth problems, also increased the system Cost.
  • the local positioning device used in the invention is solidified and not flexible enough, so it is impossible to upgrade and modify various positioning methods.
  • the positioning mentioned in the invention is to locate the location of the mobile terminal, and it is not possible to locate the position of the iBeacon or the Bluetooth AP, and thus, when searching for an object, the lost or hidden object cannot be located.
  • An object of the present invention is to provide a Bluetooth BLE-based positioning method and apparatus, which can conveniently locate a target BLE slave device, and greatly shorten the time for finding a target BLE slave device. Moreover, the positioning of the target BLE slave device can be realized without deploying the iBeacon or the Bluetooth AP indoors, without requiring a complicated data processing architecture and reducing hardware costs.
  • the embodiment of the present invention provides a Bluetooth BLE-based positioning method, which is applied to a terminal device.
  • the Bluetooth BLE-based positioning method includes: scanning a BLE slave device; after the scan finds the target BLE slave device, Locating at least two locations of the terminal device, obtaining a location Si where the terminal device itself is located, and a distance Ri between the terminal device and the target BLE slave device; calculating a location of the target BLE slave device according to the acquired Si and Ri .
  • the embodiment of the present invention further provides a Bluetooth BLE-based positioning device, which is applied to a terminal device.
  • the Bluetooth BLE-based positioning device includes: a scanning module, an acquiring module, and a computing module; and a scanning module, configured to scan the BLE slave device; a module, after the scanning module scans to find the target BLE slave device, in turn, the terminal device is located in at least two locations, obtaining the location Si where the terminal device itself is located, and the distance Ri between the terminal device and the target BLE slave device; And a calculation module, configured to calculate a location of the target BLE slave device according to the acquired Si and Ri.
  • the embodiment of the present invention acquires the location Si where the terminal device itself is located and the distance Ri between the terminal device and the target BLE slave device by controlling the terminal device in at least two locations. And calculating the position of the target BLE slave device according to the obtained Si and Ri. This makes it easy to locate the target BLE slave device, greatly reducing the time to find the target BLE slave device. Moreover, the positioning of the target BLE slave device can be realized without deploying the iBeacon or the Bluetooth AP indoors, without requiring a complicated data processing architecture and reducing hardware costs.
  • FIG. 1 is a flowchart of a Bluetooth BLE-based positioning method according to a first embodiment of the present invention
  • FIG. 2 is a flowchart of a Bluetooth BLE-based positioning method according to a second embodiment of the present invention
  • FIG. 3 is a flowchart of a Bluetooth BLE-based positioning method according to a third embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a target BLE slave device acquired by a terminal device in different locations according to a third embodiment of the present invention
  • FIG. 5 is another schematic diagram of a target BLE slave device that is acquired when a terminal device is in a different location according to a third embodiment of the present invention
  • FIG. 6 is a flowchart of a Bluetooth BLE-based positioning method according to a fourth embodiment of the present invention.
  • FIG. 7 is a flowchart of a Bluetooth BLE-based positioning method according to a fifth embodiment of the present invention.
  • FIG. 8 is a block diagram of a Bluetooth BLE-based positioning apparatus according to a sixth embodiment of the present invention.
  • FIG. 9 is a block diagram of a Bluetooth BLE-based positioning apparatus in accordance with a seventh embodiment of the present invention.
  • FIG. 10 is a block diagram of a Bluetooth BLE based positioning apparatus in accordance with an eighth embodiment of the present invention.
  • FIG. 11 is a block diagram of a Bluetooth BLE-based positioning device in accordance with a ninth embodiment of the present invention.
  • Figure 12 is a block diagram of a Bluetooth BLE based positioning apparatus in accordance with a tenth embodiment of the present invention.
  • a first embodiment of the present invention relates to a Bluetooth BLE-based positioning method applied to a terminal device.
  • the specific process is shown in Figure 1, which includes:
  • Step 101 Turn on the low-power Bluetooth BLE switch of the terminal device to scan the BLE slave device.
  • the BLE slave device can be a smart device with communication function.
  • the BLE slave device can be, but is not limited to, an active pen.
  • Bluetooth on the terminal device can support the protocol of bluetooth4.1/4.2.
  • the switch enable key is set for the Bluetooth of the terminal device, and when the switch enable key is triggered, the terminal device can search for a nearby BLE slave device.
  • the search results are listed in the form of a list.
  • the BLE slave device displayed in the list may include, but is not limited to, the following information: the name of the BLE slave device, the physical address (MAC address), the RSSI value (the RSSI Chinese interpretation is the received signal strength indication), and the like.
  • step 102 it is determined whether the target BLE slave device is found. If yes, go to step 103; otherwise, go back to step 101.
  • the user can follow the BLE slave device name or MAC address from the scan list. Find the target BLE slave device you need to find. Click on the virtual button used to find the target BLE slave device.
  • the terminal device may determine to scan to the target BLE slave device.
  • each BLE slave device can be stored in advance in the terminal device.
  • a target BLE slave device is selected from the pre-stored BLE slave devices before scanning the BLE slave device. When scanning to the target BLE slave device, it can be determined that the target BLE slave device is found.
  • Step 103 Acquire an initial position S1 where the terminal device itself is located. Obtain the distance R1 between the terminal device and the target BLE slave device.
  • Step 104 The terminal device is controlled to acquire the location S2 where the terminal device itself is located at other locations. Obtain the distance R2 between the terminal device and the target BLE slave device.
  • Step 105 Calculate the location of the target BLE slave device according to the acquired S1, R1, S2, and R2.
  • the first region range in which the target BLE slave device is located can be determined according to S1 and R1.
  • the second area range in which the target BLE slave device is located can be determined.
  • the coincidence position of the first area range and the second area range can be determined as the location where the target BLE slave device is located.
  • the terminal device in order to make the location of the acquisition target BLE more accurate, can also be controlled to acquire S3 and R3 in the third position.
  • S1, R1, S2, R2, S3, and R3 the position of the target BLE slave device is calculated.
  • the present embodiment makes it possible to conveniently locate the target BLE slave device, which greatly shortens the time for finding the target BLE slave device. Moreover, the positioning of the target BLE slave device can be realized without deploying the iBeacon or the Bluetooth AP indoors, without requiring a complicated data processing architecture and reducing hardware costs.
  • a second embodiment of the present invention relates to a Bluetooth BLE based positioning method.
  • the second embodiment is an improvement made on the basis of the first embodiment.
  • the main improvement is that in the second embodiment, the weighted centroid algorithm is used to calculate the area where the target BLE slave device is located.
  • Figure 2 which includes:
  • Step 201 Turn on the low-power Bluetooth BLE switch of the terminal device to scan the BLE slave device.
  • the BLE slave device can be a smart device with communication function.
  • the BLE slave device can be, but is not limited to, an active pen.
  • Bluetooth on the terminal device can support the protocol of bluetooth4.1/4.2.
  • the target BLE slave device periodically transmits a broadcast data packet. When the terminal device receives the broadcast packet. The terminal device can scan nearby BLE slave devices.
  • the switch enable key is set for the Bluetooth of the terminal device, and when the switch enable key is triggered, the terminal device can search for a nearby BLE slave device.
  • the search results are listed in the form of a list.
  • the BLE slave device displayed in the list may include, but is not limited to, the following information: the name of the BLE slave device, the physical address (MAC address), the RSSI value (the RSSI Chinese interpretation is the received signal strength indication), and the like.
  • Step 202 Determine whether the target BLE slave device is found. If yes, go to step 203; otherwise, go back to step 201.
  • the user can find the target BLE slave device that needs to be searched from the scan list according to the name or MAC address of the BLE slave device. Click on the virtual button used to find the target BLE slave device.
  • the terminal device receives the seek instruction for the target BLE slave device, it may determine that the target BLE slave device is found.
  • each BLE slave device can be stored in advance in the terminal device.
  • a target BLE slave device is selected from the pre-stored BLE slave devices before scanning the BLE slave device. When scanning to the target BLE slave device, it can be determined that the target BLE slave device is found.
  • Step 203 Acquire an initial position S1 where the terminal device itself is located.
  • the initial location of the obtained terminal device may be a coordinate origin.
  • Step 204 Calculate a distance R1 between the terminal device and the target BLE slave device according to the RSSI value.
  • the signal of the target BLE slave device may be received first.
  • the signal strength RSSI value is obtained from the received target BLE from the signal of the device.
  • the distance based on the received signal strength RSSI can be used to calculate the distance between the terminal device and the target BLE slave device.
  • the terminal device receives the Measured Power sent by the target BLE from the device (Measured Power is the reference received signal when the iBeacon module is at a distance of 1 m from the receiver) and the RSSI value after the attenuation through the wireless channel.
  • the distance between the terminal device and the target BLE slave device is determined according to the model formula of the indoor wireless signal propagation.
  • d0 in the formula is usually 1 meter.
  • P(d0) is the power RSSI value received by the terminal device when the distance between the terminal device and the target BLE slave device is 1 meter.
  • the unit of power RSSI is dBm.
  • a is the wireless channel attenuation factor, which is closely related to the specific wireless environment. It can be stored in advance in the terminal device.
  • Step 205 the terminal device is controlled to acquire the other location S2 where the terminal device itself is located at other locations. Obtain the distance R2 between the terminal device and the target BLE slave device.
  • This step may first receive a signal from the target BLE slave device. And the signal strength RSSI value is obtained from the received target BLE from the signal of the device. Adjust the location of the terminal device based on the extracted RSSI value. At the location of the mobile terminal device, the terminal device displays its own moving direction and moving distance. The terminal device also prompts for the RSSI value. Specifically, when the terminal device and the target The RSSI value also changes when the distance of the BLE from the device changes. such as:
  • the RSSI signal is getting stronger. It indicates that the terminal device moves toward the target BLE slave device, and the target BLE slave device is located in the moving direction of the terminal device. The user can be prompted to target the BLE slave device in the direction of movement of the terminal device. In order to facilitate the user to control the terminal device in other locations, the acquired data is more accurate.
  • the acquired data is more accurate.
  • the RSSI signal first becomes stronger, it gradually weakens. It indicates that the target BLE slave device is located on both sides of the mobile device's moving route. The user can be prompted that the target BLE slave device is located on both sides of the terminal device moving route. In order to facilitate the user to control the terminal device in other locations, the acquired data is more accurate.
  • Other locations of the terminal device are relative positions relative to the initial position.
  • the relative position of the terminal device at other locations can be obtained by acquiring the moving direction and distance of the terminal device relative to the initial position by the acceleration sensor.
  • the relative position of the terminal device at other positions is calculated according to the moving direction and distance.
  • a weighted centroid algorithm is used to calculate the geometric centroid of each position of the terminal device according to the coordinates of Si and the value of Ri.
  • S1 and S2 can be defined as the coordinates (X1, Y1) of two known nodes S1, the coordinates (X2, Y2) of S2, and S12 is defined as the centroid (X12, Y12) (the center of mass is roughly The position of the target BLE slave device), the distance from S12 to S1 is R1, and the distance from S12 to S2 is R2.
  • the principle of the weighted centroid algorithm is roughly as follows:
  • X12 (X1/R1+X2/R2)/(1/R1+1/R2);
  • Y12 (Y1/R1+Y2/R2)/(1/R1+1/R2).
  • 1 of Ri is the weight of the Si node. Since the distance of the terminal device from the device is relatively close to the target BLE, the measurement error of the target BLE slave device position is relatively small. That is, the smaller the Ri is, the larger the weight is, and the larger the Ri is, the smaller the weight is.
  • the target BLE slave device is located at the position where the center of mass of Si is located. Moreover, in the actual design, in order to make the location of the acquisition target BLE more accurate. It is also possible to control the terminal device to acquire S3, R3 in the third position. Finally, based on S1, R1, S2, R2, S3, and R3, the position of the target BLE slave device is calculated. In an actual application, the terminal device can also be controlled to acquire S n and R n in at least N locations. Where N is a natural number greater than 3.
  • the centroids (X123..n, Y123..n) of Sn are calculated from the coordinates of Sn and the value of Rn.
  • X123..n (X1/d1+X2/d2+X3/d3+...+X n/d n)/(1/d1+1/d2+1/d3...+1/dn);
  • Y123..n (Y1/d1+Y2/d2+Y3/d3+...+Y n/d n)/(1/d1+1/d2+1/d3...+1/dn).
  • the target BLE slave device is located in the area where the geometric centroid is located.
  • the position of the target BLE slave device is a relative position with respect to the above initial position.
  • the present embodiment uses a weighted centroid algorithm to calculate the area where the target BLE slave device is located.
  • a specific calculation of the location of the target BLE slave device is provided.
  • the position of the acquisition target BLE slave device is made more accurate.
  • a third embodiment of the present invention relates to a Bluetooth BLE based positioning method.
  • the third embodiment is substantially the same as the second embodiment.
  • the main difference is that in the second embodiment, the weighted centroid algorithm is used to calculate the area where the target BLE slave device is located. And in the third embodiment In the middle, the area where the target BLE slave device is located is calculated by the equation formula of the column circle.
  • Step 301 Turn on the low power Bluetooth BLE switch of the terminal device to scan the BLE slave device.
  • the BLE slave device can be a smart device with communication function.
  • the BLE slave device can be, but is not limited to, an active pen.
  • Bluetooth on the terminal device can support the protocol of bluetooth4.1/4.2.
  • the switch enable key is set for the Bluetooth of the terminal device, and when the switch enable key is triggered, the terminal device can search for a nearby BLE slave device.
  • the search results are listed in the form of a list.
  • the BLE slave device displayed in the list may include, but is not limited to, the following information: the name of the BLE slave device, the physical address (MAC address), the RSSI value (the RSSI Chinese interpretation is the received signal strength indication), and the like.
  • step 302 it is determined whether the target BLE slave device is found. If yes, go to step 303; otherwise, go back to step 301.
  • the user can find the target BLE slave device that needs to be searched from the scan list according to the name or MAC address of the BLE slave device. Click on the virtual button used to find the target BLE slave device.
  • the terminal device receives the seek instruction for the target BLE slave device, it may determine that the target BLE slave device is found.
  • each BLE slave device can be stored in advance in the terminal device.
  • a target BLE slave device is selected from the pre-stored BLE slave devices before scanning the BLE slave device. When scanning to the target BLE slave device, it can be determined that the target BLE slave device is found.
  • Step 303 Acquire an initial position S1 where the terminal device itself is located.
  • the initial location of the obtained terminal device may be a coordinate origin.
  • Step 304 Calculate a distance R1 between the terminal device and the target BLE slave device according to the RSSI value.
  • the terminal device can receive a signal from the target BLE slave device.
  • the signal strength RSSI value is obtained from the received signal. Based on the parsed RSSI value, the distance R1 between the terminal device and the target BLE slave device is calculated.
  • the distance based on the received signal strength RSSI can be used to calculate the distance between the terminal device and the target BLE slave device.
  • the terminal device receives the Measured Power sent by the target BLE from the device (Measured Power is the reference received signal when the iBeacon module is at a distance of 1 m from the receiver) and the RSSI value after the attenuation through the wireless channel.
  • the distance between the terminal device and the target BLE slave device is determined according to the model formula of the indoor wireless signal propagation.
  • d0 in the formula is usually 1 meter.
  • P(d0) is the power RSSI value received by the terminal device when the distance between the terminal device and the target BLE slave device is 1 meter.
  • the unit of power RSSI is dBm.
  • a is the wireless channel attenuation factor, which is closely related to the specific wireless environment. It can be stored in advance in the terminal device.
  • the initial position of the terminal device itself is S1.
  • the distance R1 between the terminal device and the target BLE slave device. Therefore, the target BLE slave device is on a circle with a radius of R1 centered on S1.
  • step 305 the terminal device is controlled to acquire the other location S2 where the terminal device itself is located at other locations. Obtain the distance R2 between the terminal device and the target BLE slave device. At this time, the target BLE slave device is on a circle with a radius of R2 centered on S2.
  • Other locations of the terminal device are relative positions relative to the initial position.
  • the relative position of the terminal device at other locations can be obtained by acquiring the moving direction and distance of the terminal device relative to the initial position by the acceleration sensor. Calculate the terminal device based on the moving direction and distance
  • Step 306 in the horizontal direction, taking Si as the center Ri as the equation formula of the radius column circle.
  • the target BLE slave device is located on a circle having a radius of R1 centered on S1.
  • the target BLE slave device is located on a circle with a radius of R2 centered on S2. So the target BLE slave device is located in the intersection of the above two circles.
  • Step 307 calculating the intersection of each circle based on the coordinates of Si and the value of Ri.
  • the target BLE slave device is located at one of the above two points. .
  • the terminal device in order to make the acquisition target BLE from the position of the device more accurate. It is also possible to control the terminal device to acquire S3, R3 in the third position.
  • the position of the target BLE slave device is calculated as point B.
  • the target BLE slave device is located in the area where the intersection of each circle is common, that is, the area where point B is located.
  • the position of the target BLE slave device is a relative position with respect to the above initial position.
  • the present embodiment calculates the area where the target BLE slave device is located by the equation formula of the column circle.
  • a specific calculation of the location of the target BLE slave device is provided.
  • the position of the acquisition target BLE slave device is made more accurate.
  • a fourth embodiment of the present invention relates to a Bluetooth BLE based positioning method.
  • the fourth embodiment is an improvement made on the basis of the first, second or third embodiment.
  • the main improvement is that in the fourth embodiment, if the positional accuracy of the target BLE slave device exceeds the preset value, the terminal device is moved to the new location, the Si, Ri are reacquired, and finally, according to all Si, Ri, Calculate the location of the target BLE slave device.
  • Step 601 Turn on the low power Bluetooth BLE switch of the terminal device to scan the BLE slave device.
  • the BLE slave device can be a smart device with communication function.
  • the BLE slave device can be, but is not limited to, an active pen.
  • Bluetooth on the terminal device can support the protocol of bluetooth4.1/4.2.
  • the switch enable key is set for the Bluetooth of the terminal device, and when the switch enable key is triggered, the terminal device can search for a nearby BLE slave device.
  • the search results are listed in the form of a list.
  • the BLE slave device displayed in the list may include, but is not limited to, the following information: the name of the BLE slave device, the physical address (MAC address), the RSSI value (the RSSI Chinese interpretation is the received signal strength indication), and the like.
  • Step 602 Determine whether the target BLE slave device is found. If yes, go to step 603; otherwise, go back to step 601.
  • the user can find the target BLE slave device that needs to be searched from the scan list according to the name or MAC address of the BLE slave device. Click on the virtual button used to find the target BLE slave device.
  • the terminal device receives the seek instruction for the target BLE slave device, it may determine that the target BLE slave device is found.
  • each BLE slave device can be stored in advance in the terminal device.
  • a target BLE slave device is selected from the pre-stored BLE slave devices before scanning the BLE slave device. When scanning to the target BLE slave device, it can be determined that the target BLE slave device is found.
  • Step 603 Acquire an initial position S1 where the terminal device itself is located. Obtain the distance R1 between the terminal device and the target BLE slave device.
  • Step 604 the terminal device is controlled to acquire the bit of the terminal device itself in another location.
  • Set S2. Obtain the distance R2 between the terminal device and the target BLE slave device.
  • Step 605 Calculate the location of the target BLE slave device according to the acquired S1, R1, S2, and R2.
  • the first region range in which the target BLE slave device is located can be determined according to S1 and R1.
  • the second area range in which the target BLE slave device is located can be determined.
  • the coincidence position of the first area range and the second area range can be determined as the location where the target BLE slave device is located.
  • the terminal device in order to make the location of the acquisition target BLE more accurate, can also be controlled to acquire S3 and R3 in the third position.
  • S1, R1, S2, R2, S3, and R3 the position of the target BLE slave device is calculated.
  • Step 606 Determine whether the positional accuracy of the target BLE slave device exceeds a preset value. If yes, go to step 607; otherwise, end.
  • the positional accuracy of the target BLE from the device can be set to within 1 square meter. If the position of the target BLE slave device is within 1 square meter, the positional accuracy of the target BLE slave device does not exceed the preset value. If the target BLE slave device's position range exceeds 1 square meter, the target BLE slave device's positional accuracy exceeds the preset value. Moreover, it is worth mentioning that the above accuracy is not limited to being set to within 1 square meter. The above precision can be designed to an arbitrary value according to actual design requirements.
  • Step 607 Move the terminal device to the new location, and re-acquire the location Si where the terminal device itself is located. Obtain the distance Ri between the terminal device and the target BLE slave device. Among them, the new location is a location different from all the locations of the previous calculation target BLE slave device.
  • Step 608 Recalculate the location of the target BLE slave device according to all acquired Si and Ri.
  • the positional accuracy of the target BLE slave device may also exceed the preset value. At this point, the user can Manually stop the above positioning process.
  • the present embodiment can make the position of the located target BLE more accurate from the device.
  • a fifth embodiment of the present invention relates to a Bluetooth BLE-based positioning method.
  • the fifth embodiment is substantially the same as the fourth embodiment.
  • the main improvement is that in the fourth embodiment, if the positional accuracy of the target BLE slave device exceeds the preset value, the terminal device is moved to the new location, the Si, Ri are reacquired, and finally, according to all Si, Ri, Calculate the location of the target BLE slave device.
  • the prompt information for asking the user whether to continue searching is displayed.
  • Step 701 Turn on the low power Bluetooth BLE switch of the terminal device to scan the BLE slave device.
  • the BLE slave device can be a smart device with communication function.
  • the BLE slave device can be, but is not limited to, an active pen.
  • Bluetooth on the terminal device can support the protocol of bluetooth4.1/4.2.
  • the switch enable key is set for the Bluetooth of the terminal device, and when the switch enable key is triggered, the terminal device can search for a nearby BLE slave device.
  • the search results are listed in the form of a list.
  • the BLE slave device displayed in the list may include, but is not limited to, the following information: the name of the BLE slave device, the physical address (MAC address), the RSSI value (the RSSI Chinese interpretation is the received signal strength indication), and the like.
  • step 702 it is determined whether the target BLE slave device is found. If yes, go to step 703; otherwise, go back to step 701.
  • the user can find the target BLE slave device that needs to be searched from the scan list according to the name or MAC address of the BLE slave device. Click to find the target BLE slave device Virtual button.
  • the terminal device receives the seek instruction for the target BLE slave device, it may determine that the target BLE slave device is found.
  • each BLE slave device can be stored in advance in the terminal device.
  • a target BLE slave device is selected from the pre-stored BLE slave devices before scanning the BLE slave device. When scanning to the target BLE slave device, it can be determined that the target BLE slave device is found.
  • Step 703 Acquire an initial position S1 where the terminal device itself is located. Obtain the distance R1 between the terminal device and the target BLE slave device.
  • Step 704 the terminal device is controlled to acquire the location S2 where the terminal device itself is located at other locations. Obtain the distance R2 between the terminal device and the target BLE slave device.
  • Step 705 Calculate the location of the target BLE slave device according to the acquired S1, R1, S2, and R2.
  • the first region range in which the target BLE slave device is located can be determined according to S1 and R1.
  • the second area range in which the target BLE slave device is located can be determined.
  • the coincidence position of the first area range and the second area range can be determined as the location where the target BLE slave device is located.
  • the terminal device in order to make the location of the acquisition target BLE more accurate, can also be controlled to acquire S3 and R3 in the third position.
  • S1, R1, S2, R2, S3, and R3 the position of the target BLE slave device is calculated.
  • Step 706 Determine whether the positional accuracy of the target BLE slave device exceeds a preset value. If yes, go to step 707; otherwise, end.
  • the positional accuracy of the target BLE from the device can be set to within 1 square meter. If the position of the target BLE slave device is within 1 square meter, the positional accuracy of the target BLE slave device does not exceed the preset value. If the target BLE slave device's position range exceeds 1 square meter, the target BLE slave device's positional accuracy exceeds the preset value. And, it is worth mentioning that The accuracy is not limited to being set to within 1 square meter. The above precision can be designed to an arbitrary value according to actual design requirements.
  • Step 707 displaying prompt information for asking the user whether to continue searching.
  • the user may not be able to find the target BLE slave device from the location of the device according to the calculated target BLE. At this time, the user can control the terminal device to move to a new location according to the displayed information, and continue to acquire Si and Ri. Then calculate the position of the target BLE slave device based on all Si, Ri.
  • the present embodiment can make the position of the located target BLE more accurate from the device.
  • a sixth embodiment of the present invention relates to a Bluetooth BLE-based positioning apparatus that is applied to a terminal device.
  • the Bluetooth BLE-based positioning device includes a scanning module 81, an acquisition module 82, and a calculation module 83.
  • the scanning module 81 is used to scan the BLE slave device.
  • the obtaining module 82 is configured to acquire the location Si where the terminal device itself is located in at least two locations after the scanning module 81 scans to find the target BLE slave device, and acquire the distance Ri between the terminal device and the target BLE slave device.
  • the calculation module 83 is configured to calculate the position of the target BLE slave device according to the acquired Si and Ri.
  • the present embodiment is an apparatus embodiment corresponding to the first embodiment, and the present embodiment can be implemented in cooperation with the first embodiment.
  • the related technical details mentioned in the first embodiment are still effective in the present embodiment, and are not described herein again in order to reduce repetition.
  • this The relevant technical details mentioned in the embodiment can also be applied in the first embodiment.
  • each module involved in this embodiment is a logic module.
  • a logical unit may be a physical unit, a part of a physical unit, or multiple physical entities. A combination of units is implemented.
  • the present embodiment does not introduce a unit that is not closely related to solving the technical problem proposed by the present invention, but this does not mean that there are no other units in the present embodiment.
  • the present embodiment makes it possible to conveniently locate the target BLE slave device, which greatly shortens the time for finding the target BLE slave device. Moreover, the positioning of the target BLE slave device can be realized without deploying the iBeacon or the Bluetooth AP indoors, without requiring a complicated data processing architecture and reducing hardware costs.
  • a seventh embodiment of the present invention relates to a Bluetooth BLE based positioning apparatus.
  • the seventh embodiment is an improvement made on the basis of the sixth embodiment.
  • the main improvement is that in the seventh embodiment, the obtaining module at least includes: an obtaining submodule and a first calculating submodule.
  • the first calculation sub-module is configured to calculate the position of the target BLE slave device by using a weighted centroid algorithm.
  • the Bluetooth BLE-based positioning device includes a scanning module 81, an acquisition module 82, and a calculation module 83.
  • the scanning module 81 is used to scan the BLE slave device.
  • the obtaining module 82 is configured to acquire the location Si where the terminal device itself is located in at least two locations after the scanning module 81 scans to find the target BLE slave device, and acquire the distance Ri between the terminal device and the target BLE slave device.
  • the calculation module 83 is configured to calculate the position of the target BLE slave device according to the acquired Si and Ri.
  • the initial position of the terminal device is the coordinate origin, and the other positions are relative positions with respect to the initial position.
  • the position of the target BLE slave device is a relative position with respect to the initial position.
  • the obtaining module 82 includes at least an obtaining submodule 821 and a first calculating submodule 822.
  • the acquisition sub-module 821 is configured to acquire a moving direction and a distance of the terminal device relative to the initial position by using the acceleration sensor.
  • the first calculation sub-module 822 is configured to calculate the relative position of the terminal device at other locations according to the moving direction and the distance.
  • the Bluetooth BLE-based positioning device further includes a receiving module, a parsing module, and an adjusting module. And a receiving module, configured to receive a signal of the target BLE slave device.
  • a parsing module is configured to parse the signal strength RSSI value from the received signal.
  • the adjustment module (the receiving module, the parsing module, and the adjustment module are not shown in the figure) are used to adjust other locations where the terminal device is located according to the parsed RSSI value. It is worth mentioning, for example, one: during the movement of the terminal device, if the RSSI signal is getting stronger. It indicates that the terminal device moves toward the target BLE slave device, and the target BLE slave device is located in the moving direction of the terminal device.
  • the user can be prompted to target the BLE slave device in the direction of movement of the terminal device. In order to facilitate the user to control the terminal device in other locations, the acquired data is more accurate.
  • the first calculation sub-module 822 is further configured to calculate a geometric centroid of each position of the terminal device according to the coordinates of Si and the value of Ri using a weighted centroid algorithm, and the target BLE slave device is located in an area where the geometric centroid is located.
  • the obtaining module 82 further includes: a receiving submodule 823, a parsing submodule 824, and a second computing submodule 825.
  • the receiving submodule 823 is configured to receive a signal of the target BLE slave device.
  • the parsing sub-module 824 is configured to parse the signal strength RSSI value from the received signal.
  • the second calculation sub-module 825 is configured to calculate a distance Ri between the terminal device and the target BLE slave device according to the parsed RSSI value.
  • the second calculation sub-module 825 includes: an acquisition unit and a second calculation unit.
  • the obtaining unit is configured to obtain the RSSI value P(d).
  • a is a preset value
  • d0 is a preset distance between the terminal device and the target BLE slave device
  • P(d0) is a known number obtained according to d0.
  • the present embodiment can be implemented in cooperation with the second embodiment.
  • the related technical details mentioned in the second embodiment are still effective in the present embodiment, and the technical effects that can be achieved in the second embodiment can also be implemented in the present embodiment. To reduce the repetition, details are not described herein again. Accordingly, the related art details mentioned in the present embodiment can also be applied to the second embodiment.
  • the present embodiment uses a weighted centroid algorithm to calculate the area where the target BLE slave device is located.
  • a specific calculation of the location of the target BLE slave device is provided.
  • the position of the acquisition target BLE slave device is made more accurate.
  • An eighth embodiment of the present invention relates to a Bluetooth BLE based positioning apparatus.
  • the eighth embodiment is substantially the same as the seventh embodiment.
  • the main difference is that in the seventh embodiment, the acquiring module at least includes: an obtaining submodule and a first calculating submodule.
  • the first calculation sub-module includes: a setting unit and a first calculation unit.
  • the Bluetooth BLE-based positioning device includes a scanning module 81, an acquisition module 82, and a calculation module 83.
  • the scanning module 81 is used to scan the BLE slave device.
  • the obtaining module 82 is configured to acquire the location Si where the terminal device itself is located in at least two locations after the scanning module 81 scans to find the target BLE slave device, and acquire the distance Ri between the terminal device and the target BLE slave device.
  • the calculation module 83 is configured to calculate the position of the target BLE slave device according to the acquired Si and Ri.
  • the obtaining module 82 includes at least an obtaining submodule 821 and a first calculating submodule 822.
  • the acquisition sub-module 821 is configured to acquire a moving direction and a distance of the terminal device relative to the initial position by using the acceleration sensor.
  • the first calculation sub-module 822 is configured to calculate the relative position of the terminal device at other locations according to the moving direction and the distance.
  • the obtaining module 82 further includes: a receiving submodule 823, a parsing submodule 824, and a second computing submodule 825.
  • the receiving submodule 823 is configured to receive a signal of the target BLE slave device.
  • the parsing sub-module 824 is configured to parse the signal strength RSSI value from the received signal.
  • the second calculation sub-module 825 is configured to calculate a distance Ri between the terminal device and the target BLE slave device according to the parsed RSSI value.
  • the second calculation sub-module 825 includes: an acquisition unit and a second calculation unit.
  • the obtaining unit is configured to obtain the RSSI value P(d).
  • a is a preset value
  • d0 is a preset distance between the terminal device and the target BLE slave device
  • P(d0) is a known number obtained according to d0.
  • the first calculation sub-module 822 includes: a setting unit 8221 and a first calculation unit 8222.
  • the setting unit 8221 is used for an equation formula in which the center of the circle Ri is the radius of the circle in the horizontal direction.
  • the first calculating unit 8222 is configured to calculate the intersection of each circle based on the coordinates of Si and the value of Ri.
  • the target BLE slave device is located in the area where the intersections shared by each circle are located.
  • the present embodiment can be implemented in cooperation with the third embodiment.
  • the technical details mentioned in the third embodiment are still effective in the present embodiment, and the technical effects that can be achieved in the third embodiment are also implemented in the present embodiment. To reduce the repetition, details are not described herein again. Accordingly, the related art details mentioned in the present embodiment can also be applied to the third embodiment.
  • the present embodiment calculates the area where the target BLE slave device is located by the equation formula of the column circle.
  • a specific calculation of the location of the target BLE slave device is provided.
  • the position of the acquisition target BLE slave device is made more accurate.
  • a ninth embodiment of the present invention relates to a Bluetooth BLE based positioning apparatus.
  • the ninth embodiment is an improvement based on the sixth, seventh or eighth embodiment, and the main improvement is that, in the ninth embodiment, the Bluetooth BLE-based positioning device further includes a first judging module.
  • the Bluetooth BLE-based positioning device includes a scanning module 81, an acquisition module 82, and a calculation module 83.
  • the scanning module 81 is used to scan the BLE slave device.
  • the obtaining module 82 is configured to acquire the location Si where the terminal device itself is located in at least two locations after the scanning module 81 scans to find the target BLE slave device, and acquire the distance Ri between the terminal device and the target BLE slave device.
  • the calculation module 83 is configured to calculate the position of the target BLE slave device according to the acquired Si and Ri.
  • the Bluetooth BLE based positioning device further includes a first determining module 84.
  • the first determining module 84 is configured to determine whether the positional accuracy of the target BLE slave device exceeds a preset value.
  • the obtaining module 82 is further configured to move the terminal device to the new location when the positional accuracy of the target BLE slave device exceeds the preset value, and re-acquire the location Si where the terminal device itself is located. Obtain the distance Ri between the terminal device and the target BLE slave device.
  • the new location is a location different from all the locations of the previous calculation target BLE slave device.
  • the calculation module is further configured to recalculate the location of the target BLE slave device according to all acquired Si and Ri.
  • the present embodiment can be implemented in cooperation with the fourth embodiment.
  • the related technical details mentioned in the fourth embodiment are still effective in the present embodiment, and the technical effects that can be achieved in the fourth embodiment are also implemented in the present embodiment. To reduce the repetition, details are not described herein again. Accordingly, the related art details mentioned in the present embodiment can also be applied to the fourth embodiment.
  • the present embodiment can make the position of the located target BLE more accurate from the device.
  • a tenth embodiment of the present invention relates to a Bluetooth BLE based positioning apparatus.
  • Tenth implementer The formula is substantially the same as the ninth embodiment, and the main improvement is that in the ninth embodiment, the Bluetooth BLE-based positioning apparatus further includes a first judging module.
  • the Bluetooth BLE-based positioning device further includes a second determining module and a display module.
  • the Bluetooth BLE-based positioning device includes a scanning module 81, an acquisition module 82, and a calculation module 83.
  • the scanning module 81 is used to scan the BLE slave device.
  • the obtaining module 82 is configured to acquire the location Si where the terminal device itself is located in at least two locations after the scanning module 81 scans to find the target BLE slave device, and acquire the distance Ri between the terminal device and the target BLE slave device.
  • the calculation module 83 is configured to calculate the position of the target BLE slave device according to the acquired Si and Ri.
  • the Bluetooth BLE based positioning device further includes a second judging module 85 and a display module 86.
  • the second determining module 85 is configured to determine whether the positional accuracy of the target BLE slave device exceeds a preset value.
  • the display module 86 is configured to display prompt information for asking the user whether to continue searching when the positional accuracy of the target BLE slave device exceeds a preset value.
  • the present embodiment can be implemented in cooperation with the fifth embodiment.
  • the related technical details mentioned in the fifth embodiment are still effective in the present embodiment, and the technical effects that can be achieved in the fifth embodiment can also be implemented in the present embodiment. To reduce the repetition, details are not described herein again. Accordingly, the related technical details mentioned in the present embodiment can also be applied to the fifth embodiment.
  • the present embodiment can make the position of the located target BLE more accurate from the device.
  • a program instructing related hardware may be completed by a program instructing related hardware, and the program is stored in a storage medium, and includes a plurality of instructions for making a device (which may be a single chip microcomputer).
  • the chip, etc. or processor executes all or part of the steps of the various embodiments of the present application.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), and a random access memory.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne le domaine de la communication sans fil, et concerne un procédé et un appareil de positionnement basés sur Bluetooth BLE. Dans la présente invention, le procédé de positionnement basé sur Bluetooth BLE est utilisé dans un dispositif terminal, et consiste à : rechercher un dispositif esclave BLE ; après la découverte d'un dispositif esclave BLE cible, dans au moins deux positions acquérant séquentiellement la position Si dans laquelle le dispositif terminal est actuellement situé et la distance Ri entre le dispositif terminal et le dispositif esclave BLE cible ; et, sur la base des Si et Ri acquis, calculer la position du dispositif esclave BLE cible. La présente invention concerne également un appareil de positionnement basé sur Bluetooth BLE. Par rapport à l'état de la technique, la présente invention permet une découverte pratique de la position d'un dispositif esclave BLE cible, réduisant considérablement le temps de recherche d'un dispositif esclave BLE cible. Le positionnement d'un dispositif esclave BLE cible peut être mis en oeuvre sans qu'il soit nécessaire de déployer un AP Bluetooth ou Bluetooth à l'intérieur, et une architecture complexe de traitement de données n'est également pas nécessaire, réduisant ainsi les coûts matériels.
PCT/CN2017/073192 2017-02-09 2017-02-09 Procédé et appareil de positionnement basés sur bluetooth ble Ceased WO2018145289A1 (fr)

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CN114268901A (zh) * 2021-12-24 2022-04-01 国网福建省电力有限公司 一种提高室内定位精度的方法及终端
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