CN110809232B - Positioning method, positioning device, positioning equipment and computer readable storage medium - Google Patents
Positioning method, positioning device, positioning equipment and computer readable storage medium Download PDFInfo
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- CN110809232B CN110809232B CN201911005115.9A CN201911005115A CN110809232B CN 110809232 B CN110809232 B CN 110809232B CN 201911005115 A CN201911005115 A CN 201911005115A CN 110809232 B CN110809232 B CN 110809232B
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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
- 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
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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
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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Abstract
The embodiment of the invention provides a positioning method, a positioning device, positioning equipment and a computer readable storage medium, and relates to the technical field of positioning. The positioning method comprises the steps of receiving a positioning detection message broadcasted by a positioning object; determining the current positioning position of the positioning object by using the historical positioning position and the motion information of the positioning object carried in the positioning detection message; and the historical positioning position is the positioning position of the positioning object which is determined most recently. Therefore, the positioning error can be reduced, and the positioning accuracy is improved.
Description
Technical Field
The present invention relates to the field of positioning technologies, and in particular, to a positioning method, an apparatus, a positioning device, and a computer-readable storage medium.
Background
With the development of wireless positioning technology, positioning services are gradually diversified. Positioning services have become an unavailable part of people's life and work. Currently, a wireless positioning technology is commonly used in a Global Positioning System (GPS). Although the GPS positioning has high positioning precision and high positioning speed, in some special environments, the GPS signals are difficult to reach, so that the user cannot utilize the positioning service provided by the GPS in the special environments.
At present, the technology of the internet of things is a key for solving the positioning problem in a specific scene. However, in the related art, in the positioning process implemented by the internet of things technology, the wireless radio frequency signal used for estimating the positioning position is easily interfered, and the interference may cause fluctuation of the signal strength value of the wireless radio frequency signal, so that the obtained positioning position has an excessive error and a low accuracy.
Disclosure of Invention
In view of the above, the present invention provides a positioning method, an apparatus, a positioning device and a computer readable storage medium.
In order to achieve the above purpose, the embodiment of the present invention adopts the following technical solutions:
in a first aspect, an embodiment of the present invention provides a positioning method, which is applied to a positioning device, where the positioning method includes:
receiving a positioning detection message broadcasted by a positioning object;
determining the current positioning position of the positioning object by using the historical positioning position and the motion information of the positioning object carried in the positioning detection message; and the historical positioning position is the positioning position of the positioning object which is determined most recently.
In a second aspect, an embodiment of the present invention provides a positioning apparatus, which is applied to a positioning device, where the positioning apparatus includes:
the receiving module is used for receiving a positioning detection message broadcasted by a positioning object;
the positioning module is used for determining the current positioning position of the positioning object by utilizing the historical positioning position and the motion information of the positioning object carried in the positioning detection message; and the historical positioning position is the positioning position of the positioning object which is determined most recently.
In a third aspect, an embodiment of the present invention provides a positioning apparatus, including a processor and a memory, where the memory stores machine executable instructions capable of being executed by the processor, and the processor can execute the machine executable instructions to implement the method described in any one of the foregoing embodiments.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method according to any one of the foregoing embodiments.
Compared with the prior art, the positioning detection message for positioning in the positioning method provided by the embodiment of the invention carries the motion information of the positioning object, and the current positioning position of the positioning object is determined based on the historical positioning position and the motion information of the positioning object carried in the positioning detection message when the positioning detection message is received. And the historical positioning position is the positioning position of the positioning object which is determined most recently, and the positioning result is limited by taking the historical positioning position as reference and combining the motion information. Therefore, even if the detection message is interfered, the error of the obtained positioning position can be reduced, and the positioning accuracy is improved.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram illustrating an application environment provided by an embodiment of the present invention.
Fig. 2 shows one of the steps of the positioning method provided by the embodiment of the present invention.
Fig. 3 shows a second step flowchart of the positioning method according to the embodiment of the present invention.
Fig. 4 shows a third step of the positioning method according to the embodiment of the present invention.
Fig. 5 is a flowchart illustrating sub-steps of step S102-3 in fig. 4.
Fig. 6 is a flowchart illustrating sub-steps of step S102-4 in fig. 4.
Fig. 7 shows a fourth step flowchart of the positioning method according to the embodiment of the present invention.
Fig. 8 shows a schematic diagram of a positioning device provided by an embodiment of the invention.
Fig. 9 is a schematic diagram of a positioning apparatus according to an embodiment of the present invention.
Icon: 100-a positioning device; 101-a memory; 102-a communication interface; 103-a processor; 104-a bus; 300-a positioning device; 301-a receiving module; 302-positioning module.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Positioning services have been an indispensable part of people's life and work. Although the GPS positioning technology can meet most positioning requirements of people, due to the limitation of the environment itself or safety considerations in some special environments (e.g., indoor scenes, security-related environments, industrial parks, remote areas, etc.), GPS signals cannot be delivered, so that a user cannot obtain the positioning service provided by the GPS positioning technology when the user is located in the special environment.
With the development of the internet of things technology, in the related art, in order to provide positioning service for users in characteristic environments, the internet of things technology is adopted to realize positioning in special environments. The mode of positioning by using the technology of the Internet of things comprises the following steps: the method comprises the steps that an Internet of things module capable of receiving radio frequency signals and evaluating Received Signal Strength Indication (RSSI) values is installed at a plurality of fixed positions in a special environment. When a user is in a special environment, the user only needs to carry a radio frequency device to send a radio frequency signal to the outside. Therefore, the distance between the user and each Internet of things module can be judged according to the RSSI value evaluated by each Internet of things module, and the position information of the user is calculated. However, the radio frequency signals are easily interfered, the RSSI values obtained by the internet of things modules vary, and the RSSI values vary to different degrees regardless of whether the user moves or is shielded. Due to the instability of the RSSI value, the positioning result will vary to different degrees with the variation of the RSSI value, so that the positioning coordinate will jump. Therefore, even if the user does not move, the RSSI value received by the gateway in the positioning area changes due to factors such as shielding, and the positioning deviation is very large. For example, the distance is actually 5 meters from an internet of things module, but the distance between the positioning result and the internet of things module is more than 10 meters. Therefore, the positioning error based on the technology of the Internet of things is larger.
In order to solve the above problem, embodiments of the present invention provide a positioning method, an apparatus, a positioning device, and a computer-readable storage medium.
The positioning method and the positioning device provided by the embodiment of the invention can be applied to the operation environment shown in fig. 1. As shown in fig. 1, the internet of things positioning platform communicates with a plurality of internet of things modules through a network.
The Internet of things module is used for receiving wireless radio frequency signals sent by the Internet of things terminal and evaluating RSSI values of the received wireless radio frequency signals. The internet of things module may be, but is not limited to, a BLE gateway or an RFID gateway.
In some embodiments, the internet of things module may be communicatively connected to a network device (e.g., a switch) through a wireless Access Point (AP). The internet of things module is installed at different positions in a specific space. It should be noted that the specific space is a space that needs to be located by means of the internet of things technology. Therefore, the Internet of things module can send the wireless radio frequency signals received from the specific space and the estimated RSSI value to the Internet of things positioning platform through the switch.
In other embodiments, the internet of things module may also communicate with the internet of things positioning platform directly through a network device. For example, the internet of things module is an independent gateway supporting ip.
The internet of things terminal can be equipment capable of sending wireless radio frequency signals, and can also be equipment capable of being carried by a user. For example, the terminal of the internet of things may be, but is not limited to, a bracelet, a smart watch, a tag, and a personnel card.
In some embodiments, the terminal of the internet of things may have a relatively fixed user, and therefore, the terminal of the internet of things may store identification information of the user. It is understood that the user may be a person or an object to adapt to various application scenarios. For example, when being applied to goods management scene, above-mentioned user can be the goods, and above-mentioned thing networking terminal is the goods label. The identification information within the goods tag may be the goods information for the goods. Alternatively, the goods information may be a goods name, kind, weight, and the like. For another example, when the method is applied to a positioning scene of a park employee, the user can be a person, the internet of things terminal is a personnel card, and the identity information in the personnel card can be the identity information of a person holding the personnel card. Alternatively, the identity information may be gender, age group, position, name, etc.
In some embodiments, a motion sensor, such as a speed sensor, for identifying a motion state may be further disposed in the terminal of the internet of things. The motion sensor arranged at the terminal of the Internet of things can sense the motion information of the terminal of the Internet of things. Of course, it can be understood that the terminal of the internet of things is usually carried by the user, so the motion information of the terminal of the internet of things can also represent the motion information of the user.
In a similar way, the positioning of the terminal of the internet of things is realized, and the positioning of the user of the terminal of the internet of things is also realized.
For convenience of description, in the embodiment of the present invention, an internet of things terminal that needs to be carried by a locatee in a specific space is referred to as a location object. The above positioning objects may be one or more, and of course, the principle of positioning is the same whether a plurality of positioning objects or one positioning object.
The internet of things positioning platform comprises at least one positioning device 100.
Referring to fig. 2, fig. 2 is a flowchart illustrating a positioning method according to an embodiment of the present invention. The above positioning method is applied to the above positioning apparatus 100. As shown in fig. 2, the positioning method includes:
step S101, receiving a positioning detection message broadcasted by a positioning object.
The positioning object can periodically send wireless radio frequency signals to the outside. The positioning detection message is a wireless radio frequency signal carrying motion information, and the positioning detection message carries the motion information as real-time perceived data.
In the embodiment of the present invention, the positioning device 100 obtains, through the internet, the positioning detection packet broadcast by the positioning object sensed by each internet of things module.
It can be understood that the step S101 is a precondition for implementing a location service based on the technology of the internet of things. Compared with the related art, the positioning detection message is no longer just a common message, and carries motion information representing the motion state of the positioning object.
And step S102, determining the current positioning position of the positioning object by using the historical positioning position and the motion information of the positioning object carried in the positioning detection message.
In the embodiment of the present invention, the historical positioning position is a positioning position of a positioning object that is determined by the positioning apparatus 100 most recently. The positioning position may be a position coordinate in a specific space, and is used to represent the position of the positioning object in the specific space. It is understood that the step S102 may include the following various implementations:
in a first implementation manner, as shown in fig. 3, the step S102 may include:
and S102-1, if the motion information represents that the positioning object is in a static state, determining the historical positioning position as the current positioning position of the positioning object.
In the embodiment of the present invention, the step S102-1 may be: firstly, whether the motion information carried by the obtained positioning detection message indicates that the positioning object is in a static state or not is checked. If so, inquiring the positioning result of the positioning object at the last time. For example, if the motion speed in the motion information carried in the positioning detection packet is close to zero, the last positioning result of the positioning object is queried to obtain the historical positioning position. And secondly, taking the obtained historical positioning position as a positioning position corresponding to the current positioning.
Compared with the prior art that the current positioning position needs to be calculated in real time by using the RSSI value of the wireless radio frequency signal, in the embodiment of the invention, when the positioning object is judged to be static, the positioning is carried out without adopting a mode of calculating the positioning position by using the RSSI value of the positioning detection message, but the adjacent positioning position determined last time is used as the positioning position obtained by the current positioning. Therefore, the influence of the fluctuation of the RSSI value on the estimated positioning position is avoided, the positioning realization efficiency is improved, and the system resource occupation for realizing the positioning is saved. Thus, if the positioning object does not move in the specific space, the positioning device 100 can not only quickly provide the position of the current positioning object, but also avoid the problem that the positioning object does not move and the positioning position continuously jumps, thereby realizing the error compensation of the RSSI value positioning.
The above-described manner is described below using a scenario of locating a worker in a factory park as an example:
when the worker a carrying the employee card a is taken as a positioning object, the positioning device 100 periodically receives a positioning detection message sent by the employee card a, and periodically positions the worker a based on the positioning detection message. In the positioning process, if the movement speed in the movement information carried in the positioning detection message received by the positioning device 100 is zero (i.e., it represents that the worker a is in a stationary state at this time), the positioning position (i.e., the historical positioning position) of the worker a obtained by the previous positioning round of the positioning device 100 is obtained. And taking the historical positioning position as the positioning position of the worker A positioned in the current round. It can be understood that, because the worker a does not move, the position of the worker a does not change in a large range, and thus, the positioning accuracy is prevented from being affected by the variation of the RSSI value. Obviously, when the positioning object is static, a more accurate positioning position can be obtained on the premise of not increasing the occupied amount of system resources. The positioning efficiency is improved, the positioning period can be set to be short enough, and the positioning accuracy can be improved accordingly.
In some embodiments, upon initiating the positioning of the positioning object, if the positioning object is in a stationary state, there is no historical positioning location of the positioning object in the positioning apparatus 100. Therefore, the current positioning position of the positioning object cannot be updated with the history positioning position as described in step S103. To solve this problem, in some embodiments, the positioning method may further include: and if the historical positioning position is not acquired, collecting a positioning detection message sent by the positioning object in a specified time period. And calculating the positioning position of the positioning object according to the collected positioning detection message sent by the positioning object. For example, mean filtering may be performed on the RSSI values of the positioning detection messages received by the internet of things modules sequentially based on the positioning detection messages received by the internet of things modules. And then based on the RSSI value after filtering processing, positioning calculation is carried out. Thus, the accuracy of the obtained positioning position is ensured.
It is understood that the RSSI value fluctuates when the object is located in motion. Therefore, in the second implementation manner, as shown in fig. 4, the step S102 may also include the steps of:
and S102-2, if the motion information represents that the positioning object is in a motion state, calculating an estimated positioning position according to the signal intensity value of the received positioning detection message.
The motion information may include the speed of motion sensed by a motion sensor in the located object. As an implementation, when the motion speed is not zero, it may represent that the positioning object is in a motion state. It should be noted that the motion information may also include other types of motion data, for example, the motion information may also include the number of steps, etc. Therefore, whether the positioning object is in the motion state is determined based on the motion information, which is not limited to the foregoing manner, and may also be determined according to other data representing motion in the motion information. For example, whether the positioning object is in a stationary state or in a moving state is determined by comparing whether the step data is increased.
In the embodiment of the invention, if the positioning object is in a motion state, the estimated positioning position is calculated based on the positioning detection messages obtained by the plurality of internet of things modules. Optionally, the manner of calculating the estimated positioning position may be: and collecting positioning detection messages which are received by the Internet of things modules at the same time point and are sent by the positioning object. And evaluating the distance value of the positioning object from the Internet of things module based on the RSSI value of the positioning detection message corresponding to each Internet of things module. And calculating the position coordinates of the positioning object in a specific space according to the estimated distance values between the positioning object and the plurality of internet of things modules to serve as an estimated positioning position. It should be noted that the position coordinates of the internet of things module in the specific space can be obtained in advance, and therefore, the position coordinates of the positioning object in the specific space can be estimated by the distance values of the same positioning object relative to the internet of things modules with known position coordinates.
And S102-3, searching a corresponding target motion threshold according to the identity identification information of the positioning object carried in the positioning detection message.
The correspondence between the identification information and the motion threshold may be stored in the positioning device 100. The motion threshold may be a movable distance limit of the terminal of the internet of things in the positioning period.
Optionally, the correspondence between the identification information and the motion threshold may be preset. For example, when the identification information is classification information (adult man, adult woman, child, and cargo), the positioning device 100 may be preset with the adult man corresponding to the exercise threshold of 3m, the adult woman corresponding to the exercise threshold of 2m, the child corresponding to the exercise threshold of 1.5m, and the cargo corresponding to the exercise threshold of 5 m.
Optionally, the correspondence between the identification information and the motion threshold may also be obtained by analyzing motion data collected at ordinary times. For example, when analyzing the movement of the person, if the average displacement distance of the worker B within a single positioning period is 3 meters according to the analysis of the movement information of the worker B at ordinary times, the worker B is stored in the positioning device 100 to correspond to the movement threshold 3 m. For example, when analyzing the movement of the classified population, the average displacement distance of the population of adult men within a single positioning period is 3 meters according to the movement information analysis of a large number of adult men, and then the adult men is stored in the positioning device 100 corresponding to the movement threshold of 3 m.
In the embodiment of the present invention, the positioning detection packet carries, in addition to the motion information, identity information of the positioning object. Optionally, the motion threshold associated with the positioning object may be matched by the identification information carried in the positioning detection message as the target motion threshold.
In the above example, when the identification information is classification information, the identification information carried in the positioning detection message is a cargo, and 5m is used as a target motion threshold. For another example, when the identification information is personal information, the identification information carried in the positioning detection message is worker B, and 3m is used as the target motion threshold.
Obviously, the more accurate the target motion threshold, the better the compensation effect achieved. It can be understood that when the terminal of the internet of things moves at different speeds, the corresponding actual motion thresholds of the terminal of the internet of things are different. Generally, the greater the difference in velocity, the greater the difference in the corresponding motion thresholds. In order to improve the effect of the target motion threshold on the compensation of the positioning error, in some embodiments, the correspondence between the identification information stored in the positioning apparatus 100 and the motion threshold may be: each identification information corresponds to a plurality of motion thresholds, and each motion threshold corresponds to a motion speed interval. In some embodiments, as shown in fig. 5, the step S102-3 may include the following steps:
s102-3-1, obtaining a plurality of motion thresholds matched with the identity identification information of the positioning object in the corresponding relation.
S102-3-2, obtaining a movement speed interval to which the movement speed of the positioning object belongs.
And S102-3-3, determining a motion threshold corresponding to the acquired motion speed interval in the multiple motion thresholds as a target motion threshold.
For example, the correspondence between one piece of identification information stored in the positioning apparatus 100 and a plurality of motion thresholds is as follows:
and when the identification information in the received positioning detection message is adult men and the movement speed in the movement information is 1.5m/s, the obtained target movement threshold value is 4 m.
And S102-4, calibrating the estimated positioning position by using the target motion threshold and the historical positioning position to obtain the current positioning position of the positioning object.
In the embodiment of the invention, whether a large error exists in the estimated positioning position is estimated by using the target motion threshold, and when the estimated positioning position has the large error, the error compensation is performed by using the target motion threshold, so that the positioning error is reduced, and the positioning accuracy is improved.
Therefore, when the positioning object is in a moving state, the positioning method provided by the embodiment of the invention performs positioning based on the RSSI value of the positioning detection message, but performs error compensation by using the target moving threshold value matched with the positioning object, so as to make up for the defect of large positioning offset caused by RSSI value fluctuation, and reduce the positioning error.
In some embodiments, as shown in fig. 6, the step S102-4 may include the following sub-steps:
s102-4-1, obtaining a distance value between the estimated positioning position and the historical positioning position.
In some embodiments, the distance value may be a distance value between position coordinates corresponding to the estimated positioning position and position coordinates corresponding to the historical positioning position. For example, the spatial distance between the estimated positioning position and the historical positioning position may be calculated as the distance value according to the position coordinate corresponding to the estimated positioning position and the position coordinate corresponding to the historical positioning position.
In other embodiments, the distance value may be a distance value between the historical positioning position and the estimated position information. For example, a path from the historical positioning position to the estimated position information is acquired, and the acquired path length is used as the distance value.
And S102-4-2, comparing the distance value with a target motion threshold value.
S102-4-3, when the distance value exceeds the target motion threshold value, determining a calibration position between the predicted positioning position and the historical positioning position as the current positioning position of the positioning object.
In the embodiment of the invention, the distance value between the calibration position and the historical positioning position does not exceed the target movement threshold. The predicted positioning position and the historical positioning position may be: the historical positioning position is used as the origin point, and the spatial distance between the predicted positioning position and the historical positioning position is used as the radius range.
In some embodiments, the determining a calibration position from the predicted position and the historical position may be: and determining the position point with the distance value from the historical positioning position as the target movement threshold value as the calibration position.
Optionally, when the distance value does not exceed the target motion threshold, the estimated positioning position is taken as the positioning position obtained by the current positioning.
Therefore, the error compensation of the positioning position determined based on the RSSI value is realized by using the target motion threshold value through the steps, and the positioning error caused by the fluctuation of the RSSI value is reduced.
In a third implementation manner, the above two implementation manners may be combined, for example, on the basis of fig. 2, as shown in fig. 7, the step S102 includes:
step S102-1, if the motion information represents that the positioning object is in a static state, determining the historical positioning position as the current positioning position of the positioning object.
And S102-2, if the motion information represents that the positioning object is in a motion state, calculating an estimated positioning position according to the received positioning detection message.
And S102-3, searching a corresponding target motion threshold according to the identity identification information of the positioning object carried in the positioning detection message.
And S102-4, calibrating the estimated positioning position by using the target motion threshold and the historical positioning position to obtain the current positioning position of the positioning object.
In order to perform the corresponding steps in the above embodiments and various possible manners, an implementation manner of the positioning apparatus 300 is given below. Further, referring to fig. 8, fig. 8 is a functional block diagram of a positioning apparatus 300 according to an embodiment of the present invention. It should be noted that the positioning apparatus 300 provided in the present embodiment has the same basic principle and the same technical effect as those of the above embodiments. The positioning device 300 includes: a receiving module 301 and a positioning module 302.
The receiving module 301 is configured to receive a positioning detection packet broadcasted by a positioning object.
In this embodiment of the present invention, the receiving module 301 may be configured to execute the step S101.
A positioning module 302, configured to determine a current positioning position of the positioning object by using a historical positioning position and motion information carried in the positioning detection message; and the historical positioning position is the positioning position of the positioning object which is determined most recently.
In an embodiment of the present invention, the positioning module 302 may be configured to execute the step S102.
Optionally, the positioning module 302 includes:
and the determining unit is used for determining the historical positioning position as the current positioning position of the positioning object if the motion information represents that the positioning object is in a static state.
Optionally, the positioning device stores a correspondence between the identification information and the movement threshold.
The positioning module 302 further includes:
and the computing unit is used for computing an estimated positioning position according to the received signal strength information of the positioning detection message if the motion information represents that the positioning object is in a motion state.
And the searching unit is used for searching a corresponding target motion threshold value from the corresponding relation between the identity identification information and the motion threshold value according to the identity identification information of the positioning object carried in the positioning detection message.
And the calibration unit is used for calibrating the estimated positioning position by utilizing the target motion threshold and the historical positioning position so as to obtain the current positioning position of the positioning object.
Optionally, the calibration unit specifically includes:
and the obtaining subunit is used for obtaining a distance value between the estimated positioning position and the historical positioning position.
A comparison subunit, configured to compare the distance value with the target motion threshold.
The determining subunit is configured to determine, when the distance value exceeds the target motion threshold, a calibration position from between the estimated location position and the historical location position as a current location position of the positioning object. Wherein a distance value between the calibration position and the historical position location does not exceed the target motion threshold.
Optionally, each piece of identity information corresponds to a plurality of motion thresholds, and each motion threshold corresponds to a motion speed interval;
the above-mentioned certain sub-unit is specifically configured to:
and acquiring a motion speed interval to which the motion speed belongs in the motion information of the positioning object.
And determining a motion threshold corresponding to the acquired motion speed interval in the plurality of motion thresholds as a target motion threshold.
In some embodiments, if the historical positioning location is not obtained, the receiving module 301 is further configured to collect, in a specified time period, a positioning detection packet sent by the positioning object. The calculating unit in the positioning module 302 is further configured to calculate a positioning position of the positioning object according to the collected positioning detection packet sent by the positioning object.
Referring to fig. 9, the positioning apparatus 100 includes a memory 101, a communication interface 102, a processor 103 and a bus 104, wherein the memory 101, the communication interface 102 and the processor 103 are connected via the bus 104, and the processor 103 is configured to execute an executable module, such as a computer program, stored in the memory 101. The Memory 101 may include a high-speed Random Access Memory (RAM) and may further include a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. The communication connection between the positioning device 100 and external devices is realized by at least one communication interface 102, which may be wired or wireless.
The bus 104 may be an ISA bus, PCI bus, EISA bus, or the like. Only one bi-directional arrow is shown in fig. 9, but this does not indicate only one bus 104 or one type of bus 104.
The memory 101 is used for storing a program, such as the positioning apparatus 300 shown in fig. 8. The positioning apparatus 300 includes at least one software function module which can be stored in the memory 101 in the form of software or firmware (firmware) or is fixed in an Operating System (OS) of the positioning device 100. After receiving the execution instruction, the processor 103 executes the program to implement the positioning method disclosed in the above embodiment of the present invention.
The processor 103 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 103. The Processor 103 may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components.
It should be understood that the configuration shown in fig. 9 is merely a schematic configuration of a pointing device, which may also include more or fewer components than shown in fig. 9, or have a different configuration than shown in fig. 9. The components shown in fig. 9 may be implemented in hardware, software, or a combination thereof.
Alternatively, the modules may be stored in the form of software or Firmware (Firmware) in the memory 101 shown in fig. 9 or fixed in an Operating System (OS) of the positioning apparatus 100, and may be executed by the processor 103 in fig. 9. Meanwhile, data, codes of programs, and the like required to execute the above modules may be stored in the memory 101.
The invention also provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor 103, carries out the above-mentioned positioning method.
In summary, embodiments of the present invention provide a positioning method, an apparatus, a positioning device, and a computer-readable storage medium. The positioning method comprises the steps of receiving a positioning detection message broadcasted by a positioning object; determining the current positioning position of the positioning object by using the historical positioning position and the motion information of the positioning object carried in the positioning detection message; and the historical positioning position is the positioning position of the positioning object which is determined most recently. Therefore, even if the detection message is interfered, the error of the obtained positioning position can be reduced, and the positioning accuracy is improved.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, 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 and/or flowchart illustration, and combinations of blocks in the block diagrams and/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.
In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A positioning method is applied to positioning equipment, wherein correspondence between identification information and motion thresholds is stored in the positioning equipment, each identification information corresponds to a plurality of motion thresholds, and each motion threshold corresponds to a motion speed interval, and the positioning method comprises the following steps:
receiving a positioning detection message broadcasted by a positioning object;
determining the current positioning position of the positioning object by using the historical positioning position and the motion information of the positioning object carried in the positioning detection message; the historical positioning position is the positioning position of the positioning object which is determined most recently;
wherein the step of determining the current positioning position of the positioning object by using the historical positioning position and the motion information of the positioning object carried in the positioning detection message comprises:
if the motion information represents that the positioning object is in a motion state, calculating an estimated positioning position according to the signal intensity value of the received positioning detection message;
acquiring a plurality of motion thresholds matched with the identity identification information of the positioning object in the corresponding relation;
obtaining a movement speed interval to which the movement speed belongs in the movement information of the positioning object;
determining a motion threshold corresponding to the obtained motion speed interval in the plurality of motion thresholds as a target motion threshold;
and calibrating the estimated positioning position by using the target motion threshold and the historical positioning position to obtain the current positioning position of the positioning object.
2. The method according to claim 1, wherein the step of determining the current position of the positioning object by using the historical position and the motion information of the positioning object carried in the positioning detection message comprises:
and if the motion information represents that the positioning object is in a static state, determining the historical positioning position as the current positioning position of the positioning object.
3. The method according to claim 1, wherein the step of calibrating the estimated position location using the target motion threshold and the historical position location comprises:
obtaining a distance value between the estimated positioning position and the historical positioning position;
comparing the distance value to the target motion threshold;
when the distance value exceeds the target motion threshold value, determining a calibration position between the estimated positioning position and the historical positioning position as the current positioning position of the positioning object; wherein a distance value between the calibration position and the historical position location does not exceed the target motion threshold.
4. The positioning method according to claim 1, further comprising:
if the historical positioning position does not exist, collecting a positioning detection message sent by the positioning object in a specified time period;
and calculating the current positioning position of the positioning object according to the collected signal intensity value of the positioning detection message sent by the positioning object.
5. A positioning device is applied to positioning equipment, wherein correspondence between identification information and motion thresholds is stored in the positioning equipment, each identification information corresponds to a plurality of motion thresholds, and each motion threshold corresponds to a motion speed interval, the positioning device comprises:
the receiving module is used for receiving a positioning detection message broadcasted by a positioning object;
the positioning module is used for determining the current positioning position of the positioning object by utilizing the historical positioning position and the motion information of the positioning object carried in the positioning detection message; the historical positioning position is the positioning position of the positioning object which is determined most recently;
the positioning module is specifically configured to calculate an estimated positioning position according to a signal strength value of the received positioning detection packet if the motion information represents that the positioning object is in a motion state; acquiring a plurality of motion thresholds matched with the identity identification information of the positioning object in the corresponding relation; obtaining a movement speed interval to which the movement speed belongs in the movement information of the positioning object; determining a motion threshold corresponding to the obtained motion speed interval in the plurality of motion thresholds as a target motion threshold; and calibrating the estimated positioning position by using the target motion threshold and the historical positioning position to obtain the current positioning position of the positioning object.
6. The positioning apparatus according to claim 5, wherein the positioning device stores therein a correspondence between the identification information and the motion threshold, and the positioning module is further configured to:
if the motion information represents that the positioning object is in a static state, determining the historical positioning position as the current positioning position of the positioning object;
if the motion information represents that the positioning object is in a motion state, calculating an estimated positioning position according to the received signal strength information of the positioning detection message;
searching a corresponding target motion threshold value from the corresponding relation according to the identity identification information of the positioning object carried in the positioning detection message;
and calibrating the estimated positioning position by using the target motion threshold and the historical positioning position to obtain the current positioning position of the positioning object.
7. A positioning device comprising a processor and a memory, the memory storing machine executable instructions executable by the processor to perform the method of any one of claims 1 to 4.
8. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-4.
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| CN115150939A (en) * | 2022-06-28 | 2022-10-04 | 上海擎朗智能科技有限公司 | Method, device, equipment and storage medium for determining position information of equipment |
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| CN101547130B (en) * | 2008-03-26 | 2011-04-13 | 中国人民解放军信息工程大学 | Positioning method and positioning device based on wireless sensor network |
| CN106686042A (en) * | 2015-11-11 | 2017-05-17 | 中国电信股份有限公司 | Reverse position fingerprint identifying and locating method, apparatus and system |
| CN105578417A (en) * | 2016-01-29 | 2016-05-11 | 东北大学 | Indoor positioning method for moving person |
| CN106303930A (en) * | 2016-09-20 | 2017-01-04 | 南京软腾信息科技有限公司 | A kind of intelligent patrol detection based on BLE management system and method |
| CN107576330A (en) * | 2017-09-07 | 2018-01-12 | 西北大学 | A kind of localization method of the indoor dynamic sensing strategy based on WLAN fingerprints |
| CN107864510B (en) * | 2017-12-26 | 2020-04-24 | 厦门大学 | Indoor positioning method, terminal equipment and storage medium suitable for nuclear island of nuclear power station |
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