CN107528906A - Localization method, terminal, bluetooth nodes, electronic equipment and storage medium - Google Patents
Localization method, terminal, bluetooth nodes, electronic equipment and storage medium Download PDFInfo
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- CN107528906A CN107528906A CN201710781023.4A CN201710781023A CN107528906A CN 107528906 A CN107528906 A CN 107528906A CN 201710781023 A CN201710781023 A CN 201710781023A CN 107528906 A CN107528906 A CN 107528906A
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- bluetooth nodes
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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
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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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
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Multimedia (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the present invention provides a kind of localization method, terminal, bluetooth nodes, electronic equipment and storage medium.Methods described includes receiving the data frame that bluetooth nodes are broadcasted to space, data frame packet states the mark and pre-determined distance of bluetooth nodes, pre-determined distance is the distance between bluetooth nodes and terminal of bluetooth nodes prediction, and for instruction terminal using Prediction distance as the actual range between bluetooth nodes and terminal；Location Request is sent to cloud server, Location Request includes the mark and pre-determined distance of bluetooth nodes, so that mark and pre-determined distance of the cloud server according to bluetooth nodes, determines the positional information of terminal.Methods described sends the data frame for carrying pre-determined distance by bluetooth nodes so that terminal directly obtains the pre-determined distance of bluetooth nodes and terminal, the step of actual range is calculated of signal intensity is performed without terminal, so as to mitigate the operating load of terminal.
Description
Technical field
The present embodiments relate to a kind of communication technical field, particularly a kind of localization method, terminal, bluetooth nodes, electricity
Sub- equipment and storage medium.
Background technology
There are the complicated large buildings of increasing indoor situations to occur in daily life, such as megastore, library, doctor
Institute etc., theater etc..Indoor positioning be always one it is popular study a question, because wall blocks to signal, it is outdoor it is the most frequently used,
The higher GPS of precision (Global Positioning System, global positioning system) popularization is limited, therefore main flow is ground
Study carefully direction and be concentrated mainly on WIFI (Wireless Fidelity, wireless connection) indoor positioning, WIFI positioning is roughly divided into signal
Strength co-mputation position and received signals fingerprint method.But WIFI positioning needs substantial amounts of AP (Access Point, WAP)
Accurate positioning is just can guarantee that, and AP cost is higher, therefore the cost for promoting positioning is higher.
It is proposed to be based on BLE (Bluetooth low energy technology, Bluetooth Low Energy technology) in the prior art
Location facilities, because BLE Module Prices are very cheap, while power consumption is very low, therefore can be used for large scale deployment to carry out
Positioning.
The scheme of bluetooth positioning in the prior art is described below：
Bluetooth sending module has the function of broadcast, fixed point arrangement bluetooth sending module, makes continuous broadcast data frame, the number
Signal intensity is included according to frame, the terminal for carrying bluetooth receiving module receives the data frame, and it is strong to parse the signal that data frame obtains
Degree, terminal measurement obtain receiving the received signal strength of the data frame, received signal strength are subtracted by the signal intensity of data frame
Obtain propagation loss, based on loss and the corresponding relation of distance, terminal can calculate terminal apart from the bluetooth sending module away from
From.
Fig. 1 is the schematic diagram of bluetooth positioning in the prior art.
As shown in figure 1, terminal receives the data frame of three bluetooth sending modules, terminal can be respectively obtained and sent out with each bluetooth
The distance of module is sent, positioning can be achieved according to three distances.
Following technical problem be present in the bluetooth positioning of prior art:
Realize that bluetooth positioning needs terminal first to parse data frame and obtains the signal intensity of bluetooth, then mould is sent to the bluetooth of reception
The data frame of block measures, and draws received signal strength, and then calculates propagation loss, so that it is determined that terminal is sent out apart from the bluetooth
The distance of module is sent, it is relatively more in the application of terminal installation, in the case of having taken local a large amount of internal memories, carry out bluetooth positioning
Correlation computations will aggravate terminal operating load.
At present, prior art solves the above problems also without corresponding method.
The content of the invention
The defects of for prior art, the embodiment of the present invention provide a kind of localization method, terminal, bluetooth nodes, electronics and set
Standby and storage medium.
On the one hand, the embodiment of the present invention provides a kind of localization method, and methods described includes：
Terminal receives data frame broadcast to space of bluetooth nodes, the data frame include the marks of the bluetooth nodes with
Pre-determined distance, the pre-determined distance are the distance between the bluetooth nodes of bluetooth nodes prediction and described terminal, and
For instruction terminal using the Prediction distance as the actual range between the bluetooth nodes and the terminal；
The terminal sends Location Request to cloud server, the mark of the Location Request including the bluetooth nodes and
The pre-determined distance, so that mark and the pre-determined distance of the cloud server according to the bluetooth nodes, it is determined that described
The positional information of terminal, and it is back to the terminal.
On the other hand, the embodiment of the present invention provides a kind of terminal, and the terminal includes：
Receiving module, the data frame broadcasted for receiving bluetooth nodes to space, the data frame include the bluetooth section
The mark and pre-determined distance of point, the pre-determined distance are between the bluetooth nodes of the bluetooth nodes prediction and the terminal
Distance, and for instruction terminal using the Prediction distance as the actual range between the bluetooth nodes and the terminal；
Sending module, for sending Location Request to cloud server, the Location Request includes the bluetooth nodes
Mark and the pre-determined distance, so that mark and the pre-determined distance of the cloud server according to the bluetooth nodes, really
The positional information of the fixed terminal, and it is back to the terminal.
On the other hand, the embodiment of the present invention also provides a kind of electronic equipment, including first memory, first processor, total
Line and storage on the first memory and the computer program that can be run on first processor, the first processor execution
The step of above is realized during described program.
On the other hand, the embodiment of the present invention also provides a kind of storage medium, is stored thereon with computer program, described program
The step of above is realized when being performed by first processor.
On the other hand, the embodiment of the present invention provides a kind of localization method, and methods described includes：
Bluetooth nodes, so that terminal receives and according to the data frame, determine the terminal to space broadcast data frame
Positional information, the data frame include the mark and pre-determined distance of the bluetooth nodes, and the pre-determined distance is the bluetooth section
The distance between described bluetooth nodes and the terminal of point prediction, and for indicate the terminal using the Prediction distance as
Actual range between the bluetooth nodes and the terminal.
On the other hand, the embodiment of the present invention provides a kind of bluetooth nodes, and the bluetooth nodes include：
Broadcast module, for space broadcast data frame, so that terminal receives and according to the data frame, determining the end
The positional information at end, the data frame include the mark and pre-determined distance of the bluetooth nodes, and the pre-determined distance is the indigo plant
The distance between described bluetooth nodes and the terminal of the prediction of tooth node, and for indicating the terminal by the Prediction distance
As the actual range between the bluetooth nodes and the terminal.
On the other hand, the embodiment of the present invention also provides a kind of electronic equipment, including second memory, second processor,
Two lines bus and it is stored in the computer program that can be run on second memory and in second processor, the second processor
The step of above being realized when performing the computer program.
On the other hand, the embodiment of the present invention also provides a kind of storage medium, is stored thereon with computer program, described program
The step of being realized as above when being performed by second processor.
As shown from the above technical solution, localization method provided in an embodiment of the present invention, terminal, bluetooth nodes, electronic equipment
And storage medium, methods described send the data frame for carrying pre-determined distance by bluetooth nodes so that terminal directly obtains bluetooth
The pre-determined distance of node and terminal, the step of actual range is calculated of signal intensity is performed without terminal, and terminal will be pre-
If the mark of distance and bluetooth nodes is sent to cloud server, positioned cloud server, so as to mitigate the fortune of terminal
Row load.
Brief description of the drawings
Fig. 1 is the schematic diagram of bluetooth positioning in the prior art；
Fig. 2 is a kind of schematic flow sheet of localization method provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of the customized data frame format for the bluetooth nodes broadcast that further embodiment of this invention provides；
Fig. 4 is a kind of schematic flow sheet for localization method that further embodiment of this invention provides；
Fig. 5 is a kind of structural representation for terminal that further embodiment of this invention provides；
Fig. 6 is the structural representation for a kind of electronic equipment that further embodiment of this invention provides；
Fig. 7 is a kind of structural representation for bluetooth nodes that further embodiment of this invention provides；
Fig. 8 is the structural representation for a kind of electronic equipment that further embodiment of this invention provides.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is explicitly described, it is clear that described embodiment be the present invention
Embodiment part of the embodiment, rather than whole embodiments.
Fig. 2 shows a kind of schematic flow sheet of localization method provided in an embodiment of the present invention.
As shown in Fig. 2 method provided in an embodiment of the present invention specifically includes following steps：
Step 11, terminal receive the data frame that bluetooth nodes are broadcasted to space, and the data frame includes the bluetooth nodes
Mark and pre-determined distance, the pre-determined distance be between the bluetooth nodes of bluetooth nodes prediction and the terminal
Distance, and for instruction terminal using the Prediction distance as the actual range between the bluetooth nodes and the terminal；
Alternatively, terminal using the versions of Android 4.0 and more than, bluetooth 4.0 is installed and applied, and supports BLE agreements.
BLE agreements can realize the scanning of connectionless mode, enable the terminals to the BLE broadcast in reception space.
Bluetooth nodes continue to space broadcast data frame in the embodiment of the present invention.The data frame uses the embodiment of the present invention certainly
The frame format of definition, and follow BLE frame formats.
Alternatively, set in advance in the room of the payload data position of the data frame bluetooth nodes mark and
The pre-determined distance.
Alternatively, after the bluetooth of terminal is opened, terminal is scanned by broadcast channel, can be according to the bluetooth section scanned
The mark of point, to determine the type of the bluetooth nodes.
Alternatively, the type of bluetooth nodes can be divided into transmission and positioning.The equipment for being transmitted as two support bluetooths is fitted
Match somebody with somebody, to transmit file, music etc., it is necessary to which terminal actively carries out matching operation, be positioned as terminal and passively realize positioning.
Alternatively, specific naming method is respectively adopted in different types of bluetooth nodes so that the mark of the bluetooth nodes
Know both can bluetooth nodes described in unique identification, while the type of the bluetooth nodes can be represented.
Alternatively, bluetooth nodes are identified as UUID (Universally Unique Identifier, general unique mark
Know symbol).
Alternatively, data frame described in terminal-pair is parsed, and the type for determining the bluetooth nodes is the data frame of positioning
Afterwards, the data frame is temporarily stored in local list.
Alternatively, data frame described in terminal-pair is parsed to obtain the pre-determined distance, and the pre-determined distance is the indigo plant
Tooth node predicts obtained distance, represents that the terminal is currently default less than or equal to described with the distance between the bluetooth nodes
Distance.
In embodiments of the present invention, bluetooth nodes can pre-set the coverage of wireless signal, and coverage can be considered
Using bluetooth nodes as the center of circle, the region using the pre-determined distance as radius, for terminal, in the case of bluetooth is opened, enter
It can be perceived when entering the coverage by bluetooth nodes, that is to say, that terminal can receive the data of the bluetooth nodes
Frame, represent terminal within the pre-determined distance apart from the bluetooth nodes.
Alternatively, the pre-determined distance can be obtained by the test mode of prior art, find a pre-determined distance, can be compared with
Accurately to represent actual range.
Alternatively, indoor to set bluetooth nodes in many places respectively, the space residing for each bluetooth nodes is different, surrounding obstacles
Thing is different, and the pre-determined distance for testing to obtain can be identical, also can be different.
For example, pre-determined distance is 5 meters, represent terminal when within 5 meters of bluetooth nodes, terminal directly using 5 meters as
Apart from the actual range of bluetooth nodes, the measuring and calculating of actual range is no longer carried out.
It is understood that pre-determined distance can be adjusted according to test result.Under certain circumstances, the bluetooth section of test
When point and the distance of test terminal are 1 meter, the distance of test and actual distance are basically identical, and terminal is in 1 meter of bluetooth nodes
Outside, error becomes big after distance increase, then pre-determined distance is 1 meter.
Step 12, terminal send Location Request to cloud server, and the Location Request includes the mark of the bluetooth nodes
Knowledge and the pre-determined distance, so that mark and the pre-determined distance of the cloud server according to the bluetooth nodes, it is determined that
The positional information of the terminal, and it is back to the terminal.
Alternatively, terminal sends Location Request to cloud server, terminal is entered by cloud server according to pre-determined distance
Row positioning.
Alternatively, cloud server is can be interacted with terminal, and the server with cloud computing function.
Alternatively, cloud server end is deployed on virtual platform Docker, exposes Restful API
(Application Programming Interface, application programming interface) provides service, the bluetooth of terminal for terminal
Using by the mark and pre-determined distance of the multiple bluetooth nodes scanned, pass through HTTP (Hyper Text Transfer
Protocol, HTTP) agreement, it is uploaded in the server in high in the clouds.
Alternatively, the Location Request of cloud server receiving terminal, and it is fixed to judge whether the terminal there is authority to use
Position business.
Alternatively, cloud server is previously stored with tables of data, and tables of data includes the mark and bluetooth section of bluetooth nodes
Position corresponding to point, cloud server can be searched to obtain the position of bluetooth nodes according to the mark of bluetooth nodes.
Alternatively, terminal scans multiple bluetooth nodes in a short time, obtains the data frame of multiple bluetooth nodes, corresponding
Obtain the mark and pre-determined distance of each bluetooth nodes.
Alternatively, terminal sends the mark of obtained multiple bluetooth nodes and pre-determined distance to cloud server, such as Fig. 1
Shown, cloud server can use the triangulation location of prior art.According to the position of three bluetooth nodes, and three default
Distance, terminal positioning can be achieved.
Alternatively, the actual range that cloud server end calculates the pre-determined distance as terminal, passes through triangle polyester fibre
Method, the positional information of generation terminal now, the positional information of present terminal is stored to database, and positional information is returned to
Terminal.
Alternatively, terminal receives the positional information that the cloud server is sent, and realizes indoor positioning.
The localization method that the present embodiment provides, the data frame for carrying pre-determined distance is sent by bluetooth nodes so that terminal
The pre-determined distance of bluetooth nodes and terminal is directly obtained, the step that actual range is calculated of signal intensity is performed without terminal
Suddenly, and terminal sends the mark of pre-determined distance and bluetooth nodes to cloud server, is positioned cloud server, so as to
Mitigate the operating load of terminal.
On the basis of above-described embodiment, localization method that further embodiment of this invention provides, after the step 12, this
Inventive embodiments may also provide navigation Service.
Step 13, the terminal receive the positional information, and navigation requests, the navigation are sent to the cloud server
Request includes destination, so that the cloud server is according to the destination, determines the terminal from the positional information extremely
The guidance path of the destination.
Alternatively, during the positional information of cloud server generation terminal, the positional information of present terminal is stored to data
Storehouse, and it is back to terminal.
Alternatively, when cloud server receives the navigation requests of terminal transmission, cloud server inquiry database
Obtain the positional information of present terminal.
Alternatively, cloud server determines that the floor where terminal, and indoor path turn according to the positional information of terminal
The topological diagram of point.
Alternatively, for cloud server using user current location as starting point, target location is terminal, utilizes Weight
Dijkstra's algorithm selects a nearest guidance path, returns to terminal.
It is understood that after terminal receives guidance path, it would still be possible to deflection path, need the indigo plant of real time scan broadcast channel
Tooth node, step 11 is repeated to 13, so that cloud server path planning again.
The step of other steps of the embodiment of the present invention are to above-described embodiment is similar, and the embodiment of the present invention repeats no more.
The localization method that the present embodiment provides, navigation requests are sent to cloud server by terminal, make cloud server
Carry out path planning so that terminal is navigated according to path to arrive at.
On the basis of above-described embodiment, localization method that further embodiment of this invention provides, before the step 11, this
It is a variety of that inventive embodiments determine that the mode of the pre-determined distance has, and the embodiment of the present invention is said by taking one way in which as an example
It is bright.
The pre-determined distance can be obtained by following testing procedure A1-A6：
Step A1, determine the bluetooth nodes with testing the distance of terminal；
Alternatively, bluetooth nodes are placed in indoor environment to be installed, and coordinate test terminal to carry out pre-determined distance
Test.
Step A2, the transmission signal intensity of the data frame of the test bluetooth nodes broadcast, and the test terminal
Received signal strength；
Step A3, according to the transmission signal intensity and the received signal strength, the bluetooth nodes and test are obtained
The measured value of the distance of terminal；
Alternatively, the data frame packet intensity containing transmission signal of Bluetooth broadcast, terminal receive the data frame, and measurement is received
The received signal strength of the data frame, received signal strength is subtracted by transmission signal intensity and obtains propagation loss, based on loss with
The corresponding relation of distance, distance of the terminal apart from the bluetooth nodes can be calculated.
Step A4, by the distance compared with the measured value, error corresponding to the distance is obtained；
For example, actual distance is 2m, measured value 2.4m, then corresponding error is 0.4m.
Step A5, with default step-length, the distance is adjusted, determines error corresponding to distance respectively；
Alternatively, difference mobile test terminal, the distance of test terminal and bluetooth nodes is made to produce change, and to different
Distance repeats step A2-A4.
Step A6, by corresponding distance during error minimum, as the pre-determined distance.
Alternatively, error is small, represents that the distance of actual distance and measurement is basically identical, then the pre-determined distance of bluetooth prediction
Accurately, the pre-determined distance can be used for representing bluetooth nodes with testing the actual range of terminal.
It is understood that the selection of pre-determined distance has a direct impact to the accuracy of terminal positioning.Show by test,
When apart from about 1 meter, the distance of measurement and the distance of reality are basically identical, and test terminal is outer in 1 meter of bluetooth nodes, distance increasing
Error becomes big after big.
Fig. 3 is the schematic diagram of the customized data frame format for the bluetooth nodes broadcast that further embodiment of this invention provides.
As shown in figure 3, in another embodiment, the data frame includes the mark and RSSI of the bluetooth nodes
The reference point of (Received Signal Strength Indication, signal intensity instruction).
Alternatively, the Measure Power fields that data frame carries are believed when distance is 1 meter between bluetooth nodes and terminal
The reference point of number intensity.
Alternatively, terminal, which is located at 1 meter of bluetooth nodes, can receive the data frame, according to RSSI, measure the signal of reception
Intensity, according to following calculation formula, determine the actual range d of bluetooth nodes and terminal：
D=10^ ((abs (RSSI)-A)/(10xn))
Wherein：For abs to seek absolute value, RSSI is negative value, and A is signal intensity when being separated by 1 meter of terminal measurement, and n is ring
Border decay factor.
After obtaining the distance with bluetooth nodes, and the mark of distance and bluetooth nodes is sent to cloud server.
Alternatively, the actual range of bluetooth nodes and terminal is calculated by RSSI, can more accurately obtain distance.
Alternatively, the 2.4GISM frequency ranges that bluetooth uses easily are disturbed in itself, the influence of multipath transmisstion in addition so that are received
The RSSI shakes arrived are bigger.In order to solve this problem, the RSSI received is smoothed in time.
Alternatively, employ Kalman filtering algorithm to RSSI processing, according to the RSSI after processing be calculated away from
From.
The step of other steps of the embodiment of the present invention are to above-described embodiment is similar, and the embodiment of the present invention repeats no more.
The localization method that the present embodiment provides, by testing bluetooth nodes, to obtain rational pre-determined distance, it is
Being accurately positioned for terminal provides data support.
Fig. 4 shows a kind of schematic flow sheet of localization method provided in an embodiment of the present invention.
As shown in figure 4, method provided in an embodiment of the present invention specifically includes following steps：
Step 21, bluetooth nodes are to space broadcast data frame, so that terminal receives and according to the data frame, it is determined that described
The positional information of terminal, the data frame include the mark and pre-determined distance of the bluetooth nodes, and the pre-determined distance is described
The distance between described bluetooth nodes and the terminal of bluetooth nodes prediction, and for indicating the terminal by the pre- ranging
From as the actual range between the bluetooth nodes and the terminal.
Bluetooth nodes of the embodiment of the present invention are the bluetooth sending modules set indoors, using carrying (Texas
Instruments, Texas Instrument) company's CC2540 cores bluetooth sending module, be built-in with TI BLE protocol stacks, physical layer work
Make the frequency hopping in 2.4GHz ISM (Industrial Scientific Medical) frequency range to identify, LL (Link layers,
Articulamentum) control device state.
Wherein, the version of bluetooth nodes 4.0 can have five kinds of states：Ready (standby), broadcast (advertising), search
Rope (scanning), initialize (initiating) and connection (connected).
Bluetooth nodes are operated in disconnected broadcast state in the embodiment of the present invention, for continuing to space broadcast data
Frame.The data frame uses the customized frame format of the embodiment of the present invention, and follows BLE frame formats.
Alternatively, set in advance in the room of the payload data position of the data frame bluetooth nodes mark and
The pre-determined distance.
Alternatively, the mark of the bluetooth nodes is the identification code for unique identification bluetooth nodes, and be can be used specific
Naming method, represent the types of bluetooth nodes for positioning.
Alternatively, bluetooth nodes are identified as UUID.
Alternatively, after terminal receives data frame of the type of the bluetooth nodes for positioning, positioning can passively be realized.
In embodiments of the present invention, bluetooth nodes can pre-set the coverage of wireless signal, and coverage can be considered
Using bluetooth nodes as the center of circle, the region using the pre-determined distance as radius, for terminal, in the case of bluetooth is opened, enter
It can be perceived when entering the coverage by bluetooth nodes, that is to say, that terminal can receive the data of the bluetooth nodes
Frame, represent terminal within the pre-determined distance apart from the bluetooth nodes.
Alternatively, the pre-determined distance can be obtained by the test mode of prior art, find a pre-determined distance, can be compared with
Accurately to represent actual range.
Alternatively, indoor to set bluetooth nodes in many places respectively, the space residing for each bluetooth nodes is different, surrounding obstacles
Thing is different, and the pre-determined distance for testing to obtain can be identical, also can be different.
For example, pre-determined distance is 5 meters, represent terminal when within 5 meters of bluetooth nodes, the distance of test with it is actual
Apart from basically identical, terminal directly using 5 meters as the actual range apart from bluetooth nodes, no longer carries out the measuring and calculating of actual range.
It is understood that pre-determined distance can be adjusted according to test result.Under certain circumstances, the bluetooth section of test
When point and the distance of test terminal are 1 meter, the distance of test and actual distance are basically identical, and terminal is in 1 meter of bluetooth nodes
Outside, error becomes big after distance increase, then pre-determined distance is 1 meter.
Alternatively, after the bluetooth of terminal is opened, terminal is scanned by broadcast channel, if judging to know that data frame includes
Bluetooth nodes type for positioning, then the data frame is temporarily stored in local list.
Alternatively, terminal parsing data frame obtains pre-determined distance, according to pre-determined distance and the mark of bluetooth nodes, can be achieved
Positioning.
Alternatively, the terminal can send Location Request locally realizing positioning, or terminal to cloud server, described
Location Request includes the mark and pre-determined distance of bluetooth nodes so that cloud server according to the marks of bluetooth nodes and it is default away from
From being positioned to terminal.
Alternatively, cloud server is can be interacted with terminal, and the server with cloud computing function.
Alternatively, cloud server end is deployed on virtual platform Docker, exposes Restful API
(Application Programming Interface, application programming interface) provides service, the bluetooth of terminal for terminal
Using by the mark and pre-determined distance of the multiple bluetooth nodes scanned, pass through HTTP (Hyper Text Transfer
Protocol, HTTP) agreement, it is uploaded in the server in high in the clouds.
Alternatively, the Location Request of cloud server receiving terminal, and it is fixed to judge whether the terminal there is authority to use
Position business.
Alternatively, cloud server is previously stored with tables of data, and tables of data includes the mark of bluetooth nodes, and bluetooth section
Position corresponding to point, cloud server can be searched to obtain the position of bluetooth nodes according to the mark of bluetooth nodes.
Alternatively, terminal scans multiple bluetooth nodes in a short time, obtains the data frame of multiple bluetooth nodes, corresponding
Obtain the mark and pre-determined distance of each bluetooth nodes.
Alternatively, terminal sends the mark of obtained multiple bluetooth nodes and pre-determined distance to cloud server, such as Fig. 1
Shown, cloud server can use the triangulation location of prior art.According to the position of three bluetooth nodes, and three default
Distance, terminal positioning can be achieved.
Alternatively, cloud server end passes through triangulation location, the positional information of generation terminal now, by present terminal
Positional information is stored to database, and positional information is returned into terminal.
Terminal receives the positional information that the cloud server is sent, and realizes indoor positioning.
The localization method that the present embodiment provides, directly transmits the pre-determined distance with terminal, without terminal by bluetooth nodes
Consumption internal memory carries out location Calculation and obtains actual range, can mitigate operating load caused by terminal positioning calculates.
On the basis of above-described embodiment, localization method that further embodiment of this invention provides, before the step 21, this
Inventive embodiments also need to determine the pre-determined distance.
Alternatively, the pre-determined distance can be obtained by following testing procedure A1-A6：
Step A1, determine the bluetooth nodes with testing the distance of terminal；
Alternatively, bluetooth nodes are placed in indoor environment to be installed, and coordinate test terminal to carry out pre-determined distance
Test.
Step A2, the transmission signal intensity of the bluetooth nodes broadcast data frame is tested, and the test terminal connects
Receive signal intensity；
Step A3, according to the transmission signal intensity and the received signal strength, measured value is obtained, the measured value is
Measure obtained distance；
Alternatively, the data frame packet intensity containing transmission signal of Bluetooth broadcast, terminal receive the data frame, and measurement is received
The received signal strength of the data frame, received signal strength is subtracted by transmission signal intensity and obtains propagation loss, based on loss with
The corresponding relation of distance, distance of the terminal apart from the bluetooth nodes can be calculated.
Step A4, by the distance compared with the measured value, error corresponding to the distance is obtained；
For example, actual distance is 2m, measured value 2.4m, then corresponding error is 0.4m.
Step A5, with default step-length, the distance is adjusted, determines error corresponding to distance respectively；
Alternatively, difference mobile test terminal, the distance of test terminal and bluetooth nodes is made to produce change, and to different
Distance repeats step A2-A4.
Step A6, by corresponding distance during error minimum, as the pre-determined distance.
Alternatively, error is small, represents that the distance of actual distance and measurement is basically identical, then the pre-determined distance of bluetooth prediction
Accurately, the pre-determined distance can be used for representing bluetooth nodes with testing the actual range of terminal.
It is understood that the selection of pre-determined distance has a direct impact to the accuracy of terminal positioning.Show by test,
When apart from about 1 meter, the distance of measurement and the distance of reality are basically identical, and test terminal is outer in 1 meter of bluetooth nodes, distance increasing
Error becomes big after big.
The step of other steps of the embodiment of the present invention are to above-described embodiment is similar, and the embodiment of the present invention repeats no more.
The localization method that the present embodiment provides, by testing bluetooth nodes, to obtain rational pre-determined distance, it is
Being accurately positioned for terminal provides data support.
Fig. 5 shows a kind of structural representation for terminal that further embodiment of this invention provides.
Reference picture 5, on the basis of above-described embodiment, the terminal of the present embodiment offer, the terminal includes receiving module
51 and sending module 52, wherein：
Receiving module 51 is used to receive the data frame that bluetooth nodes are broadcasted to space, and the data frame includes the bluetooth section
The mark and pre-determined distance of point, the pre-determined distance are between the bluetooth nodes of the bluetooth nodes prediction and the terminal
Distance, and for instruction terminal using the Prediction distance as the actual range between the bluetooth nodes and the terminal；
Sending module 52 is used to send Location Request to cloud server, and the Location Request includes mark and the institute of the bluetooth nodes
Pre-determined distance is stated, so that mark and the pre-determined distance of the cloud server according to the bluetooth nodes, determine the end
The positional information at end, and it is back to the terminal.
Bluetooth nodes continue to space broadcast data frame in the embodiment of the present invention.The data frame uses the embodiment of the present invention certainly
The frame format of definition, and follow BLE frame formats.
Alternatively, set in advance in the room of the payload data position of the data frame bluetooth nodes mark and
The pre-determined distance.
Alternatively, after the bluetooth of receiving module 51 is opened, it is scanned by broadcast channel, can be according to the bluetooth scanned
The mark of node, to determine the type of the bluetooth nodes.
Alternatively, the type of bluetooth nodes can be divided into transmission and positioning.The equipment for being transmitted as two support bluetooths is fitted
With transmission file, music etc., it is necessary to which terminal actively carries out matching operation, it is positioned as terminal and passively realizes positioning.
Alternatively, specific naming method is respectively adopted in different types of bluetooth nodes so that the mark of the bluetooth nodes
Know both can bluetooth nodes described in unique identification, while the type of the bluetooth nodes can be represented.
Alternatively, bluetooth nodes are identified as UUID (Universally Unique Identifier, general unique mark
Know symbol).
Alternatively, after receiving module 51 receives data frame of the type of the bluetooth nodes for positioning, by the data frame
It is temporarily stored in local list.
Alternatively, receiving module 51 parses to the data frame, obtains the pre-determined distance, and the pre-determined distance is
The bluetooth nodes predict obtained distance, represent that the terminal is currently less than or equal to institute with the distance between bluetooth nodes
State pre-determined distance.
In embodiments of the present invention, bluetooth nodes can pre-set the coverage of wireless signal, and coverage can be considered
Using bluetooth nodes as the center of circle, the region using the pre-determined distance as radius, for terminal, in the case of bluetooth is opened, enter
It can be perceived when entering the coverage by bluetooth nodes, that is to say, that terminal can receive the data of the bluetooth nodes
Frame, represent terminal within the pre-determined distance apart from the bluetooth nodes.
Alternatively, the pre-determined distance can be obtained by the test mode of prior art, find a pre-determined distance, can be compared with
Accurately to represent actual range.
Alternatively, indoor to set bluetooth nodes in many places respectively, the space residing for each bluetooth nodes is different, surrounding obstacles
Thing is different, and the pre-determined distance for testing to obtain can be identical, also can be different.
For example, the pre-determined distance of bluetooth nodes is 5 meters or 10 meters, can be adjusted according to test result.In certain environment
Under, when bluetooth nodes and terminal distance are 1 meter, pre-determined distance and actual distance are basically identical, and terminal is in 1 meter of bluetooth nodes
Outside, error becomes big after distance increase.
Alternatively, sending module 52 sends Location Request, so that cloud server according to pre-determined distance to cloud server
According to the mark and pre-determined distance of bluetooth nodes, terminal is positioned.
Alternatively, cloud server is can be interacted with terminal, and the server with cloud computing function.
Alternatively, cloud server end is deployed on virtual platform Docker, exposes Restful API
(Application Programming Interface, application programming interface) provides service, the bluetooth of terminal for terminal
Using by the mark and pre-determined distance of the multiple bluetooth nodes scanned, pass through HTTP (Hyper Text Transfer
Protocol, HTTP) agreement, it is uploaded in the server in high in the clouds.
Alternatively, cloud server receives the Location Request of sending module 52, and judges whether the terminal has authority
Use positioning service.
Alternatively, cloud server is previously stored with tables of data, and tables of data includes the mark of bluetooth nodes, and bluetooth section
Position corresponding to point, cloud server can be searched to obtain the position of bluetooth nodes according to the mark of bluetooth nodes.
Alternatively, terminal scans multiple bluetooth nodes in a short time, obtains the data frame of multiple bluetooth nodes, corresponding
Obtain the mark and pre-determined distance of each bluetooth nodes.
Alternatively, sending module 52 sends the mark of obtained multiple bluetooth nodes and pre-determined distance to cloud service
Device, as shown in figure 1, cloud server can use the triangulation location of prior art.According to the position of three bluetooth nodes, and
Three pre-determined distances, terminal positioning can be achieved.
Alternatively, the actual range that cloud server end calculates the pre-determined distance as terminal, passes through triangle polyester fibre
Method, the positional information of generation terminal now, the positional information of present terminal is stored to database, and positional information is returned to
Terminal.
Alternatively, terminal receives the positional information that the cloud server is sent, and realizes indoor positioning.
The terminal that the present embodiment provides, available for the method for performing above method embodiment, this implementation repeats no more.
The terminal that the present embodiment provides, the pre-determined distance of bluetooth nodes and terminal is directly obtained by receiving module, without
Terminal performs the step of actual range is calculated of signal intensity, and sending module is by pre-determined distance and the mark of bluetooth nodes
Send to cloud server, positioned cloud server, so as to mitigate the operating load of terminal.
Fig. 6 shows the structural representation for a kind of electronic equipment that further embodiment of this invention provides.
Refering to Fig. 6, electronic equipment provided in an embodiment of the present invention, the electronic equipment includes first memory 61, first
Processor 62, bus 63 and the computer program that can be run on first memory 61 and on first processor 62 is stored in,
The step of first processor 62 realizes following method when performing the computer program.Wherein, the memory 61, place
Reason device 62 completes mutual communication by the bus 63.
The first processor 62 is used to call programmed instruction in the first memory 61, during performing described program
Realize the method such as Fig. 2.
In another embodiment, following method is realized during the computing device described program：
The terminal receives the positional information, and navigation requests, the navigation requests bag are sent to the cloud server
Destination is included, so that the cloud server is according to the destination, determines the terminal from the positional information to the mesh
Ground guidance path.
The electronic equipment that the present embodiment provides, available for program, this reality corresponding to the method for execution above method embodiment
Apply and repeat no more.
The electronic equipment that the present embodiment provides, perform the above method and realize that bluetooth nodes send the data for carrying pre-determined distance
Frame so that terminal directly obtains the pre-determined distance of bluetooth nodes and terminal, and reality is calculated without terminal execution signal intensity
Border apart from the step of, and terminal sends the mark of pre-determined distance and bluetooth nodes to cloud server, enters cloud server
Row positioning, so as to mitigate the operating load of terminal.
The storage medium of one kind first that further embodiment of this invention provides, computer is stored with first storage medium
Program, realized when the computer program is performed by first processor such as the step of Fig. 2.
In another embodiment, following method is realized when described program is performed by first processor：
The terminal receives the positional information, and navigation requests, the navigation requests bag are sent to the cloud server
Destination is included, so that the cloud server is according to the destination, determines the terminal from the positional information to the mesh
Ground guidance path.
The storage medium that the present embodiment provides, the side of above method embodiment is realized when described program is executed by processor
Method, this implementation repeat no more.
The storage medium that the present embodiment provides, perform the above method and realize that bluetooth nodes send the data for carrying pre-determined distance
Frame so that terminal directly obtains the pre-determined distance of bluetooth nodes and terminal, and reality is calculated without terminal execution signal intensity
Border apart from the step of, and terminal sends the mark of pre-determined distance and bluetooth nodes to cloud server, enters cloud server
Row positioning, so as to mitigate the operating load of terminal.
Further embodiment of this invention discloses a kind of computer program product, and the computer program product is non-including being stored in
Computer program in transitory computer readable storage medium, the computer program include programmed instruction, when described program refers to
Order is when being computer-executed, and computer is able to carry out the method that above-mentioned each method embodiment is provided, such as including：
Terminal receives data frame broadcast to space of bluetooth nodes, the data frame include the marks of the bluetooth nodes with
Pre-determined distance, the pre-determined distance are the distance between the bluetooth nodes of bluetooth nodes prediction and described terminal, and
For instruction terminal using the Prediction distance as the actual range between the bluetooth nodes and the terminal；
Terminal sends Location Request to cloud server, the mark of the Location Request including the bluetooth nodes and described
Pre-determined distance, so that mark and the pre-determined distance of the cloud server according to the bluetooth nodes, determine the terminal
Positional information, and be back to the terminal.
Fig. 7 shows a kind of structural representation for bluetooth nodes that further embodiment of this invention provides.
Reference picture 7, on the basis of above-described embodiment, the bluetooth nodes of the present embodiment offer, the bluetooth nodes include
Broadcast module 71, wherein：
Broadcast module 71 is used for space broadcast data frame, so that terminal receives and according to the data frame, it is determined that described
The positional information of terminal, the data frame include the mark and pre-determined distance of the bluetooth nodes, and the pre-determined distance is described
The distance between described bluetooth nodes and the terminal of bluetooth nodes prediction, and for indicating the terminal by the pre- ranging
From as the actual range between the bluetooth nodes and the terminal.
Bluetooth nodes of the embodiment of the present invention are the bluetooth sending modules set indoors, using carrying (Texas
Instruments, Texas Instrument) company's CC2540 cores bluetooth sending module, be built-in with TI BLE protocol stacks, physical layer work
Make the frequency hopping in 2.4GHz ISM (Industrial Scientific Medical) frequency range to identify, LL (Link layers,
Articulamentum) control device state.
Wherein, the version of bluetooth nodes 4.0 can have five kinds of states：Ready (standby), broadcast (advertising), search
Rope (scanning), initialize (initiating) and connection (connected).
Bluetooth nodes are operated in disconnected broadcast state in the embodiment of the present invention, and broadcast module 71 is used to continue to space
Broadcast data frame.The data frame uses the customized frame format of the embodiment of the present invention, and follows BLE frame formats.
Alternatively, set in advance in the room of the payload data position of the data frame bluetooth nodes mark and
The pre-determined distance.
Alternatively, the mark of the bluetooth nodes is the identification code for unique identification bluetooth nodes, and be can be used specific
Naming method, represent the types of bluetooth nodes for positioning.
Alternatively, bluetooth nodes are identified as UUID.
Alternatively, after terminal receives data frame of the type of the bluetooth nodes for positioning, positioning can passively be realized.
In embodiments of the present invention, bluetooth nodes can pre-set the coverage of wireless signal, and coverage can be considered
Using bluetooth nodes as the center of circle, the region using the pre-determined distance as radius, for terminal, in the case of bluetooth is opened, enter
It can be perceived when entering the coverage by bluetooth nodes, that is to say, that terminal can receive the data of the bluetooth nodes
Frame, represent terminal within the pre-determined distance apart from the bluetooth nodes.
Alternatively, the pre-determined distance can be obtained by the test mode of prior art, find a pre-determined distance, can be compared with
Accurately to represent actual range.
Alternatively, indoor to set bluetooth nodes in many places respectively, the space residing for each bluetooth nodes is different, surrounding obstacles
Thing is different, and the pre-determined distance for testing to obtain can be identical, also can be different.
For example, the pre-determined distance of bluetooth nodes is 5 meters or 10 meters, can be adjusted according to test result.In certain environment
Under, when bluetooth nodes and terminal distance are 1 meter, pre-determined distance and actual distance are basically identical, and terminal is in 1 meter of bluetooth nodes
Outside, error becomes big after distance increase.
Alternatively, after the bluetooth of terminal is opened, terminal is scanned by broadcast channel, if judging to know that data frame includes
Bluetooth nodes type for positioning, then the data frame is temporarily stored in local list.
Alternatively, terminal parsing data frame obtains pre-determined distance, according to pre-determined distance and the mark of bluetooth nodes, can be achieved
Positioning.
Alternatively, the terminal sends Location Request to cloud server, and the Location Request includes the mark of bluetooth nodes
Knowledge and pre-determined distance, so that cloud server positions according to the mark and pre-determined distance of bluetooth nodes to terminal.
Alternatively, cloud server is can be interacted with terminal, and the server with cloud computing function.
Alternatively, cloud server end is deployed on virtual platform Docker, exposes Restful API
(Application Programming Interface, application programming interface) provides service, the bluetooth of terminal for terminal
Using by the mark and pre-determined distance of the multiple bluetooth nodes scanned, pass through HTTP (Hyper Text Transfer
Protocol, HTTP) agreement, it is uploaded in the server in high in the clouds.
Alternatively, the Location Request of cloud server receiving terminal, and it is fixed to judge whether the terminal there is authority to use
Position business.
Alternatively, cloud server is previously stored with tables of data, and tables of data includes the mark of bluetooth nodes, and bluetooth section
Position corresponding to point, cloud server can be searched to obtain the position of bluetooth nodes according to the mark of bluetooth nodes.
Alternatively, terminal scans multiple bluetooth nodes in a short time, obtains the data frame of multiple bluetooth nodes, corresponding
Obtain the mark and pre-determined distance of each bluetooth nodes.
Alternatively, terminal sends the mark of obtained multiple bluetooth nodes and pre-determined distance to cloud server, such as Fig. 1
Shown, cloud server can use the triangulation location of prior art.According to the position of three bluetooth nodes, and three default
Distance, terminal positioning can be achieved.
Alternatively, cloud server end passes through triangulation location, the positional information of generation terminal now, by present terminal
Positional information is stored to database, and positional information is returned into terminal.
Terminal receives the positional information that the cloud server is sent, and realizes indoor positioning.
The bluetooth nodes that the present embodiment provides, available for the method for performing above method embodiment, this implementation repeats no more.
The bluetooth nodes that the present embodiment provides, directly transmit the pre-determined distance with terminal, without terminal by bluetooth nodes
Consumption internal memory carries out location Calculation and obtains actual range, can mitigate operating load caused by terminal positioning calculates.
Fig. 8 shows the structural representation for a kind of electronic equipment that further embodiment of this invention provides.
Refering to Fig. 8, electronic equipment provided in an embodiment of the present invention, the electronic equipment includes second memory 81, second
Processor 82, bus 83 and the computer program that can be run on second memory 81 and in second processor 82 is stored in,
The step of second processor 82 realizes following method when performing the computer program.Wherein, the second memory
81st, second processor 82 completes mutual communication by bus 83.
The second processor 82 is used to call programmed instruction in the second memory 81, during performing described program
Realize the method such as Fig. 4.
In another embodiment, following method is realized during the computing device described program：
To before the step of space broadcast data frame, methods described also includes the bluetooth nodes：
Determine the bluetooth nodes with testing the distance of terminal；
Test the transmission signal intensity of the data frame of the broadcast of the bluetooth nodes, and the reception letter of the test terminal
Number intensity；
According to the transmission signal intensity and the received signal strength, obtain the bluetooth nodes with test terminal away from
From measured value；
By the distance compared with the measured value, error corresponding to the distance is obtained；
With default step-length, the distance is adjusted, determines error corresponding to distance respectively；
By corresponding distance during error minimum, as the pre-determined distance.
The electronic equipment that the present embodiment provides, available for program, this reality corresponding to the method for execution above method embodiment
Apply and repeat no more.
The electronic equipment that the present embodiment provides, perform the above method realize bluetooth nodes directly transmit with terminal it is default away from
From, without terminal consumption internal memory carry out location Calculation obtain actual range, can mitigate terminal positioning calculate caused by operating load.
A kind of storage medium that further embodiment of this invention provides, computer program is stored with the storage medium, institute
State and realized when computer program is performed by second processor such as the step of Fig. 4.
In another embodiment, following method is realized when described program is performed by second processor：
To before the step of space broadcast data frame, methods described also includes the bluetooth nodes：
Determine the bluetooth nodes with testing the distance of terminal；
Test the transmission signal intensity of the data frame of the broadcast of the bluetooth nodes, and the reception letter of the test terminal
Number intensity；
According to the transmission signal intensity and the received signal strength, obtain the bluetooth nodes with test terminal away from
From measured value；
By the distance compared with the measured value, error corresponding to the distance is obtained；
With default step-length, the distance is adjusted, determines error corresponding to distance respectively；
By corresponding distance during error minimum, as the pre-determined distance.
The storage medium that the present embodiment provides, realizes the above method embodiment when described program is performed by second processor
Method, this implementation repeat no more.
The storage medium that the present embodiment provides, perform the above method realize bluetooth nodes directly transmit with terminal it is default away from
From, without terminal consumption internal memory carry out location Calculation obtain actual range, can mitigate terminal positioning calculate caused by operating load.
It will be appreciated by those of skill in the art that although some embodiments described herein include being wrapped in other embodiments
The some features rather than further feature included, but the combination of the feature of different embodiments mean in the scope of the present invention it
It is interior and form different embodiments.
It will be understood by those skilled in the art that each step in embodiment can be realized with hardware, or with one or
The software module run on the multiple processors of person is realized, or is realized with combinations thereof.Those skilled in the art should manage
Solution, can realize according to embodiments of the present invention one using microprocessor or digital signal processor (DSP) in practice
The some or all functions of a little or whole parts.The present invention is also implemented as performing method as described herein
Some or all equipment or program of device (for example, computer program and computer program product).
Although being described in conjunction with the accompanying embodiments of the present invention, those skilled in the art can not depart from this hair
Various modifications and variations are made in the case of bright spirit and scope, such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (10)
1. a kind of localization method, it is characterised in that methods described includes：
Terminal receives the data frame that bluetooth nodes are broadcasted to space, and the data frame includes the mark of the bluetooth nodes and preset
Distance, the pre-determined distance is the distance between the bluetooth nodes of the bluetooth nodes prediction and described terminal, and is used for
Indicate the terminal using the Prediction distance as the actual range between the bluetooth nodes and the terminal；
The terminal sends Location Request to cloud server, the mark of the Location Request including the bluetooth nodes and described
Pre-determined distance, so that mark and the pre-determined distance of the cloud server according to the bluetooth nodes, determine the terminal
Positional information, and be back to the terminal.
2. according to the method for claim 1, it is characterised in that:The terminal sends the step of Location Request to cloud server
After rapid, methods described also includes：
The terminal receives the positional information, sends navigation requests to the cloud server, the navigation requests include mesh
Ground, so that the cloud server is according to the destination, determine the terminal from the positional information to the destination
Guidance path.
3. a kind of terminal, it is characterised in that the terminal includes：
Receiving module, the data frame broadcasted for receiving bluetooth nodes to space, the data frame include the bluetooth nodes
Mark and pre-determined distance, the pre-determined distance be between the bluetooth nodes of bluetooth nodes prediction and the terminal away from
From, and for instruction terminal using the Prediction distance as the actual range between the bluetooth nodes and the terminal；
Sending module, for sending Location Request to cloud server, the Location Request includes the mark of the bluetooth nodes
With the pre-determined distance so that mark and the pre-determined distance of the cloud server according to the bluetooth nodes, determine institute
The positional information of terminal is stated, and is back to the terminal.
4. a kind of electronic equipment, it is characterised in that including first memory, first processor, bus and be stored in first and deposit
On reservoir and the computer program that can be run on first processor, the first processor are realized as weighed when performing described program
The step of profit requires 1 or 2.
5. a kind of storage medium, is stored thereon with computer program, it is characterised in that：When described program is performed by first processor
Realize such as the step of claim 1 or 2.
6. a kind of localization method, it is characterised in that methods described includes：
Bluetooth nodes so that terminal receives and according to the data frame, determine the position of the terminal to space broadcast data frame
Information, the data frame include the mark and pre-determined distance of the bluetooth nodes, and the pre-determined distance is that the bluetooth nodes are pre-
The distance between described bluetooth nodes and the terminal for surveying, and for indicating the terminal using the Prediction distance as described in
Actual range between bluetooth nodes and the terminal.
7. according to the method for claim 6, it is characterised in that：The bluetooth nodes to the step of the broadcast data frame of space it
Before, methods described also includes：
Determine the bluetooth nodes with testing the distance of terminal；
Test the transmission signal intensity of the data frame of the broadcast of the bluetooth nodes, and the reception signal of the test terminal is strong
Degree；
According to the transmission signal intensity and the received signal strength, distance of the bluetooth nodes with testing terminal is obtained
Measured value；
By the distance compared with the measured value, error corresponding to the distance is obtained；
With default step-length, the distance is adjusted, determines error corresponding to distance respectively；
By corresponding distance during error minimum, as the pre-determined distance.
8. a kind of bluetooth nodes, it is characterised in that the bluetooth nodes include：
Broadcast module, for space broadcast data frame, so that terminal receives and according to the data frame, determining the terminal
Positional information, the data frame include the mark and pre-determined distance of the bluetooth nodes, and the pre-determined distance is the bluetooth section
The distance between described bluetooth nodes and the terminal of point prediction, and for indicate the terminal using the Prediction distance as
Actual range between the bluetooth nodes and the terminal.
9. a kind of electronic equipment, it is characterised in that including second memory, second processor, the second bus and be stored in
On two memories and the computer program that can be run in second processor, the second processor perform the computer program
Shi Shixian as claimed in claims 6 or 7 the step of.
10. a kind of storage medium, is stored thereon with computer program, it is characterised in that：Described program is performed by second processor
Shi Shixian as claimed in claims 6 or 7 the step of.
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| CN113281703A (en) * | 2021-05-11 | 2021-08-20 | 深圳市康凯铭科技有限公司 | Inter-device ranging method, device and readable storage medium |
| CN113281703B (en) * | 2021-05-11 | 2024-05-24 | 深圳市康凯铭科技有限公司 | Inter-device ranging method, device and readable storage medium |
| CN114022256A (en) * | 2022-01-06 | 2022-02-08 | 中国银联股份有限公司 | Information acquisition method, terminal, system and medium based on offline shopping |
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