Positioning method, gateway, and positioning device
Disclosed are a positioning method, a gateway, and a positioning device. The positioning method comprises: receiving, by means of a Bluetooth gateway, a data packet sent by a terminal device and comprising target position information, and position information of a Bluetooth node closest to the terminal device; determining the closest Bluetooth node according to the position information of the closest Bluetooth node; receiving, by the closest Bluetooth node, a data packet sent by the terminal device and comprising CTE information; obtaining current position information of the terminal device according to the CTE information; and when the current position information of the terminal device is inconsistent with the target position information, obtaining, according to the current position information of the terminal device and the target position information, position information of a next Bluetooth node closest to the terminal device and navigation information, and sending the navigation information to the terminal device.
1 . A positioning method, applied to a Bluetooth node in a Bluetooth mesh network, the Bluetooth mesh network comprising a Bluetooth gateway and at least two Bluetooth nodes, the Bluetooth node storing position information of all Bluetooth nodes and information of distance between the Bluetooth nodes, and the method comprising:
receiving, by means of the Bluetooth gateway, a data packet sent by a terminal device and comprising target position information, and position information of a Bluetooth node closest to the terminal device;
determining the closest Bluetooth node according to the position information of the Bluetooth node closest to the terminal device;
receiving, by the closest Bluetooth node, a data packet sent by the terminal device and comprising constant tone extension (CTE) information;
obtaining current position information of the terminal device according to the CTE information; and
obtaining, according to the current position information of the terminal device and the target position information, position information of a next Bluetooth node closest to the terminal device and navigation information, and sending the navigation information to the terminal device when the current position information of the terminal device is inconsistent with the target position information.
2 . The positioning method according to claim 1 , wherein, the obtaining current position information of the terminal device according to the CTE information, comprises:
controlling different antennas in the Bluetooth node to be switched according to the CTE information;
obtaining a time difference of arrival of a broadcast packet sent by the terminal device at the different antennas; and
obtaining current position information of the terminal device according to the time difference of arrival of the broadcast packet at the different antennas, wherein the current position information of the terminal device comprises distance information and orientation information of the terminal device relative to the closest Bluetooth node.
3 . The positioning method according to claim 1 , wherein, the CTE information comprises: an antenna switching time slot, a signal sampling time slot and information of an included angle between the terminal device and an antenna of the Bluetooth node.
4 . The positioning method according to claim 1 , wherein, the navigation information comprises: information of distance and information of orientation between a current position of the terminal device and a next Bluetooth node closest to the terminal device.
5 . The positioning method according to claim 1 , wherein before the obtaining, according to the current position information of the terminal device and the target position information, position information of a next Bluetooth node closest to the terminal device and navigation information, and sending the navigation information to the terminal device when the current position information of the terminal device is inconsistent with the target position information, the positioning method further comprises:
judging whether the current position information of the terminal device is consistent with the target position information, and completing positioning under the condition that the current position information of the terminal device is consistent with the target position information.
6 . A positioning method, applied to a terminal device, the terminal device being located in a Bluetooth mesh network, the Bluetooth mesh network comprising a Bluetooth gateway and at least two Bluetooth nodes, the Bluetooth node storing position information of all Bluetooth nodes and information of distance between the Bluetooth nodes, and the method comprising:
obtaining position information of a Bluetooth node closest to the terminal device;
sending, by means of the Bluetooth gateway, a data packet comprising target position information and the position information of the closest Bluetooth node to each Bluetooth node;
sending, by means of the Bluetooth gateway, a data packet comprising constant tone extension (CTE) information to the closest Bluetooth node for the Bluetooth node to obtain navigation information and send the navigation information to the terminal device when a distance between the terminal device and the closest Bluetooth node is less than a preset threshold; and
receiving, by means of the Bluetooth gateway, the navigation information sent by the closest Bluetooth node.
7 . The positioning method according to claim 6 , wherein, the obtaining position information of a Bluetooth node closest to the terminal device, comprises:
receiving a broadcast packet sent by the Bluetooth node, wherein the broadcast packet comprises received signal strength information and an MAC address of the Bluetooth node;
obtaining information of distance between the Bluetooth nodes and the terminal device according to the received signal strength information; and
determining position information of the Bluetooth node closest to the terminal device according to the information of distance between the Bluetooth nodes and the terminal device and the MAC address of the Bluetooth node.
8 . A Bluetooth gateway, the Bluetooth gateway being located in a Bluetooth mesh network, and the Bluetooth mesh network comprising at least two Bluetooth nodes;
the Bluetooth gateway being configured to receive a data packet sent by a terminal device and comprising target position information, position information of a closest Bluetooth node and a data packet comprising constant tone extension (CTE) information, and receive navigation information sent by the Bluetooth node;
the Bluetooth gateway being further configured to send a data packet comprising target position information, position information of a closest Bluetooth node and a data packet comprising constant tone extension (CTE) information to the Bluetooth node, and send navigation information to the terminal device.
9 . The Bluetooth gateway according to claim 8 , wherein, the Bluetooth gateway is further configured to analyze whether the target position information is legitimate.
10 . A positioning device, wherein the positioning device is located in a Bluetooth mesh network, positioning devices communicate with each other via a broadcast packet or a data packet, and the positioning device comprises:
a Bluetooth module, configured to receive a data packet sent by a terminal device and comprising target position information, position information of a closest Bluetooth node and a data packet comprising constant tone extension (CTE) information; and
a processing module, configured to obtain current position information of the terminal device according to the CTE information, and obtain, according to the current position information of the terminal device and the target position information, position information of a next Bluetooth node closest to the terminal device and navigation information, and send the navigation information to the terminal device when the current position information of the terminal device is inconsistent with the target position information.
11 . The positioning method according to claim 2 , wherein, the CTE information comprises: an antenna switching time slot, a signal sampling time slot and information of an included angle between the terminal device and an antenna of the Bluetooth node.
12 . The positioning method according to claim 2 , wherein, the navigation information comprises: information of distance and information of orientation between a current position of the terminal device and a next Bluetooth node closest to the terminal device.
13 . The positioning method according to claim 3 , wherein, the navigation information comprises: information of distance and information of orientation between a current position of the terminal device and a next Bluetooth node closest to the terminal device.
14 . The positioning method according to claim 2 , wherein before the obtaining, according to the current position information of the terminal device and the target position information, position information of a next Bluetooth node closest to the terminal device and navigation information, and sending the navigation information to the terminal device when the current position information of the terminal device is inconsistent with the target position information, the positioning method further comprises:
judging whether the current position information of the terminal device is consistent with the target position information, and completing positioning under the condition that the current position information of the terminal device is consistent with the target position information.
15 . The positioning method according to claim 3 , wherein before the obtaining, according to the current position information of the terminal device and the target position information, position information of a next Bluetooth node closest to the terminal device and navigation information, and sending the navigation information to the terminal device when the current position information of the terminal device is inconsistent with the target position information, the positioning method further comprises:
judging whether the current position information of the terminal device is consistent with the target position information, and completing positioning under the condition that the current position information of the terminal device is consistent with the target position information.
16 . The positioning method according to claim 4 , wherein before the obtaining, according to the current position information of the terminal device and the target position information, position information of a next Bluetooth node closest to the terminal device and navigation information, and sending the navigation information to the terminal device when the current position information of the terminal device is inconsistent with the target position information, the positioning method further comprises:
judging whether the current position information of the terminal device is consistent with the target position information, and completing positioning under the condition that the current position information of the terminal device is consistent with the target position information.