CN113498015A - Method, device, equipment and storage medium for acquiring building node position - Google Patents
Method, device, equipment and storage medium for acquiring building node position Download PDFInfo
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- CN113498015A CN113498015A CN202110756748.4A CN202110756748A CN113498015A CN 113498015 A CN113498015 A CN 113498015A CN 202110756748 A CN202110756748 A CN 202110756748A CN 113498015 A CN113498015 A CN 113498015A
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- 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
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- H04W—WIRELESS COMMUNICATION NETWORKS
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- 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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Abstract
The embodiment of the application relates to a method, a device, equipment and a storage medium for acquiring positions of building nodes. The method comprises the following steps: controlling each node to transmit Bluetooth messages in sequence; receiving distance information of at least 5 nodes which are closest to the node and reported by each node; the distance information is obtained by the node based on the received signal strength of the Bluetooth message; determining a first relative position of each node relative to a reference node according to the distance information of the nearest 3 nodes in the at least 5 nodes corresponding to each node; determining a second relative position of each node relative to the reference node according to the distance information of the farthest 3 nodes in the at least 5 nodes corresponding to each node; and determining the target relative position of each node relative to the reference node according to the first relative position and the second relative position. The method not only can realize the positioning of the building nodes, but also can improve the positioning precision of the building nodes.
Description
Technical Field
The present application relates to the field of internet technologies, and in particular, to a method, an apparatus, a device, and a storage medium for acquiring a building node position.
Background
When the equipment nodes in the building are initially installed, the actual installation positions of the equipment nodes may not be consistent with the planned positions due to various reasons, and therefore data of the equipment nodes in the building monitoring system is distorted. Therefore, after the installation of the device nodes in the building is completed, the installation positions of the device nodes need to be acquired again.
Disclosure of Invention
Therefore, the method, the device, the equipment and the storage medium for acquiring the positions of the building nodes are provided, the building nodes can be positioned, and the positioning accuracy of the building nodes can be improved.
In a first aspect, an embodiment of the present application provides a method for acquiring a position of a building node, where each node is provided with a bluetooth module, and the method includes:
controlling each node to transmit Bluetooth messages in sequence;
receiving distance information of at least 5 nodes which are closest to the node and reported by each node; the distance information is obtained by the node based on the received signal strength of the Bluetooth message;
determining a first relative position of each node relative to a reference node according to the distance information of the nearest 3 nodes in the at least 5 nodes corresponding to each node;
determining a second relative position of each node relative to the reference node according to the distance information of the farthest 3 nodes in the at least 5 nodes corresponding to each node;
and determining the target relative position of each node relative to the reference node according to the first relative position and the second relative position.
In a second aspect, an embodiment of the present application provides an obtaining apparatus for building node position, each node is provided with a bluetooth module, the apparatus includes:
the control module is used for controlling each node to sequentially transmit Bluetooth messages;
the receiving module is used for receiving the distance information of at least 5 nodes which are reported by each node and have the closest distance to the node; the distance information is obtained by the node based on the received signal strength of the Bluetooth message;
a first determining module, configured to determine a first relative position of each node with respect to a reference node according to distance information of the nearest 3 nodes of the at least 5 nodes corresponding to each node;
a second determining module, configured to determine a second relative position of each node with respect to the reference node according to distance information of a farthest 3 node of the at least 5 nodes corresponding to each node;
and the third determining module is used for determining the target relative position of each node relative to the reference node according to the first relative position and the second relative position.
In a third aspect, an embodiment of the present application provides an apparatus for acquiring a building node position, including a memory and a processor, where the memory stores a computer program, and the processor implements, when executing the computer program, the steps of the method for acquiring a building node position provided in the first aspect of the embodiment of the present application.
In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method for acquiring a building node location provided in the first aspect of the embodiment of the present application.
According to the technical scheme provided by the embodiment of the application, the nodes are controlled to sequentially transmit the Bluetooth messages, so that the nodes can obtain the distance information of at least 5 nodes closest to the node based on the signal intensity of the received Bluetooth messages, and after the upper computer obtains the distance information of at least 5 nodes closest to the node reported by the nodes, the upper computer can obtain the first relative position of each node relative to the reference node based on the distance information of the closest 3 nodes in the at least 5 nodes corresponding to each node, so that the relative position of each node is positioned. Meanwhile, the upper computer can also obtain a second relative position of each node relative to the reference node based on the distance information of the farthest 3 nodes in at least 5 nodes corresponding to each node, and verify the first relative position through the second relative position to further accurately determine the relative position between each node, so that the accuracy of node positioning is improved.
Drawings
FIG. 1 is a schematic diagram of a system according to an embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a method for acquiring a building node position according to an embodiment of the present disclosure;
fig. 3 is another schematic flow chart of a method for acquiring a building node position according to an embodiment of the present disclosure;
fig. 4 is a schematic flowchart of a method for acquiring a building node position according to an embodiment of the present disclosure;
fig. 5 is a schematic flowchart of a method for acquiring a building node position according to an embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an apparatus for acquiring a building node position according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a building node position obtaining device according to an embodiment of the present disclosure.
Detailed Description
The method for acquiring the position of the building node provided by the embodiment of the application can be applied to the system shown in the figure 1. The system may include: host computer 101 and a plurality of node 102. The upper computer 101 is configured to control each node 102. The plurality of nodes 102 are distributed in the building, each node 102 is an object to be monitored, optionally, each node 102 may be various types of fire fighting equipment, such as a smoke detector or an alarm, and of course, may also be other equipment to be monitored in the building. Optionally, each node 102 is provided with a bluetooth module, which can transmit a bluetooth message under the control of the upper computer 101. Optionally, the upper computer 101 and the node 102 may communicate with each other through a wired network or a wireless network, and the communication mode between the upper computer 101 and the node 102 is not limited in this embodiment.
Generally, when the building engineering construction is completed for delivery, the installation positions of the devices distributed in the building need to be retrieved to prevent the actual installation positions of the devices from being inconsistent with the planned positions, which results in data distortion of the devices in the building monitoring system. Therefore, the technical scheme provided by the embodiment of the application can obtain a set of relative coordinate systems between nodes with higher accuracy.
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions in the embodiments of the present application are further described in detail by the following embodiments in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that the execution subject of the method embodiments described below may be an acquisition device of a building node position, and the device may be implemented as part or all of the above upper computer by software, hardware, or a combination of software and hardware. The following method embodiments are described by taking an example in which the execution subject is an upper computer.
Fig. 2 is a schematic flowchart of a method for acquiring a building node position according to an embodiment of the present disclosure. As shown in fig. 2, the method may include:
s201, controlling each node to sequentially transmit Bluetooth messages.
The nodes are objects to be monitored in the building, can be various types of fire fighting equipment such as smoke detectors or alarms, and can also be other objects to be monitored in the building. Each node is provided with a Bluetooth module. The upper computer can issue positioning instructions to each node in sequence, and the nodes transmit Bluetooth messages according to the instructions of the positioning instructions after receiving the positioning instructions.
S202, receiving distance information of at least 5 nodes closest to the node reported by each node.
The distance information is obtained by the node based on the received signal strength of the bluetooth message.
After receiving the bluetooth messages transmitted by other nodes, the node can determine the distance between the node and other nodes based on the signal strength of the received bluetooth messages, and selects the distance information of at least 5 nodes with the closest distance from all the distances and reports the distance information to the upper computer. Optionally, the node may determine the distance to other nodes based on the relation between the power attenuation and the distance based on the transmission power and the receiving power of the bluetooth message.
For example, assuming that the node is a node B0, the other nodes are a node B1 and a node B2 … … B10, and the node B0 determines that the distance to the node B1 is L1, the distances to the node B2 are L2 and … …, and the distance to the node B10 is L10, respectively, based on the signal strength of the received bluetooth packet. Next, the node B0 selects the nodes closest to the node B from the nodes L1 and L2 … … L10 as the nodes B1, B2, B3, B4, and B5, so that the node B0 reports the distance L1 from the node B1, the distances L2 and … … from the node B2, and the distance L5 from the node B5 to the upper computer.
It should be noted that other nodes may also report the distance information of at least 5 nodes closest to the other nodes to the upper computer by referring to the above process, so that the upper computer can obtain the distance information of at least 5 nodes closest to the node, which is reported by each node.
S203, determining a first relative position of each node relative to the reference node according to the distance information of the nearest 3 nodes in the at least 5 nodes corresponding to each node.
The reference node can be any one of the nodes, the upper computer can randomly select one of the nodes as the reference node, and the positions of other nodes all use the reference node as a reference datum and belong to a relative position.
After receiving the distance information of at least 5 nodes closest to the node, which is reported by each node, the upper computer may determine, based on the distance information of the closest 3 nodes of the at least 5 nodes corresponding to each node, a first relative position of each node with respect to the reference node based on a three-point positioning manner. It is understood that the nodes are relative to the reference node.
Since the first relative position is determined based on the distance information of the 3 nodes closest to each node, the first relative position belongs to a set of relative positional relationships with theoretically high accuracy, considering that the closer the distance is, the higher the reliability of the determined result is.
Continuing with the example in S202 as an example, assuming that L1 < L2 < L3 < L4 < L5, the upper computer can obtain the first relative position of each node with respect to the reference node by a three-point positioning method based on the distance information (L1, L2, and L3) of the 3 nodes whose distance from the node is the closest to the node.
S204, determining a second relative position of each node relative to the reference node according to the distance information of the farthest 3 nodes in the at least 5 nodes corresponding to each node.
When the distance between the nodes is calculated by using the signal strength of the received bluetooth packet, the calculated distance between the nodes is not necessarily accurate because the link loss and the signal strength are not in a linear variation relationship. In order to improve the accuracy of the obtained relative position relationship between the nodes, the upper computer may determine the relative position between the nodes again by using the distance information of other nodes of the at least 5 nodes corresponding to the nodes. That is to say, after receiving the distance information of at least 5 nodes closest to the node, which is reported by each node, the upper computer may further determine, based on the distance information of the farthest 3 nodes of the at least 5 nodes corresponding to each node, the second relative position of each node with respect to the reference node based on a three-point positioning manner. It will be appreciated that the second relative position is derived from another analysis perspective, and the nodes are referenced to the reference node to form a relative positional relationship.
Continuing with the example in S202 described above as an example, assuming that L1 < L4656 < L4 < L5, the upper computer can obtain a second relative position of each node with respect to the reference node by a three-point positioning method based on distance information (L3, L4, and L5) of 3 nodes in which each node is the farthest from the own node.
S205, determining the target relative position of each node relative to the reference node according to the first relative position and the second relative position.
And the target relative position is the finally determined relative position between the nodes. After the first relative position and the second relative position between the nodes are obtained, the upper computer may verify the first relative position by using the second relative position, and determine the target relative position between the nodes by combining the first relative position and the second relative position. Optionally, the upper computer may perform weighted average operation on the first relative position and the second relative position of each node based on the set weights, so as to obtain a target relative position of each node with respect to the reference node. The weights corresponding to the first relative position and the second relative position may be set based on experience, or may be obtained through multiple machine learning trainings.
In practical applications, there may be a need to map each node in a building into a model space corresponding to the building. For this reason, on the basis of the foregoing embodiment, optionally, as shown in fig. 3, after the foregoing S205, the method may further include:
s301, acquiring a first position of the reference node in the building space.
The building space refers to a space of a physical world where a building is located, and the position of a node in the building space is the position of the node in the physical world, and the position is usually expressed in physical coordinates (world coordinates). In practical application, the first position of the reference node can be manually collected on site in a building space and input into an upper computer.
S302, mapping the first position to a second position in a model space corresponding to the building.
The model space refers to a space where the building model is located, and positions of nodes in the model space are usually represented by model coordinates. The physical coordinates and the model coordinates have a mapping relation, and the model coordinates of the nodes in the model space can be determined according to the physical coordinates of the nodes in the building space; accordingly, from the model coordinates of the node in the model space, its physical coordinates in the building space can be determined.
Thus, after obtaining the first location of the reference node in the building space, the first location is mapped into the model space based on the mapping between the physical coordinates and the model coordinates, thereby obtaining a second location of the reference node in the model space.
S303, respectively mapping each node to a corresponding position in the model space based on the second position and the target relative position of each node relative to the reference node.
Similarly, since the target relative position of each node is based on the reference node, after the second position of the reference node in the model space is obtained, the upper computer may map other nodes from the building space to the model space based on the second position of the reference node in the model space and the target relative position of each node with respect to the reference node, so that the upper computer may obtain the position of each node in the model space. Meanwhile, the upper computer can load the building model and present each node in the building model, so that a user can intuitively know the distribution condition of each node in the building.
According to the method for acquiring the position of the building node, the nodes are controlled to sequentially transmit the Bluetooth messages, so that the nodes can obtain the distance information of at least 5 nodes closest to the node based on the signal strength of the received Bluetooth messages, and after the upper computer obtains the distance information of at least 5 nodes closest to the node reported by the nodes, the upper computer can obtain the first relative position of each node relative to the reference node based on the distance information of the closest 3 nodes in the at least 5 nodes corresponding to each node, so that the relative position of each node is positioned. Meanwhile, the upper computer can also obtain a second relative position of each node relative to the reference node based on the distance information of the farthest 3 nodes in at least 5 nodes corresponding to each node, and verify the first relative position through the second relative position to further accurately determine the relative position between each node, so that the accuracy of node positioning is improved.
In one embodiment, a process for determining a target relative position of each node with respect to a reference node is also provided. On the basis of the foregoing embodiment, as shown in fig. 4, the foregoing S205 may be:
s401, comparing the first relative position and the second relative position of each node respectively.
After obtaining the first relative position and the second relative position, the upper computer may compare the first relative position and the second relative position of each node. Typically, the relative position is expressed in the form of coordinates. The upper computer respectively compares values of an x axis, a y axis and a z axis in the first relative position and the second relative position, and if at least one of the x axis, the y axis and the z axis is inconsistent, the first relative position and the second relative position of the node are determined to be inconsistent.
For example, assuming that the first relative positions of the nodes are B1(0, 0, 0), B2 (x) through the distance information of the nearest 3 nodes of at least 5 nodes corresponding to the nodes2 (nearest node calculation)，y2 (nearest node calculation)，z2 (nearest node calculation))，……，Bn(xn (nearest node calculation)，yn (nearest node calculation)，zn (nearest node calculation)) And n is the total number of nodes in the building, and n is an integer greater than 5. Meanwhile, assuming that the second relative positions of the nodes are B1(0, 0, 0) and B2 (x) through the distance information of the farthest 3 nodes of at least 5 nodes corresponding to the nodes2 (farthest node calculation)，y2 (farthest node calculation)，z2 (farthest node calculation))，……，Bn(xn (calculation of farthest node)，yn (calculation of farthest node)，zn (calculation of farthest node)). Taking B2 as an example, if x2 (nearest node calculation)＝x2 (farthest node calculation)，y2 (nearest node calculation)＝y2 (farthest node calculation)，z2 (nearest node calculation)＝z2 (farthest node calculation)Then the first relative position and the second relative position of B2 are determined to be consistent, otherwise the first relative position and the second relative position of B2 are determined to be inconsistent.
If yes, executing S402; if not, executing S403-S405.
S402, determining the first relative position as a target relative position of each node relative to a reference node.
If the first relative position and the second relative position of each node are consistent, the confidence level of the first relative position is high, and therefore the upper computer can directly determine the first relative position as the target relative position of each node relative to the reference node.
S403, determining a third relative position of each node relative to the reference node according to the distance information of 3 median nodes in the at least 5 nodes corresponding to each node.
The middle node is located between the node closest to the node and the node farthest from the node, that is, the middle node is neither the closest node of the at least 5 nodes corresponding to the node nor the farthest node of the at least 5 nodes corresponding to the node.
If the first relative position and the second relative position of at least one node are inconsistent, the reliability of the first relative position is not high, so that the upper computer can re-determine the relative positions of the nodes through different analysis angles, comprehensively consider the relative positions determined by the analysis angles, and further determine the target relative positions of the nodes.
Optionally, the upper computer may determine, based on the distance information of 3 median nodes of the at least 5 nodes corresponding to each node, a third relative position of each node with respect to the reference node based on a three-point positioning manner. It will be appreciated that the third relative position is again derived from another analytical perspective, and the nodes are again relative to the reference node to form a relative positional relationship.
Continuing with the example in S202 described above as an example, assuming that L1 < L4656 < L4 < L5, the upper computer can obtain a third relative position of each node with respect to the reference node by a three-point positioning method based on distance information (L2, L3, and L4) of 3 nodes whose distances from each node to the own node belong to the median.
S404, determining an initial relative position of each node relative to a reference node and an offset value of the initial relative position according to the first relative position, the second relative position and the third relative position.
In other words, assuming that the first relative position, the second relative position, the third relative position, and the initial relative position obtained from different analysis angles are used as candidate relative positions of each node, among all the candidate relative positions of each node, the reliability of the initial relative position is the highest. The offset value of the initial relative position is used to indicate the offset range of the initial relative position.
After obtaining the first relative position, the second relative position, and the third relative position between the nodes, the upper computer may determine the initial relative position by combining the first relative position, the second relative position, and the third relative position. As an alternative implementation, the process of S404 may be: calculating the average values of the x axis, the y axis and the z axis in the first relative position, the second relative position and the third relative position respectively, and forming the initial relative position of each node relative to the reference node by the average value of each axis; and respectively calculating the maximum difference values of the x axis, the y axis and the z axis in the first relative position, the second relative position and the third relative position, and determining the maximum value of the maximum difference values of all the axes as the offset value of the initial relative position.
For example, assuming that the third relative positions of the nodes are B1(0, 0, 0), B2 (x) through the distance information from the node among 3 of at least 5 nodes corresponding to the nodes2 (middle position node calculation)，y2 (middle position node calculation)，z2 (middle position node calculation))，……，Bn(xn (middle position node calculation)，yn (middle position node calculation)，zn (middle position node calculation)) Then, the initial relative position of Bn is Bn (x)n ((nearest node calculation + median node calculation + farthest node algorithm)/3)，yn ((nearest node calculation + median node calculation + farthest node algorithm)/3)，zn ((nearest node calculation + median node calculation + farthest node algorithm)/3)) The initial relative position of Bn is shifted by max (maximum difference on x-axis, maximum difference on y-axis, maximum difference on z-axis). With B2 asFor example, the first relative position of B2 is B2(4, 4.5, 4.8), the second relative position of B2 is B2(4.5, 4.5, 5.3), the third relative position of B2 is B2(4.5, 4.6, 5), and then the initial phase position of B2 is B2((4+4.5+4.5)/3, (4.5+4.5+4.6)/3, (4.8+5.3+ 5)/3); meanwhile, since the maximum difference value of the x-axis, the maximum difference value of the y-axis, and the maximum difference value of the z-axis among the first, second, and third relative positions of B2 is 0.5, 0.1, and 0.5, the offset value of the initial relative position of B2 is 0.5.
S405, determining that the target relative position of each node relative to the reference node is located in a sphere with the initial relative position as the center and the deviation value as the radius.
Since the initial relative position has the highest reliability, the upper computer can determine that the target relative position of each node is located in a sphere with the initial relative position as the center and the offset value as the radius. Continuing with the example in S404 above, the host computer may determine that the target relative position of B2 is located within a sphere of 0.5 radius centered on B2((4+4.5+4.5)/3, (4.5+4.5+4.6)/3, (4.8+5.3+ 5)/3).
In this embodiment, when the first relative position and the second relative position of each node are not consistent, the upper computer may determine the target relative position between the nodes through the first relative position, the second relative position, and the third relative position obtained from different analysis angles, that is, the relative position information determined from a plurality of analysis angles is comprehensively considered, so that the accuracy of the obtained target relative position is higher, and the positioning accuracy of the nodes is further improved. Meanwhile, the offset range of the target relative position of each node can be determined based on the relative position information of a plurality of analysis angles, and the possible relative position of each node is further limited, so that the position of each node is more definite, and the positioning accuracy of the node is further improved.
In order to further improve the positioning accuracy of the nodes in the building, optionally, for each node, the upper computer may control the target node to transmit the bluetooth message in sequence according to different transmission powers. Optionally, for each transmission power, the upper computer may further control the target node to transmit a plurality of bluetooth packets according to the target transmission power. For example, the upper computer controls the target node to sequentially transmit bluetooth messages according to 100%, 75% and 50% of the full power, and simultaneously transmits 3 times of bluetooth messages under each transmission power, that is, transmits three times of bluetooth messages according to 100% of the full power, transmits three times of bluetooth messages according to 75% of the full power, and transmits three times of bluetooth messages according to 50% of the full power.
When each node transmits a bluetooth packet according to the above process, as shown in fig. 5, the process of determining the distance information between the node and the target node may be:
s501, the node sequentially receives the Bluetooth messages sent by the target node according to different transmitting powers.
In this embodiment, the node may be a node that receives a bluetooth packet, and the target node may be a node that transmits a bluetooth packet. Of course, the roles of the node and the target node may be interchanged, that is, the node may also be a node for transmitting a bluetooth packet, and the target node may also be a node for receiving a bluetooth packet. The bluetooth message carries the transmission power of the message.
S502, the node respectively determines each initial distance between the node and a target node based on the transmitting power and the receiving power of each Bluetooth message.
Wherein each initial distance corresponds to each transmit power. The principle of the node for determining the distance between the node and the target node based on power is as follows:
the target node broadcasts a Bluetooth message (the Bluetooth message contains transmitting power), the receiving power of the Bluetooth message is measured after the node receives the Bluetooth message, and the distance value between the node and the target node can be measured based on the relation between power attenuation and distance.
Therefore, after receiving the bluetooth messages with different transmission powers, the node can measure and calculate the initial distance between the node and the target node under different transmission powers.
S503, the node takes the ratio of each transmitting power to the full power as the weight corresponding to each initial distance, and carries out weighted average operation on each initial distance, so as to obtain the target distance between the node and the target node.
After the initial distances between the node and the target node under different transmitting powers are obtained, the node can perform weighted average operation on the initial distances based on the weights corresponding to the initial distances, and further obtain the target distance between the node and the target node. The weight corresponding to each initial distance may be a ratio between each transmit power and the full power.
Continuing with the example in S501 as an example, assuming that the distances to the target node determined by the node based on the three bluetooth packets are L11, L12, and L13 respectively when the transmission power is 100% of the full power, the distances to the target node determined by the node based on the three bluetooth packets are L21, L22, and L23 respectively when the transmission power is 75% of the full power, and the distances to the target node determined by the node based on the three bluetooth packets are L31, L32, and L33 respectively when the transmission power is 50% of the full power, then the node determines that the initial distance to the target node is L31, L32, and L33 respectively when the transmission power is 100% of the full power1(wherein, L1Is the average of L11, L12, and L13), the node determines that the initial distance to the target node is L in the case that the transmission power is 75% of the full power2(wherein, L2Is the average of L21, L22, and L23), the node determines that the initial distance to the target node is L in the case that the transmission power is 50% of the full power3(wherein, L3Is the average of L31, L32, and L33). Then, the node calculates a target distance L to the target node by using the following formula 1Target。
Equation 1: l isTarget＝(100％*L1+75％*L2+50％*L3)/2.25
In this embodiment, the target node is controlled to transmit the bluetooth packets in sequence according to different transmission powers, so that the node can determine the distance to the target node by combining different transmission powers, so that the finally determined distance is more accurate, the accuracy of the distance information reported by each node is improved, and the positioning accuracy of the node is further improved.
Fig. 6 is a schematic structural diagram of an apparatus for acquiring a building node position according to an embodiment of the present disclosure. Each node is provided with a bluetooth module, and as shown in fig. 6, the apparatus may include: a control module 601, a receiving module 602, a first determining module 603, a second determining module 604, and a third determining module 605.
Specifically, the control module 601 is configured to control each node to sequentially transmit bluetooth packets;
the receiving module 602 is configured to receive distance information of at least 5 nodes that are closest to the node and reported by each node; the distance information is obtained by the node based on the received signal strength of the Bluetooth message;
the first determining module 603 is configured to determine a first relative position of each node with respect to a reference node according to distance information of the nearest 3 nodes of the at least 5 nodes corresponding to each node;
the second determining module 604 is configured to determine a second relative position of each node with respect to the reference node according to the distance information of the farthest 3 nodes of the at least 5 nodes corresponding to each node;
the third determining module 605 is configured to determine a target relative position of each node with respect to the reference node according to the first relative position and the second relative position.
The building node position obtaining device provided by the embodiment of the application controls each node to sequentially transmit the Bluetooth messages, so that each node can obtain the distance information of at least 5 nodes closest to the node based on the signal strength of the received Bluetooth messages, and after the upper computer obtains the distance information of at least 5 nodes closest to the node reported by each node, the upper computer can obtain the first relative position of each node relative to the reference node based on the distance information of the closest 3 nodes in at least 5 nodes corresponding to each node, thereby realizing the positioning of the relative position of each node. Meanwhile, the upper computer can also obtain a second relative position of each node relative to the reference node based on the distance information of the farthest 3 nodes in at least 5 nodes corresponding to each node, and verify the first relative position through the second relative position to further accurately determine the relative position between each node, so that the accuracy of node positioning is improved.
On the basis of the foregoing embodiment, optionally, the third determining module 605 may include: the device comprises a comparison unit and a first determination unit.
Specifically, the comparing unit is configured to compare the first relative position and the second relative position of each node respectively;
the first determining unit is used for determining the first relative position as a target relative position of each node relative to the reference node when the first relative position and the second relative position of each node are consistent.
On the basis of the foregoing embodiment, optionally, the third determining module 605 may further include: a second determining unit, a third determining unit and a fourth determining unit.
Specifically, the second determining unit is configured to determine, when the first relative position and the second relative position of each node are inconsistent, a third relative position of each node with respect to the reference node according to distance information of 3 median nodes of the at least 5 nodes corresponding to each node; the middle node is positioned between the node closest to the node and the node farthest from the node;
the third determining unit is used for determining an initial relative position of each node relative to a reference node and an offset value of the initial relative position according to the first relative position, the second relative position and the third relative position;
the fourth determining unit is used for determining that the target relative position of each node relative to the reference node is located in a sphere with the initial relative position as the center and the deviation value as the radius.
On the basis of the foregoing embodiment, optionally, the third determining unit is specifically configured to calculate average values of an x axis, a y axis, and a z axis in the first relative position, the second relative position, and the third relative position, respectively, and form an initial relative position of each node with respect to the reference node from the average value of each axis; and respectively calculating the maximum difference values of the x axis, the y axis and the z axis in the first relative position, the second relative position and the third relative position, and determining the maximum value of the maximum difference values of all the axes as the offset value of the initial relative position.
On the basis of the foregoing embodiment, optionally, the control module 601 is specifically configured to control, for each node, a target node to transmit a bluetooth packet in sequence according to different transmission powers;
correspondingly, the process of determining the distance information between the local node and the target node comprises the following steps: the node sequentially receives Bluetooth messages sent by the target node according to different transmitting powers; the node respectively determines each initial distance between the node and a target node based on the transmitting power and the receiving power of each Bluetooth message; wherein each initial distance corresponds to each transmit power; the node takes the ratio of each transmitting power to the full power as the weight corresponding to each initial distance, and carries out weighted average operation on each initial distance so as to obtain the target distance between the node and the target node.
On the basis of the foregoing embodiment, optionally, the apparatus further includes: the device comprises an acquisition module, a first mapping module and a second mapping module.
Specifically, the obtaining module is used for obtaining a first position of the reference node in the building space;
the first mapping module is used for mapping the first position to a second position in a model space corresponding to the building;
and the second mapping module is used for mapping each node to a corresponding position in the model space respectively based on the second position and the target relative position of each node relative to the reference node.
Optionally, the building nodes are various types of fire fighting equipment.
In one embodiment, an obtaining device of building node positions is provided, and the device may be an upper computer, and a schematic structural diagram of the device may be as shown in fig. 7. The device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the device is configured to provide computing and control capabilities. The memory of the device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the device is used for storing data in the process of acquiring the positions of the building nodes. The network interface of the device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a method of acquiring a location of a building node.
Those skilled in the art will appreciate that the configuration shown in fig. 7 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the devices to which the present application may be applied, and that a particular device may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, there is provided an apparatus for acquiring a building node location, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:
controlling each node to transmit Bluetooth messages in sequence;
receiving distance information of at least 5 nodes which are closest to the node and reported by each node; the distance information is obtained by the node based on the received signal strength of the Bluetooth message;
determining a first relative position of each node relative to a reference node according to the distance information of the nearest 3 nodes in the at least 5 nodes corresponding to each node;
determining a second relative position of each node relative to the reference node according to the distance information of the farthest 3 nodes in the at least 5 nodes corresponding to each node;
and determining the target relative position of each node relative to the reference node according to the first relative position and the second relative position.
In one embodiment, the processor, when executing the computer program, further performs the steps of: comparing the first relative position and the second relative position of each node respectively; and if so, determining the first relative position as the target relative position of each node relative to the reference node.
In one embodiment, the processor, when executing the computer program, further performs the steps of: if not, determining a third relative position of each node relative to the reference node according to the distance information of 3 median nodes in the at least 5 nodes corresponding to each node; the middle node is positioned between the node closest to the node and the node farthest from the node; determining an initial relative position of each node relative to a reference node and an offset value of the initial relative position according to the first relative position, the second relative position and the third relative position; and determining that the target relative position of each node relative to the reference node is located in a sphere with the initial relative position as the center and the offset value as the radius.
In one embodiment, the processor, when executing the computer program, further performs the steps of: calculating the average values of the x axis, the y axis and the z axis in the first relative position, the second relative position and the third relative position respectively, and forming the initial relative position of each node relative to the reference node by the average value of each axis; and respectively calculating the maximum difference values of the x axis, the y axis and the z axis in the first relative position, the second relative position and the third relative position, and determining the maximum value of the maximum difference values of all the axes as the offset value of the initial relative position.
In one embodiment, the processor, when executing the computer program, further performs the steps of: aiming at each node, controlling a target node to transmit Bluetooth messages in sequence according to different transmission powers;
correspondingly, the process of determining the distance information between the local node and the target node comprises the following steps: the node sequentially receives Bluetooth messages sent by the target node according to different transmitting powers; the node respectively determines each initial distance between the node and a target node based on the transmitting power and the receiving power of each Bluetooth message; wherein each initial distance corresponds to each transmit power; the node takes the ratio of each transmitting power to the full power as the weight corresponding to each initial distance, and carries out weighted average operation on each initial distance so as to obtain the target distance between the node and the target node.
In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring a first position of the reference node in a building space; mapping the first location to a second location in a model space corresponding to the building; and respectively mapping each node to a corresponding position in the model space based on the second position and the target relative position of each node relative to the reference node.
Optionally, the building nodes are various types of fire fighting equipment.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:
controlling each node to transmit Bluetooth messages in sequence;
receiving distance information of at least 5 nodes which are closest to the node and reported by each node; the distance information is obtained by the node based on the received signal strength of the Bluetooth message;
determining a first relative position of each node relative to a reference node according to the distance information of the nearest 3 nodes in the at least 5 nodes corresponding to each node;
determining a second relative position of each node relative to the reference node according to the distance information of the farthest 3 nodes in the at least 5 nodes corresponding to each node;
and determining the target relative position of each node relative to the reference node according to the first relative position and the second relative position.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A building node position obtaining method is characterized in that each node is provided with a Bluetooth module, and the method comprises the following steps:
controlling each node to transmit Bluetooth messages in sequence;
receiving distance information of at least 5 nodes which are closest to the node and reported by each node; the distance information is obtained by the node based on the received signal strength of the Bluetooth message;
determining a first relative position of each node relative to a reference node according to the distance information of the nearest 3 nodes in the at least 5 nodes corresponding to each node;
determining a second relative position of each node relative to the reference node according to the distance information of the farthest 3 nodes in the at least 5 nodes corresponding to each node;
and determining the target relative position of each node relative to the reference node according to the first relative position and the second relative position.
2. The method of claim 1, wherein determining the target relative position of each node with respect to the reference node based on the second relative position and the first relative position comprises:
comparing the first relative position and the second relative position of each node respectively;
and if so, determining the first relative position as the target relative position of each node relative to the reference node.
3. The method of claim 2, further comprising:
if not, determining a third relative position of each node relative to the reference node according to the distance information of 3 median nodes in the at least 5 nodes corresponding to each node; the middle node is positioned between the node closest to the node and the node farthest from the node;
determining an initial relative position of each node relative to a reference node and an offset value of the initial relative position according to the first relative position, the second relative position and the third relative position;
and determining that the target relative position of each node relative to the reference node is located in a sphere with the initial relative position as the center and the offset value as the radius.
4. The method of claim 3, wherein determining an initial relative position of each node relative to a reference node and an offset value for the initial relative position based on the first relative position, the second relative position, and the third relative position comprises:
calculating the average values of the x axis, the y axis and the z axis in the first relative position, the second relative position and the third relative position respectively, and forming the initial relative position of each node relative to the reference node by the average value of each axis;
and respectively calculating the maximum difference values of the x axis, the y axis and the z axis in the first relative position, the second relative position and the third relative position, and determining the maximum value of the maximum difference values of all the axes as the offset value of the initial relative position.
5. The method according to any one of claims 1 to 4, wherein the controlling each node to transmit Bluetooth messages in sequence comprises:
aiming at each node, controlling a target node to transmit Bluetooth messages in sequence according to different transmission powers;
correspondingly, the process of determining the distance information between the local node and the target node comprises the following steps:
the node sequentially receives Bluetooth messages sent by the target node according to different transmitting powers;
the node respectively determines each initial distance between the node and a target node based on the transmitting power and the receiving power of each Bluetooth message; wherein each initial distance corresponds to each transmit power;
the node takes the ratio of each transmitting power to the full power as the weight corresponding to each initial distance, and carries out weighted average operation on each initial distance so as to obtain the target distance between the node and the target node.
6. The method of any of claims 1 to 4, further comprising:
acquiring a first position of the reference node in a building space;
mapping the first location to a second location in a model space corresponding to the building;
and respectively mapping each node to a corresponding position in the model space based on the second position and the target relative position of each node relative to the reference node.
7. The method of any of claims 1 to 4, wherein the building nodes are various types of fire fighting equipment.
8. The utility model provides an acquisition device of building node position which is provided with bluetooth module in each node, the device includes:
the control module is used for controlling each node to sequentially transmit Bluetooth messages;
the receiving module is used for receiving the distance information of at least 5 nodes which are reported by each node and have the closest distance to the node; the distance information is obtained by the node based on the received signal strength of the Bluetooth message;
a first determining module, configured to determine a first relative position of each node with respect to a reference node according to distance information of the nearest 3 nodes of the at least 5 nodes corresponding to each node;
a second determining module, configured to determine a second relative position of each node with respect to the reference node according to distance information of a farthest 3 node of the at least 5 nodes corresponding to each node;
and the third determining module is used for determining the target relative position of each node relative to the reference node according to the first relative position and the second relative position.
9. A building node location acquisition device comprising a memory and a processor, the memory storing a computer program, wherein the processor when executing the computer program implements the steps of the method of any one of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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