CN112770254A - Mobile positioning system with indoor positioning and outdoor positioning functions - Google Patents
Mobile positioning system with indoor positioning and outdoor positioning functions Download PDFInfo
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- CN112770254A CN112770254A CN202110006872.9A CN202110006872A CN112770254A CN 112770254 A CN112770254 A CN 112770254A CN 202110006872 A CN202110006872 A CN 202110006872A CN 112770254 A CN112770254 A CN 112770254A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
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Abstract
The invention discloses a mobile positioning system with both indoor positioning and outdoor positioning functions, which provides a central control end, a plurality of mobile base stations and a plurality of positioning labels and specifically comprises the following steps: the method comprises the steps of information acquisition, wherein a central control end establishes a corresponding first scene model according to a scene mark on the spot; a base station positioning step, namely acquiring first position feedback data of a corresponding mobile base station from each mobile base station to obtain first queue coordinate information; a model judgment step, namely obtaining a target model according to the obtained corresponding first queue coordinate information; a label positioning step, namely obtaining measured distance data according to the corresponding target model and the second position feedback information; a priority determination step, calculating a priority value according to a priority configuration algorithm; and a region judgment step, namely determining the priority of the central control end for processing the actual distance data according to the priority value, and determining the region of the positioning label according to the actual distance data.
Description
Technical Field
The invention relates to the technical field of intelligent positioning, in particular to a mobile positioning system with indoor positioning and outdoor positioning functions.
Background
Currently, the positioning technology is daily needed by people, and is often particularly important for finding valuables and establishing a communication protocol, and in actual positioning, a problem occurs, and generally, a position is positioned through at least two base stations, as shown in fig. 1 and 2, a BS in the figure represents a base station, or fine positioning of an envelope surface is performed through return communication time of three base stations, or positioning is performed through ray corners and ray angles of two base stations, but currently, due to popularization of a 5G technology and angle of data security and data response efficiency of the base stations, a concept of a mobile base station appears, and under the concept of the mobile base station, positioning is relatively complicated, positioning points are difficult to determine, and actually, a problem is that positioning strategies applicable due to different network topologies formed under the mobile base station are different, and an object or a target to be positioned is also moved in practice, at this time, the strategy attempt cannot adapt to the change of the moment, different distribution results are caused by different physical distributions of the mobile base stations at different positions, and if the position change of the mobile base station cannot be predicted, the information received by the central control end cannot be determined in sequence, so that the fact that the object to be positioned exceeds the preset range cannot be quickly known.
Disclosure of Invention
The invention aims to provide a mobile positioning system with indoor positioning and outdoor positioning functions. The system configures the priority for processing the actually measured distance data by calculating the priority value corresponding to each positioning label, and can rapidly acquire the position change of the positioned article while saving the load of a central control end.
In order to achieve the purpose, the invention adopts the technical scheme that: a mobile positioning system with both indoor positioning and positioning outdoor functions provides a central control end, a plurality of mobile base stations and a plurality of positioning labels, wherein the mobile base stations are configured with positioning strategies for positioning the positioning labels, and is characterized in that the central control end is configured with a scene database and a model database, the scene database stores scene information reflecting corresponding target scenes, the model database stores a plurality of queue models including a plurality of positioning label position information, and each positioning label information reflects the positioning label information; the positioning tag is configured with a basic working time interval, and the basic working time interval reflects the time frequency of a signal sent by the positioning tag under a static condition, and the method specifically comprises the following steps:
an information acquisition step, wherein the central control end acquires a scene identifier on the spot, and calls corresponding scene information from the scene database according to the scene identifier to establish a corresponding first scene model, and then the base station positioning step is carried out;
a base station positioning step, namely acquiring working time intervals from the sending frequency determining step, acquiring first position feedback data of corresponding mobile base stations from each mobile base station at intervals of the working time intervals, calibrating the position of each mobile base station in the first scene model according to the acquired first position feedback data to acquire first queue coordinate information, and entering a model judging step;
a model judgment step, namely screening a corresponding queue model from the model database according to the obtained corresponding first queue coordinate information to obtain a target model, and entering a label positioning step;
a tag positioning step, in which the central control end acquires a field scene identifier of each mobile base station, and invokes corresponding scene information from the scene database according to each scene identifier to establish a corresponding second scene model, second position feedback data of the positioning tag is acquired from each mobile base station at intervals of the working time, and the position of each positioning tag is calibrated in each second scene model according to the acquired corresponding target model and the acquired second position feedback information to acquire second queue coordinate information, wherein the second queue coordinate information comprises actual measurement distance data, the actual measurement distance data reflects the actual measurement distance between the positioning tag and the corresponding mobile base station, and the priority determination step is entered;
a step of determining a transmission frequency, in which the measured distance data and the basic working time interval are obtained, and the working time interval is calculated according to a frequency configuration algorithm, wherein the frequency configuration algorithm comprises:
wherein T isnAs time of operationInterval, T0Based on the working time interval, LnFor measured distance data, Ln-1Entering a priority determination step for the actually measured distance data at the previous moment;
a priority determination step of calculating a priority value according to a priority configuration algorithm, the priority configuration algorithm including:
wherein A isnAs a priority value, AnIs the priority value of the previous time, f is the moving frequency, LnFor measured distance data, Ln-1Entering a region judgment step for the actually measured distance data at the previous moment;
and a region judgment step, namely determining the priority of the central control end for processing the actually measured distance data according to the priority value, determining the region where the positioning label is located according to the actually measured distance data, and ending and waiting for the next base station positioning step to be triggered.
Preferably, the positioning tag is configured with a two-dimensional code, and the mobile base station is configured with a two-dimensional code scanning module.
Preferably, the mobile base station is configured with an audio/video acquisition module.
Preferably, the mobile base station is configured with a biometric verification module, and the biometric verification module includes a face recognition unit and a fingerprint recognition unit.
Preferably, a positioning tag database is provided, the positioning tag database uses different positioning weight values according to different positioning tags, and in the priority determining step, the priority value is determined according to the positioning weight values.
Preferably, the priority determining step includes a preset distance reference value, calculating an absolute value of the difference between the actual measurement distance data at adjacent moments to obtain an actual distance difference value, increasing the moving frequency if the actual distance difference value is greater than or equal to the preset distance reference value, and decreasing the moving frequency if the actual distance difference value is less than the preset distance reference value.
Preferably, the value of change in the moving frequency is a fixed value.
Preferably, the area determination step includes a preset priority reference value, and if the priority value determined in the priority determination step is smaller than the priority reference value, the central control end deletes the corresponding measured distance data.
Preferably, the mobile base station is configured with a data interaction execution table, the data interaction execution table is configured with an execution frequency and a corresponding priority value, the mobile base station acquires the execution frequency from the data interaction execution table according to the priority value, and the execution frequency reflects a communication interval time between the mobile base station and the central control terminal.
Preferably, the central control end configures communication bandwidth for each mobile base station according to the priority value.
Compared with the prior art, the invention has the advantages that:
1. and determining the precision of the first scene model according to the size of the mobile base station which needs to be positioned actually, and positioning the first scene model. Firstly, determining a network topology formed under a mobile base station, and further determining a corresponding positioning strategy. And determining the precision of the second scene model according to the size of the positioning label to be positioned actually, and then accurately positioning the positioning label according to the determined positioning strategy of the mobile base station. The scene models with different precisions are established, so that the positioning precision of the mobile base station and the positioning tag in the scene model is high, and the queue coordinates of the positioning tag in the scene model are quickly obtained;
2. under the condition that the positioning tag does not move, the positioning tag sends signals at low-frequency basic working time intervals, and the data needing to be processed by the central control end is less; under the condition that a plurality of positioning labels move, the working frequency of the moving positioning labels is improved, and enough original data is provided for the priority determining step and the area judging step, so that the moving positioning labels are closely tracked. Meanwhile, the positioning label which is not moved keeps sending signals at the low-frequency basic working time interval, so that the burden of a central control end is reduced;
3. and comprehensively considering the difference value of the measured distance data of the adjacent moments of the positioning label, the moving frequency and the priority value of the previous moment, and calculating by using a priority configuration algorithm to obtain the priority value. The central control end preferentially processes the measured distance data of the positioning label with a high priority value, can quickly judge whether the positioning label is indoors or outdoors, and draws a corresponding moving track to track the positioning label.
Drawings
FIG. 1 is a schematic diagram of positioning three base stations in the background art;
FIG. 2 is a diagram illustrating two base station locations in the background art;
FIG. 3 is a schematic flow chart of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1:
as shown in fig. 3, a mobile positioning system having both indoor positioning and positioning outdoor functions provides a central control end, a plurality of mobile base stations, and a plurality of positioning tags, where the mobile base stations are configured with positioning strategies for positioning the positioning tags, the central control end is configured with a scene database and a model database, the scene database stores scene information reflecting corresponding target scenes, the model database stores a plurality of queue models including position information of a plurality of positioning tags, and each positioning tag information reflects positioning tag information; the positioning tag is configured with a basic working time interval, and the basic working time interval reflects the time frequency of a signal sent by the positioning tag under a static condition, and the method specifically comprises the following steps:
an information acquisition step, wherein the central control end acquires a scene identifier on the spot, and calls corresponding scene information from the scene database according to the scene identifier to establish a corresponding first scene model, and then the base station positioning step is carried out; the accuracy of the first scene model is determined according to the size of the mobile base station needing positioning actually, so that the positioning accuracy of the mobile base station in the first scene model is high, and the data processing speed is high.
A base station positioning step, namely acquiring working time intervals from the sending frequency determining step, acquiring first position feedback data of corresponding mobile base stations from each mobile base station at intervals of the working time intervals, calibrating the position of each mobile base station in the first scene model according to the acquired first position feedback data to acquire first queue coordinate information, and entering a model judging step;
a model judgment step, namely screening a corresponding queue model from the model database according to the obtained corresponding first queue coordinate information to obtain a target model, and entering a label positioning step; each base station position information in each queue model is configured with a first allowable range and a second allowable range, the model judging step comprises a first screening substep and a second screening substep, and the third screening substep is adopted, wherein the first screening substep comprises screening the queue models of which the difference value between each queue coordinate information and the base station position information is in the second allowable range and entering the second screening substep; the second screening substep comprises determining an allowable quantity value of a difference value between the queue coordinate information and the base station position information within a first allowable range, if the corresponding queue model with the highest allowable quantity value is unique, determining the queue model as a target model, and if the corresponding queue model with the highest allowable quantity value is not unique, entering a third screening substep, wherein the second screening substep comprises calculating the sum of variances of the queue coordinate information and the base station position information in each qualified queue model, and determining the corresponding queue model with the smallest sum of variances as the target model. The actually measured position distribution of the mobile base station and the queue model are not necessarily completely matched, and the first screening substep, the second screening substep and the third screening substep may progressively perform screening according to the matching degree until the most matched queue model is found as the target model. The setting of the screening substep can greatly reduce the calculation amount and reduce the load of the central control end.
A tag positioning step, in which the central control end acquires a field scene identifier of each mobile base station, and invokes corresponding scene information from the scene database according to each scene identifier to establish a corresponding second scene model, second position feedback data of the positioning tag is acquired from each mobile base station at intervals of the working time, and the position of each positioning tag is calibrated in each second scene model according to the acquired corresponding target model and the acquired second position feedback information to acquire second queue coordinate information, wherein the second queue coordinate information comprises actual measurement distance data, the actual measurement distance data reflects the actual measurement distance between the positioning tag and the corresponding mobile base station, and the priority determination step is entered; under the condition that the queue model is determined, the position of each positioning label is determined, a second scene model is established by taking the corresponding mobile base station as an origin, the position determined by each positioning label is marked in the second scene model, and the obtained second queue coordinate information can clearly reflect the difference of the positioning labels in the second scene model.
A step of determining a transmission frequency, in which the measured distance data and the basic working time interval are obtained, and the working time interval is calculated according to a frequency configuration algorithm, wherein the frequency configuration algorithm comprises:
wherein T isnFor an operating time interval, T0Based on the working time interval, LnFor measured distance data, Ln-1Entering a priority determination step for the actually measured distance data at the previous moment; and updating the working time interval of the positioning label in real time according to the difference value of the actually measured distance data at the adjacent moment. Under the condition that the positioning tag does not move, the positioning tag sends signals at low-frequency basic working time intervals, and the data needing to be processed by the central control end is less; under the condition that a plurality of positioning labels move, the working frequency of the moving positioning labels is improved, and enough original data is provided for the priority determining step and the area judging step, so that the moving positioning labels are closely tracked. Meanwhile, the positioning labels which are not moved still keep the low-frequency basic working time interval to send signals, and the burden of a central control end is reduced.
A priority determination step of calculating a priority value according to a priority configuration algorithm, the priority configuration algorithm including:
wherein A isnAs a priority value, AnIs the priority value of the previous time, f is the moving frequency, LnFor measured distance data, Ln-1Entering a region judgment step for the actually measured distance data at the previous moment; the priority configuration algorithm can process data with priority the more frequently moved positioning tags, so that the movement of the positioning tags can be quickly monitored. The priority determining step includes presetting a distance reference value, calculating an absolute value of the actual measurement distance data difference at adjacent moments to obtain an actual distance difference value, if the actual distance difference value is larger than or equal to the preset distance reference value, increasing the moving frequency, and if the actual distance difference value is smaller than the preset distance reference value, decreasing the moving frequency. The change value of the moving frequency is a fixed value every time.
And a region judgment step, namely determining the priority of the central control end for processing the actually measured distance data according to the priority value, determining the region where the positioning label is located according to the actually measured distance data, and ending and waiting for the next base station positioning step to be triggered.
The positioning label is configured with a two-dimension code, and the mobile base station is configured with a two-dimension code scanning module. Before the positioning tag is positioned and tracked, the two-dimension code scanning module realizes the unique binding of the two-dimension code and the positioning tag by scanning the two-dimension code on the positioning tag.
And the mobile base station is provided with an audio and video acquisition module.
The mobile base station is provided with a biological characteristic verification module, and the biological characteristic verification module comprises a face recognition unit and a fingerprint recognition unit.
And providing a positioning label database, wherein the positioning label database determines the priority value according to different positioning labels and different positioning weight values, and in the priority determining step, the priority value is determined according to the positioning weight values. The valuables or priority degrees of the articles corresponding to different positioning tags are different, and in the process of tracking the positioning tags, the articles with high valuables or priority degrees are mainly monitored.
The area judgment step comprises a preset priority reference value, and if the priority value determined in the priority determination step is smaller than the priority reference value, the central control end deletes the corresponding measured distance data. The measurement error exists in the actual measurement process, and the arrangement of the steps can improve the fault tolerance rate of the invention on the premise of basically not influencing the accuracy of the measurement result.
The mobile base station is configured with a data interaction execution table, the data interaction execution table is configured with an execution frequency and a corresponding priority value, the mobile base station acquires the execution frequency from the data interaction execution table according to the priority value, and the execution frequency reflects the communication interval time between the mobile base station and the central control terminal. And the central control terminal configures communication bandwidth for each mobile base station according to the priority value. The higher the priority value is, the larger the allowed communication resource allocation is, and the setting of the steps can improve the precision of the monitoring of the mobile positioning tag by the invention.
While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (10)
1. A mobile positioning system with both indoor positioning and positioning outdoor functions provides a central control end, a plurality of mobile base stations and a plurality of positioning labels, wherein the mobile base stations are configured with positioning strategies for positioning the positioning labels, and is characterized in that the central control end is configured with a scene database and a model database, the scene database stores scene information reflecting corresponding target scenes, the model database stores a plurality of queue models including a plurality of positioning label position information, and each positioning label information reflects the positioning label information; the positioning tag is configured with a basic working time interval, and the basic working time interval reflects the time frequency of a signal sent by the positioning tag under a static condition, and the method specifically comprises the following steps:
an information acquisition step, wherein the central control end acquires a scene identifier on the spot, and calls corresponding scene information from the scene database according to the scene identifier to establish a corresponding first scene model, and then the base station positioning step is carried out;
a base station positioning step, namely acquiring working time intervals from the sending frequency determining step, acquiring first position feedback data of corresponding mobile base stations from each mobile base station at intervals of the working time intervals, calibrating the position of each mobile base station in the first scene model according to the acquired first position feedback data to acquire first queue coordinate information, and entering a model judging step;
a model judgment step, namely screening a corresponding queue model from the model database according to the obtained corresponding first queue coordinate information to obtain a target model, and entering a label positioning step;
a tag positioning step, in which the central control end acquires a field scene identifier of each mobile base station, and invokes corresponding scene information from the scene database according to each scene identifier to establish a corresponding second scene model, second position feedback data of the positioning tag is acquired from each mobile base station at intervals of the working time, and the position of each positioning tag is calibrated in each second scene model according to the acquired corresponding target model and the acquired second position feedback information to acquire second queue coordinate information, wherein the second queue coordinate information comprises actual measurement distance data, the actual measurement distance data reflects the actual measurement distance between the positioning tag and the corresponding mobile base station, and the priority determination step is entered;
a step of determining a transmission frequency, in which the measured distance data and the basic working time interval are obtained, and the working time interval is calculated according to a frequency configuration algorithm, wherein the frequency configuration algorithm comprises:
wherein T isnFor an operating time interval, T0Based on the working time interval, LnFor measured distance data, Ln-1Entering a priority determination step for the actually measured distance data at the previous moment;
a priority determination step of calculating a priority value according to a priority configuration algorithm, the priority configuration algorithm including:
wherein A isnAs a priority value, AnIs the priority value of the previous time, f is the moving frequency, LnFor measured distance data, Ln-1Entering a region judgment step for the actually measured distance data at the previous moment;
and a region judgment step, namely determining the priority of the central control end for processing the actually measured distance data according to the priority value, determining the region where the positioning label is located according to the actually measured distance data, and ending and waiting for the next base station positioning step to be triggered.
2. The system of claim 1, wherein the positioning tag is configured with a two-dimensional code, and the mobile base station is configured with a two-dimensional code scanning module.
3. The mobile positioning system with both indoor positioning and positioning outdoor functions as claimed in claim 1, wherein the mobile base station is configured with an audio/video acquisition module.
4. The system of claim 1, wherein the mobile base station is configured with a biometric verification module, and the biometric verification module comprises a face recognition unit and a fingerprint recognition unit.
5. The system as claimed in claim 1, wherein a positioning tag database is provided, the positioning tag database is configured to apply different positioning weights to different positioning tags, and the priority determination step further determines the priority value according to the positioning weights.
6. The system of claim 1, wherein the priority determination step comprises a predetermined distance reference value, the absolute value of the difference between the measured distance data at adjacent times is calculated to obtain an actual distance difference, the moving frequency is increased if the actual distance difference is greater than or equal to the predetermined distance reference value, and the moving frequency is decreased if the actual distance difference is less than the predetermined distance reference value.
7. The system of claim 6, wherein the variation value of the moving frequency is a fixed value every time.
8. The system of claim 1, wherein the area determination step comprises a preset priority reference value, and if the priority value determined in the priority determination step is smaller than the priority reference value, the central control end deletes the corresponding measured distance data.
9. The system of claim 1, wherein the mobile base station is configured with a data interaction execution table, the data interaction execution table is configured with an execution frequency and a corresponding priority value, the mobile base station obtains the execution frequency from the data interaction execution table according to the priority value, and the execution frequency reflects a communication interval time between the mobile base station and the central control end.
10. The system of claim 1, wherein the central control unit configures a communication bandwidth for each mobile station according to a priority value.
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