WO2024098457A1

WO2024098457A1 - Emergency positioning method and system based on correction of multi-modal acoustic signals

Info

Publication number: WO2024098457A1
Application number: PCT/CN2022/133103
Authority: WO
Inventors: 王智; 薛灿; 徐东阳; 蔡盛盛
Original assignee: 浙江大学湖州研究院
Priority date: 2022-11-10
Filing date: 2022-11-21
Publication date: 2024-05-16
Also published as: CN115453459B; CN115453459A

Abstract

An emergency positioning method and system based on correction of multi-modal acoustic signals. The method comprises: determining sensor parameters of at least two positioning base stations, and calculating an acoustic signal flight speed (106); determining an initial acoustic signal on the basis of the acoustic signal flight speed, and calculating a target acoustic signal according to the initial acoustic signal and a preset signal estimation model (102); on the basis of the initial acoustic signal and the target acoustic signal, obtaining the time of flight of the target acoustic signal reaching a terminal to be positioned (104); determining the position of each positioning base station, and obtaining, according to the positions of all positioning base stations, all acoustic signal flight speeds, and all times of flight, a design matrix corresponding to the terminal to be positioned (108); and on the basis of the design matrix, calculating coordinates of the terminal to be positioned (110). According to the described means, the impact of severe and complex environments on distance measurement precision by a positioning system is overcome, environmental noise sensitivity generally existing in TDOA positioning in a large underground space can be reduced, and positioning robustness and usability of an emergency system are greatly improved.

Description

一种基于多模态声信号修正的应急定位方法及***An emergency positioning method and system based on multimodal acoustic signal correction

技术领域Technical Field

本申请属于新型应急信息技术以及定位技术领域，特别的涉及了一种基于多模态声信号修正的应急定位方法及***。The present application belongs to the field of novel emergency information technology and positioning technology, and in particular relates to an emergency positioning method and system based on multimodal acoustic signal correction.

背景技术Background technique

地下大空间存在卫星信号完全拒止、电磁信道状态复杂等挑战，使得传统定位方法面临定位精度下滑、方差增大等问题。其中人员的位置信息对于商业应用以及人员安全都具有重要意义。Large underground spaces face challenges such as complete rejection of satellite signals and complex electromagnetic channel states, which cause traditional positioning methods to face problems such as decreased positioning accuracy and increased variance. Among them, the location information of personnel is of great significance to both commercial applications and personnel safety.

当前基于北斗卫星定位技术为代表的全球卫星定位与导航***(Global Navigation Satellite System，GNSS)已经在室外现场人员位置管理中取得了广泛应用，其基于人员精确位置的定位手段为作业危险区域精准划分、作业人员准确定位提供作业现场安全管控有力支持。然而，现有技术面对以地下电缆隧道为代表的卫星完全拒止复杂环境，尚无任何定位方法能够独立提供优质解决方案；此外定位方法还普遍存在鲁棒性问题，对环境的有限感知能力制约了定位方法的泛场景通用性。At present, the Global Navigation Satellite System (GNSS) represented by Beidou satellite positioning technology has been widely used in outdoor on-site personnel location management. Its positioning method based on the precise location of personnel provides strong support for the accurate division of dangerous areas and accurate positioning of workers in the operation site. However, the existing technology faces complex environments represented by underground cable tunnels where satellites are completely blocked, and no positioning method can independently provide high-quality solutions. In addition, the positioning method generally has robustness problems, and the limited perception of the environment restricts the versatility of the positioning method in all scenarios.

发明内容Summary of the invention

本申请为解决上述提到的现有技术面对以地下电缆隧道为代表的卫星完全拒止复杂环境，尚无任何定位方法能够独立提供优质解决方案；此外定位方法还普遍存在鲁棒性问题，对环境的有限感知能力制约了定位方法的泛场景通用性等技术问题，提出一种基于多模态声信号修正的应急定位方法及***，其技术方案如下：This application aims to solve the above-mentioned existing technology facing the complex environment of satellite complete denial represented by underground cable tunnels, and no positioning method can independently provide high-quality solutions; in addition, the positioning method also generally has robustness problems, and the limited perception ability of the environment restricts the pan-scenario versatility of the positioning method and other technical problems. An emergency positioning method and system based on multi-modal acoustic signal correction are proposed, and its technical solution is as follows:

第一方面，本申请实施例提供了一种基于多模态声信号修正的应急定位方法，该方法应用于待定位终端，方法包括：In a first aspect, an embodiment of the present application provides an emergency positioning method based on multimodal acoustic signal correction, the method is applied to a terminal to be positioned, and the method includes:

确定至少两个定位基站的传感器参数，并根据每个定位基站的传感器参数计算出每个定位基站的声信号飞行速度；Determine sensor parameters of at least two positioning base stations, and calculate the acoustic signal flight speed of each positioning base station according to the sensor parameters of each positioning base station;

基于每个定位基站的声信号飞行速度确定每个定位基站发送的初始声信号，并根据每个定位基站的初始声信号以及预设信号估计模型计算出与每个定位基站对应的目标声信号；Determine the initial acoustic signal sent by each positioning base station based on the flight speed of the acoustic signal of each positioning base station, and calculate the target acoustic signal corresponding to each positioning base station according to the initial acoustic signal of each positioning base station and a preset signal estimation model;

基于每个定位基站的初始声信号以及与每个定位基站对应的目标声信号，得到与每个定位基站对应的目标声信号到达待定位终端的飞行时间；Based on the initial acoustic signal of each positioning base station and the target acoustic signal corresponding to each positioning base station, the flight time of the target acoustic signal corresponding to each positioning base station to reach the terminal to be positioned is obtained;

确定每个定位基站的位置，并根据所有定位基站的位置、所有定位基站的声信号飞行速度以及所有与定位基站对应的目标声信号到达待定位终端的飞行时间，得到与待定位终端对应的设计矩阵；Determine the position of each positioning base station, and obtain a design matrix corresponding to the terminal to be located based on the positions of all positioning base stations, the flight speeds of the acoustic signals of all positioning base stations, and the flight time of all target acoustic signals corresponding to the positioning base stations to reach the terminal to be located;

基于与待定位终端对应的设计矩阵计算出待定位终端的坐标。The coordinates of the terminal to be located are calculated based on the design matrix corresponding to the terminal to be located.

在第一方面的一种可选方案中，基于每个定位基站的声信号飞行速度确定每个定位基站发送的初始声信号，包括：In an optional solution of the first aspect, determining the initial acoustic signal sent by each positioning base station based on the acoustic signal flight speed of each positioning base station includes:

获取每个定位基站的声信号初始参数，并根据每个定位基站的声信号初始参数以及每个定位基站的声信号飞行速度计算出每个定位基站的声信号声压级；Acquire the initial parameters of the acoustic signal of each positioning base station, and calculate the sound pressure level of the acoustic signal of each positioning base station according to the initial parameters of the acoustic signal of each positioning base station and the flight speed of the acoustic signal of each positioning base station;

基于每个定位基站的声信号声压级在预设列表中确定出每个定位基站的时频域表达式；Determine the time-frequency domain expression of each positioning base station in a preset list based on the sound pressure level of the acoustic signal of each positioning base station;

根据每个定位基站的时频域表达式以及每个定位基站的声信号初始参数，计算出每个定位基站的初始声信号。The initial acoustic signal of each positioning base station is calculated according to the time-frequency domain expression of each positioning base station and the initial parameters of the acoustic signal of each positioning base station.

在第一方面的又一种可选方案中，根据每个定位基站的初始声信号以及预设信号估计模型计算出与每个定位基站对应的目标声信号，包括：In another optional solution of the first aspect, calculating a target acoustic signal corresponding to each positioning base station according to an initial acoustic signal of each positioning base station and a preset signal estimation model includes:

将每个定位基站的初始声信号输入至预设信号估计模型中，得到与每个定位基站的初始声信号对应的周期、频段宽度以及噪声信号；Inputting the initial acoustic signal of each positioning base station into a preset signal estimation model to obtain a period, a frequency band width and a noise signal corresponding to the initial acoustic signal of each positioning base station;

根据每个定位基站的初始声信号、与每个定位基站的初始声信号对应的周期、频段宽度以及噪声信号，计算出与每个定位基站对应的目标声信号。According to the initial acoustic signal of each positioning base station, the period corresponding to the initial acoustic signal of each positioning base station, the frequency band width and the noise signal, the target acoustic signal corresponding to each positioning base station is calculated.

在第一方面的又一种可选方案中，根据所有定位基站的位置、所有定位基站的声信号飞行速度以及所有与定位基站对应的目标声信号到达待定位终端的飞行时间，得到与待定位终端对应的设计矩阵，包括：In another optional solution of the first aspect, a design matrix corresponding to the terminal to be located is obtained according to the positions of all positioning base stations, the flight speeds of the acoustic signals of all positioning base stations, and the flight times of all target acoustic signals corresponding to the positioning base stations reaching the terminal to be located, including:

根据待定位终端接收到每个定位基站的初始声信号的先后顺序对每个定位基站进行排序，并确定出参考定位基站；Sort each positioning base station according to the order in which the terminal to be positioned receives the initial acoustic signal of each positioning base station, and determine the reference positioning base station;

依次计算与参考定位基站对应的目标声信号到达待定位终端的飞行时间，以及与排序后的每个定位基站对应的目标声信号到达待定位终端的飞行时间之间的时间差值；Calculate the flight time of the target acoustic signal corresponding to the reference positioning base station to reach the terminal to be positioned, and the time difference between the flight time of the target acoustic signal corresponding to each of the sorted positioning base stations to reach the terminal to be positioned;

根据任意相邻的两个定位基站的位置、所有定位基站的声信号飞行速度以及所有时间差值，得到与待定位终端对应的设计矩阵。According to the positions of any two adjacent positioning base stations, the flight speeds of the acoustic signals of all positioning base stations and all time differences, a design matrix corresponding to the terminal to be positioned is obtained.

在第一方面的又一种可选方案中，在根据所有定位基站的位置、所有定位基站的声信号飞行速度以及所有时间差值，得到与待定位终端对应的设计矩阵之后，基于与待定位终端对应的设计矩阵计算出待定位终端的坐标之前，还包括：In another optional solution of the first aspect, after obtaining a design matrix corresponding to the terminal to be located according to the positions of all positioning base stations, the flight speeds of the acoustic signals of all positioning base stations, and all time differences, and before calculating the coordinates of the terminal to be located based on the design matrix corresponding to the terminal to be located, the method further includes:

根据参考定位基站与任意一个定位基站的位置、所有定位基站的声信号飞行速度以及所有与定位基站对应的目标声信号到达待定位终端的飞行时间，得到与待定位终端对应的观测向量；According to the positions of the reference positioning base station and any positioning base station, the flight speeds of the acoustic signals of all positioning base stations, and the flight time of all target acoustic signals corresponding to the positioning base stations to reach the terminal to be positioned, an observation vector corresponding to the terminal to be positioned is obtained;

基于与待定位终端对应的设计矩阵计算出待定位终端的坐标，包括：Calculating the coordinates of the terminal to be located based on the design matrix corresponding to the terminal to be located includes:

基于与待定位终端对应的设计矩阵以及与待定位终端对应的观测向量，计算出待定位终端的坐标。The coordinates of the terminal to be located are calculated based on the design matrix corresponding to the terminal to be located and the observation vector corresponding to the terminal to be located.

在第一方面的又一种可选方案中，基于与待定位终端对应的设计矩阵以及与待定位终端对应的观测向量，计算出待定位终端的坐标，包括：In another optional solution of the first aspect, calculating the coordinates of the terminal to be located based on a design matrix corresponding to the terminal to be located and an observation vector corresponding to the terminal to be located includes:

根据与待定位终端对应的设计矩阵以及预设条件数，确定与待定位终端对应的多元回归系数矩阵；Determine a multivariate regression coefficient matrix corresponding to the terminal to be located according to a design matrix corresponding to the terminal to be located and a preset condition number;

对与待定位终端对应的多元回归系数矩阵进行最小二乘计算，并根据计算后的与待定位终端对应的多元回归系数矩阵、与待定位终端对应的设计矩阵以及与待定位终端对应的观测向量，计算出待定位终端的坐标。The least squares calculation is performed on the multivariate regression coefficient matrix corresponding to the terminal to be located, and the coordinates of the terminal to be located are calculated based on the calculated multivariate regression coefficient matrix corresponding to the terminal to be located, the design matrix corresponding to the terminal to be located, and the observation vector corresponding to the terminal to be located.

在第一方面的又一种可选方案中，计算出待定位终端的坐标之后，方法还包括：In yet another optional solution of the first aspect, after calculating the coordinates of the terminal to be located, the method further includes:

基于待定位终端的坐标以及参考定位基站的位置，确定待定位终端到参考定位基站的距离；Based on the coordinates of the terminal to be positioned and the position of the reference positioning base station, determine the distance from the terminal to be positioned to the reference positioning base station;

当检测到待定位终端到参考定位基站的距离超过预设距离时，发送与待定位终端对应的预警信息。When it is detected that the distance between the terminal to be positioned and the reference positioning base station exceeds a preset distance, an early warning message corresponding to the terminal to be positioned is sent.

第二方面，本申请实施例提供了一种基于多模态声信号修正的应急定位***，***应用于待定位终端，***包括：In a second aspect, an embodiment of the present application provides an emergency positioning system based on multimodal acoustic signal correction, the system is applied to a terminal to be positioned, and the system includes:

信号飞行速度确定模块，用于确定至少两个定位基站的传感器参数，并根据每个定位基站的传感器参数计算出每个定位基站的声信号飞行速度；A signal flight speed determination module, used to determine sensor parameters of at least two positioning base stations, and calculate the acoustic signal flight speed of each positioning base station according to the sensor parameters of each positioning base station;

声信号处理模块，用于基于每个定位基站的声信号飞行速度确定每个定位基站发送的初始声信号，并根据每个定位基站的初始声信号以及预设信号估计模型计算出与每个定位基站对应的目标声信号；The acoustic signal processing module is used to determine the initial acoustic signal sent by each positioning base station based on the flight speed of the acoustic signal of each positioning base station, and calculate the target acoustic signal corresponding to each positioning base station according to the initial acoustic signal of each positioning base station and a preset signal estimation model;

信号飞行时间估计模块，用于基于每个定位基站的初始声信号以及与每个定位基站对应的目标声信号，得到与每个定位基站对应的目标声信号到达待定位终端的飞行时间；The signal flight time estimation module is used to obtain the flight time of the target acoustic signal corresponding to each positioning base station to reach the terminal to be positioned based on the initial acoustic signal of each positioning base station and the target acoustic signal corresponding to each positioning base station;

矩阵处理模块，用于确定每个定位基站的位置，并根据所有定位基站的位置、所有定位基站的声信号飞行速度以及所有与定位基站对应的目标声信号到达待定位终端的飞行时间，得到与待定位终端对应的设计矩阵；The matrix processing module is used to determine the position of each positioning base station, and obtain the design matrix corresponding to the terminal to be located according to the positions of all positioning base stations, the flight speeds of the acoustic signals of all positioning base stations, and the flight time of all target acoustic signals corresponding to the positioning base stations to reach the terminal to be located;

位置估计模块，用于基于与待定位终端对应的设计矩阵计算出待定位终端的坐标。The position estimation module is used to calculate the coordinates of the terminal to be located based on the design matrix corresponding to the terminal to be located.

在第二方面的一种可选方案中，声信号处理模块包括：In an optional solution of the second aspect, the acoustic signal processing module includes:

第一计算单元，用于获取每个定位基站的声信号初始参数，并根据每个定位基站的声信号初始参数以及每个定位基站的声信号飞行速度计算出每个定位基站的声信号声压级；The first calculation unit is used to obtain the initial parameters of the acoustic signal of each positioning base station, and calculate the sound pressure level of the acoustic signal of each positioning base station according to the initial parameters of the acoustic signal of each positioning base station and the flight speed of the acoustic signal of each positioning base station;

第二计算单元，用于基于每个定位基站的声信号声压级在预设列表中确定出每个定位基站的时频域表达式；A second calculation unit, configured to determine a time-frequency domain expression of each positioning base station in a preset list based on the sound pressure level of the acoustic signal of each positioning base station;

第三计算单元，用于根据每个定位基站的时频域表达式以及每个定位基站的声信号初始参数，计算出每个定位基站的初始声信号。The third calculation unit is used to calculate the initial acoustic signal of each positioning base station according to the time-frequency domain expression of each positioning base station and the initial parameters of the acoustic signal of each positioning base station.

在第二方面的又一种可选方案中，声信号处理模块还包括：In yet another optional solution of the second aspect, the acoustic signal processing module further includes:

数据估计单元，用于将每个定位基站的初始声信号输入至预设信号估计模型中，得到与每个定位基站的初始声信号对应的周期、频段宽度以及噪声信号；A data estimation unit, used to input the initial acoustic signal of each positioning base station into a preset signal estimation model to obtain a period, a frequency band width and a noise signal corresponding to the initial acoustic signal of each positioning base station;

第四计算单元，用于根据每个定位基站的初始声信号、与每个定位基站的初始声信号对应的周期、频段宽度以及噪声信号，计算出与每个定位基站对应的目标声信号。The fourth calculation unit is used to calculate the target sound signal corresponding to each positioning base station according to the initial sound signal of each positioning base station, the period corresponding to the initial sound signal of each positioning base station, the frequency band width and the noise signal.

在第二方面的又一种可选方案中，矩阵处理模块包括：In yet another optional solution of the second aspect, the matrix processing module includes:

第一处理单元，用于根据待定位终端接收到每个定位基站的初始声信号的先后顺序对每个定位基站进行排序，并确定出参考定位基站；A first processing unit is used to sort each positioning base station according to the order in which the terminal to be positioned receives the initial acoustic signal of each positioning base station, and determine a reference positioning base station;

第二处理单元，用于依次计算与参考定位基站对应的目标声信号到达待定位终端的飞行时间，以及与排序后的每个定位基站对应的目标声信号到达待定位终端的飞行时间之间的时间差值；A second processing unit is used to sequentially calculate the flight time of the target acoustic signal corresponding to the reference positioning base station to reach the terminal to be positioned, and the time difference between the flight time of the target acoustic signal corresponding to each sorted positioning base station to reach the terminal to be positioned;

第三处理单元，用于根据任意相邻的两个定位基站的位置、所有定位基站的声信号飞行速度以及所有时间差值，得到与待定位终端对应的设计矩阵。The third processing unit is used to obtain a design matrix corresponding to the terminal to be located according to the positions of any two adjacent positioning base stations, the flight speeds of the acoustic signals of all positioning base stations, and all time differences.

在第二方面的又一种可选方案中，***还包括：In yet another optional solution of the second aspect, the system further comprises:

向量处理模块，用于在根据所有定位基站的位置、所有定位基站的声信号飞行速度以及所有时间差值，得到与待定位终端对应的设计矩阵之后，基于与待定位终端对应的设计矩阵计算出待定位终端的坐标之前，根据参考定位基站与任意一个定位基站的位置、所有定位基站的声信号飞行速度以及所有与定位基站对应的目标声信号到达待定位终端的飞行时间，得到与待定位终端对应的观测向量；A vector processing module, for obtaining an observation vector corresponding to the terminal to be located according to the positions of all positioning base stations, the flight speeds of the acoustic signals of all positioning base stations, and all time differences, and before calculating the coordinates of the terminal to be located based on the design matrix corresponding to the terminal to be located, according to the positions of the reference positioning base station and any positioning base station, the flight speeds of the acoustic signals of all positioning base stations, and the flight time of all target acoustic signals corresponding to the positioning base stations reaching the terminal to be located;

位置估计模块具体用于：The position estimation module is specifically used for:

在第二方面的又一种可选方案中，位置估计模块包括：In yet another optional solution of the second aspect, the position estimation module includes:

第一估计单元，用于根据与待定位终端对应的设计矩阵以及预设条件数，确定与待定位终端对应的多元回归系数矩阵；A first estimation unit, configured to determine a multivariate regression coefficient matrix corresponding to the terminal to be located according to a design matrix corresponding to the terminal to be located and a preset condition number;

第二估计单元，用于对与待定位终端对应的多元回归系数矩阵进行最小二乘计算，并根据计算后的与待定位终端对应的多元回归系数矩阵、与待定位终端对应的设计矩阵以及与待定位终端对应的观测向量，计算出待定位终端的坐标。The second estimation unit is used to perform least squares calculation on the multivariate regression coefficient matrix corresponding to the terminal to be located, and calculate the coordinates of the terminal to be located based on the calculated multivariate regression coefficient matrix corresponding to the terminal to be located, the design matrix corresponding to the terminal to be located, and the observation vector corresponding to the terminal to be located.

距离确定模块，用于在计算出待定位终端的坐标之后，基于待定位终端的坐标以及参考定位基站的位置，确定待定位终端到参考定位基站的距离；A distance determination module is used to determine the distance between the terminal to be located and the reference positioning base station based on the coordinates of the terminal to be located and the position of the reference positioning base station after calculating the coordinates of the terminal to be located;

预警模块，用于当检测到待定位终端到参考定位基站的距离超过预设距离时，发送与待定位终端对应的预警信息。The early warning module is used to send early warning information corresponding to the terminal to be located when it is detected that the distance between the terminal to be located and the reference positioning base station exceeds a preset distance.

第三方面，本申请实施例还提供了一种基于多模态声信号修正的应急定位***，包括处理器以及存储器；In a third aspect, an embodiment of the present application further provides an emergency positioning system based on multimodal acoustic signal correction, comprising a processor and a memory;

处理器与存储器连接；The processor is connected to the memory;

存储器，用于存储可执行程序代码；A memory for storing executable program codes;

处理器通过读取存储器中存储的可执行程序代码来运行与可执行程序代码对应的程序，以用于实现本申请实施例第一方面或第一方面的任意一种实现方式提供的基于多模态声信号修正的应急定位方法。The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the emergency positioning method based on multimodal acoustic signal correction provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect.

第四方面，本申请实施例提供了一种计算机存储介质，计算机存储介质存储有计算机程序，计算机程序包括程序指令，程序指令当被处理器执行时，可实现本申请实施例第一方面或第一方面的任意一种实现方式提供的基于多模态声信号修正的应急定位方法。In a fourth aspect, an embodiment of the present application provides a computer storage medium, which stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, the emergency positioning method based on multimodal acoustic signal correction provided by the first aspect of the embodiment of the present application or any one of the implementation methods of the first aspect can be implemented.

在本申请实施例中，可在对待定位终端进行应急定位时，确定至少两个定位基站的传感器参数，并根据每个定位基站的传感器参数计算出每个定位基站的声信号飞行速度；基于每个定位基站的声信号飞行速度确定每个定位基站发送的初始声信号，并根据每个定位基站的初始声信号以及预设信号估计模型计算出与每个定位基站对应的目标声信号；基于每个定位基站的初始声信号以及与每个定位基站对应的目标声信号，得到与每个定位基站对应的目标声信号到达待定位终端的飞行时间；确定每个定位基站的位置，并根据所有定位基站的位置、所有定位基站的声信号飞行速度以及所有与定位基站对应的目标声信号到达待定位终端的飞行时间，得到与待定位终端对应的设计矩阵；基于与待定位终端对应的设计矩阵计算出待定位终端的坐标。该方式不仅克服恶劣、复杂环境对定位***测距精度的影响，减少了定制化设备比例以及部署成本，还可降低地下大空间中TDOA定位普遍存在的环境噪声敏感性，极大的提高应急***的定位鲁棒性以及易用性。In the embodiment of the present application, when performing emergency positioning on the terminal to be positioned, the sensor parameters of at least two positioning base stations can be determined, and the acoustic signal flight speed of each positioning base station can be calculated according to the sensor parameters of each positioning base station; the initial acoustic signal sent by each positioning base station is determined based on the acoustic signal flight speed of each positioning base station, and the target acoustic signal corresponding to each positioning base station is calculated according to the initial acoustic signal of each positioning base station and the preset signal estimation model; based on the initial acoustic signal of each positioning base station and the target acoustic signal corresponding to each positioning base station, the flight time of the target acoustic signal corresponding to each positioning base station to reach the terminal to be positioned is obtained; the position of each positioning base station is determined, and the design matrix corresponding to the terminal to be positioned is obtained according to the positions of all positioning base stations, the acoustic signal flight speeds of all positioning base stations, and the flight time of all target acoustic signals corresponding to the positioning base stations to reach the terminal to be positioned; the coordinates of the terminal to be positioned are calculated based on the design matrix corresponding to the terminal to be positioned. This method not only overcomes the influence of harsh and complex environments on the ranging accuracy of the positioning system, reduces the proportion of customized equipment and deployment costs, but also reduces the environmental noise sensitivity commonly found in TDOA positioning in large underground spaces, greatly improving the positioning robustness and ease of use of the emergency system.

附图说明BRIEF DESCRIPTION OF THE DRAWINGS

为了更清楚地说明本申请实施例中的技术方案，下面将对实施例中所需使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

图1为本申请实施例提供的一种基于多模态声信号修正的应急定位方法的整体流程示意图；FIG1 is a schematic diagram of the overall process of an emergency positioning method based on multimodal acoustic signal correction provided by an embodiment of the present application;

图2为本申请实施例提供的一种应用基于多模态声信号修正的应急定位方法的典型定位布局场景示意图；FIG2 is a schematic diagram of a typical positioning layout scenario for applying an emergency positioning method based on multimodal acoustic signal correction provided in an embodiment of the present application;

图3为本申请实施例提供的一种基于多模态声信号修正的应急定位方法测距效果对比图；FIG3 is a comparison diagram of ranging effects of an emergency positioning method based on multi-modal acoustic signal correction provided by an embodiment of the present application;

图4为本申请实施例提供的一种基于多模态声信号修正的应急定位方法的***硬件结构示意图；FIG4 is a schematic diagram of the system hardware structure of an emergency positioning method based on multi-modal acoustic signal correction provided in an embodiment of the present application;

图5为本申请实施例提供的一种基于多模态声信号修正的应急定位***的结构示意图；FIG5 is a schematic diagram of the structure of an emergency positioning system based on multimodal acoustic signal correction provided in an embodiment of the present application;

图6为本申请实施例提供的又一种基于多模态声信号修正的应急定位***的结构示意图。FIG6 is a schematic diagram of the structure of another emergency positioning system based on multimodal acoustic signal correction provided in an embodiment of the present application.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述。The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.

在下述介绍中，术语“第一”、“第二”仅为用于描述的目的，而不能理解为指示或暗示相对重要性。下述介绍提供了本申请的多个实施例，不同实施例之间可以替换或者合并组合，因此本申请也可认为包含所记载的相同和/或不同实施例的所有可能组合。因而，如果一个实施例包含特征A、B、C，另一个实施例包含特征B、D，那么本申请也应视为包括含有A、B、C、D的一个或多个所有其他可能的组合的实施例，尽管该实施例可能并未在以下内容中有明确的文字记载。In the following introduction, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. The following introduction provides multiple embodiments of the present application, and different embodiments can be replaced or combined, so the present application can also be considered to include all possible combinations of the same and/or different embodiments recorded. Therefore, if one embodiment includes features A, B, and C, and another embodiment includes features B and D, then the present application should also be considered to include embodiments containing one or more of all other possible combinations of A, B, C, and D, even though the embodiment may not be clearly recorded in the following text.

下面的描述提供了示例，并且不对权利要求书中阐述的范围、适用性或示例进行限制。可以在不脱离本申请内容的范围的情况下，对描述的元素的功能和布置做出改变。各个示例可以适当省略、替代或添加各种过程或组件。例如所描述的方法可以以所描述的顺序不同的顺序来执行，并且可以添加、省略或组合各种步骤。此外，可以将关于一些示例描述的特征组合到其他示例中。The following description provides examples and does not limit the scope, applicability or examples set forth in the claims. Changes may be made to the functions and arrangements of the elements described without departing from the scope of the present application. Various processes or components may be appropriately omitted, substituted or added to each example. For example, the described method may be performed in an order different from the order described, and various steps may be added, omitted or combined. In addition, features described in some examples may be combined in other examples.

请参阅图1，图1示出了本申请实施例提供的一种基于多模态声信号修正的应急定位方法的整体流程示意图。Please refer to FIG. 1 , which shows a schematic diagram of the overall process of an emergency positioning method based on multimodal acoustic signal correction provided by an embodiment of the present application.

如图1所示，该基于多模态声信号修正的应急定位方法至少可以包括以下步骤：As shown in FIG1 , the emergency positioning method based on multimodal acoustic signal correction may at least include the following steps:

步骤102、确定至少两个定位基站的传感器参数，并根据每个定位基站的传感器参数计算出每个定位基站的声信号飞行速度。Step 102: Determine sensor parameters of at least two positioning base stations, and calculate the acoustic signal flight speed of each positioning base station according to the sensor parameters of each positioning base station.

在本申请实施例中，基于多模态声信号修正的应急定位方法可应用于待定位终端，该待定位终端可以但不局限于处在矿井隧道、电缆隧道等地下狭长且卫星完全拒止的大空间，且该地下大空间内还可设置有多个多模态定位基站。其中，多模态定位基站可具备传声器、温湿度传感器等多种气体传感器，以用于对地下大空间内的气体环境进行实时监测，且该多模态定位基站还可向待定位终端发送定位声信号，以便于该待定位终端可根据定位声信号确定相应的位置，并还可由多模态定位基站结合该待定位终端的位置发送应急逃生广播信息等，此处不限定于此。In the embodiment of the present application, the emergency positioning method based on multimodal acoustic signal correction can be applied to the terminal to be positioned, which can be, but is not limited to, a long and narrow underground space such as a mine tunnel or a cable tunnel where satellites are completely denied, and a plurality of multimodal positioning base stations can be arranged in the large underground space. Among them, the multimodal positioning base station can be equipped with a variety of gas sensors such as microphones, temperature and humidity sensors, etc., for real-time monitoring of the gas environment in the large underground space, and the multimodal positioning base station can also send a positioning sound signal to the terminal to be positioned, so that the terminal to be positioned can determine the corresponding position according to the positioning sound signal, and the multimodal positioning base station can also send emergency escape broadcast information in combination with the position of the terminal to be positioned, etc., which is not limited to this.

可以理解的是，在本申请实施例中待定位终端可预先与设置在地下大空间内的多个多模态定位基站建立通讯连接，其连接方式可以但不局限于为无线通讯，且该待定位终端与每个多模态定位基站之间均可实现数据交互，例如该待定位终端可向任意至少一个多模态定位基站发送数据，或是该待定位终端还可获取由任意至少一个多模态定位基站所发送的数据。还可以理解的是，此处多个多模态定位基站还可以但不局限于与处于地面上的工作人员所在控制终端建立通讯连接，例如该多模态定位基站还可对处于地面上的工作人员所在控制终端发送预警信息。当然，在本申请实施例中多个多模态定位基站之间还可互相实现数据交互，以组成基站同步信号或是组网信息，便于待定位终端可根据该基站同步信号或是组网信息获取到该多个多模态定位基站的基站位置。It is understandable that in the embodiment of the present application, the terminal to be located can establish a communication connection with multiple multimodal positioning base stations arranged in a large underground space in advance, and the connection method can be but is not limited to wireless communication, and data interaction can be achieved between the terminal to be located and each multimodal positioning base station, for example, the terminal to be located can send data to any at least one multimodal positioning base station, or the terminal to be located can also obtain data sent by any at least one multimodal positioning base station. It can also be understood that the multiple multimodal positioning base stations here can also be but are not limited to establishing a communication connection with the control terminal where the staff on the ground are located. For example, the multimodal positioning base station can also send early warning information to the control terminal where the staff on the ground are located. Of course, in the embodiment of the present application, multiple multimodal positioning base stations can also realize data interaction with each other to form a base station synchronization signal or networking information, so that the terminal to be located can obtain the base station position of the multiple multimodal positioning base stations according to the base station synchronization signal or networking information.

需要说明的是，在本申请实施例中提到的一个或多个步骤，或是一个或多个实施例，其可以但不局限于由待定位终端执行，例如也可为任意一个多模态定位基站执行，此处不限定于此。It should be noted that one or more steps, or one or more embodiments, mentioned in the embodiments of the present application may be, but are not limited to, executed by the terminal to be positioned. For example, they may also be executed by any multi-modal positioning base station, which is not limited thereto.

具体地，在对待定位终端进行应急定位时，待定位终端可确定地下大空间内所有定位基站的传感器参数，以便于根据该每个定位基站的传感器参数来计算出每个定位基站的声信号飞行速度，该每个定位基站的声信号飞行速度可理解为进行修正处理后的声信号飞行速度。其中，该定位基站的传感器参数可以但不局限于包括温度传感器采集到的温度参数、压力传感器采集到的压强参数、各种类型气体传感器所采集到的各自对应气体参数。Specifically, when performing emergency positioning on the terminal to be positioned, the terminal to be positioned can determine the sensor parameters of all positioning base stations in the large underground space, so as to calculate the acoustic signal flight speed of each positioning base station according to the sensor parameters of each positioning base station, and the acoustic signal flight speed of each positioning base station can be understood as the acoustic signal flight speed after correction processing. Among them, the sensor parameters of the positioning base station can include, but are not limited to, temperature parameters collected by a temperature sensor, pressure parameters collected by a pressure sensor, and corresponding gas parameters collected by various types of gas sensors.

此处可参阅如下所示的每个定位基站的声信号飞行速度的表达式：Here, the expression of the acoustic signal flight speed of each positioning base station can be seen as follows:

上式中，v可对应为每个定位基站的声信号飞行速度，Temp可对应为摄氏温度，P _w可对应为当前环境中的水蒸气压强，P可对应为当前环境的大气压强，p(P _o2+P _H 25+P _CH 4+P _∞)可对应为氧气、硫化氢、甲烷以及一氧化碳四种有害气体的所占比例。 In the above formula, v corresponds to the flying speed of the acoustic signal of each positioning base station, Temp corresponds to the Celsius temperature, _Pw corresponds to the water vapor pressure in the current environment, P corresponds to the atmospheric pressure in the current environment, and p( _Po2 + _PH25 + _PCH4 + _P∞ ) corresponds to the proportion of four harmful gases: oxygen, hydrogen sulfide, methane and carbon monoxide.

可以理解的是，上述提到的每个定位基站的声信号飞行速度的表达式还可预先构建在待定位终端中，以便于该待定位终端在获取到每个定位基站的传感器参数之后，直接带入表达式以得到每个定位基站的声信号飞行速度。It can be understood that the expression of the acoustic signal flight speed of each positioning base station mentioned above can also be pre-constructed in the terminal to be positioned, so that after the terminal to be positioned obtains the sensor parameters of each positioning base station, it can directly substitute the expression into the expression to obtain the acoustic signal flight speed of each positioning base station.

当然，该步骤或是上述提到的每个定位基站的声信号飞行速度的表达式还可以但不局限于构建在每个定位基站中，以便于在该每个定位基站计算出相应的声信号飞行速度之后，直接将该声信号飞行速度发送至待定位终端，此处在本申请实施例中不限定于此。Of course, this step or the expression of the acoustic signal flight speed of each positioning base station mentioned above can also be but is not limited to being constructed in each positioning base station, so that after each positioning base station calculates the corresponding acoustic signal flight speed, the acoustic signal flight speed is directly sent to the terminal to be positioned. This is not limited to this in the embodiments of the present application.

步骤104、基于每个定位基站的声信号飞行速度确定每个定位基站发送的初始声信号，并根据每个定位基站的初始声信号以及预设信号估计模型计算出与每个定位基站对应的目标声信号。Step 104: determine the initial acoustic signal sent by each positioning base station based on the acoustic signal flight speed of each positioning base station, and calculate the target acoustic signal corresponding to each positioning base station according to the initial acoustic signal of each positioning base station and a preset signal estimation model.

具体地，在计算出每个定位基站的声信号飞行速度之后，待定位终端可获取每个定位基站的声信号初始参数，以便于可结合该每个定位基站的声信号初始参数以及声信号飞行速度计算出每个定位基站的声信号声压级，该每个定位基站的声信号声压级可理解为声信号分贝值，且也即是待定位终端实际接收到的声信号声压级。其中，每个定位基站的声信号初始参数可以但不局限于包括每个定位基站扬声器发出信号时的原始声压级、信号发出频率以及信号发出时间。Specifically, after calculating the flight speed of the acoustic signal of each positioning base station, the terminal to be positioned can obtain the initial parameters of the acoustic signal of each positioning base station, so that the sound pressure level of the acoustic signal of each positioning base station can be calculated in combination with the initial parameters of the acoustic signal of each positioning base station and the flight speed of the acoustic signal. The sound pressure level of the acoustic signal of each positioning base station can be understood as the decibel value of the acoustic signal, which is also the sound pressure level of the acoustic signal actually received by the terminal to be positioned. Among them, the initial parameters of the acoustic signal of each positioning base station can include, but are not limited to, the original sound pressure level, signal emission frequency, and signal emission time when the speaker of each positioning base station emits a signal.

此处可参阅如下所示的每个定位基站的声信号声压级的表达式：Here, the expression of the sound pressure level of the acoustic signal of each positioning base station can be seen as follows:

上式中，S _mic可对应为每个定位基站的声信号声压级，S _bat可对应为每个定位基站扬声器发出信号时的原始声压级，f*d可对应为每个定位基站的信号发出频率与信号飞行距离的乘积，

可对应为参考距离与信号飞行距离的比值。其中，信号飞行距离可根据上述提到的声信号飞行速度与每个定位基站的声信号飞行时间的乘积得到，例如d＝v*t。在本申请实施例中，d _ref可优选为1m。 In the above formula, S _mic can correspond to the sound pressure level of the acoustic signal of each positioning base station, S _bat can correspond to the original sound pressure level when the speaker of each positioning base station sends a signal, and f*d can correspond to the product of the signal sending frequency of each positioning base station and the signal flight distance.

It can correspond to the ratio of the reference distance to the signal flight distance. The signal flight distance can be obtained according to the product of the acoustic signal flight speed mentioned above and the acoustic signal flight time of each positioning base station, for example, d=v*t. In the embodiment of the present application, d _ref can be preferably 1m.

可以理解的是，每个定位基站扬声器发出信号时的原始声压级S _bat与声信号的周期带宽乘积为正相关，例如可参阅如下表达式： It can be understood that the original sound pressure level S _bat when each positioning base station speaker sends a signal is positively correlated with the period-bandwidth product of the sound signal, for example, as shown in the following expression:

S _bat＝αTΔf S _bat = αTΔf

上式中，α可对应为定位基站的扬声器性能参数，其可由实际现场1m处标准声压级标定后得出；T可对应为声信号发送周期，Δf可对应为声信号发送频段宽度。In the above formula, α can correspond to the speaker performance parameter of the positioning base station, which can be obtained by calibration of the standard sound pressure level at 1m at the actual site; T can correspond to the sound signal transmission period, and Δf can correspond to the sound signal transmission frequency band width.

可以理解的是，上述提到的每个定位基站的声信号声压级的表达式还可预先构建在待定位终端中，以便于该待定位终端在获取到每个定位基站的声信号飞行速度以及声信号初始参数之后，直接带入表达式以得到每个定位基站的声信号声压级。It can be understood that the expression of the sound pressure level of the acoustic signal of each positioning base station mentioned above can also be pre-constructed in the terminal to be positioned, so that after the terminal to be positioned obtains the flight speed of the acoustic signal of each positioning base station and the initial parameters of the acoustic signal, it can directly substitute it into the expression to obtain the sound pressure level of the acoustic signal of each positioning base station.

当然，该步骤或是上述提到的每个定位基站的声信号声压级的表达式还可以但不局限于构建在每个定位基站中，以便于在该每个定位基站计算出相应的声信号声压级之后，直接将该声信号声压级发送至待定位终端，此处本申请实施例不限定于此。Of course, this step or the expression of the sound signal sound pressure level of each positioning base station mentioned above can also be but not limited to being constructed in each positioning base station, so that after each positioning base station calculates the corresponding sound signal sound pressure level, the sound signal sound pressure level is directly sent to the terminal to be located. The embodiments of the present application are not limited to this.

需要说明的是，此处构建的每个定位基站的声信号飞行速度表达式以及声信号声压级表达式可以但不局限于统称为声信号传播模型，且该声信号传播模型可预设在待定位终端中，或是预设在每个定位基站中，此处本申请实施例不限定于此。It should be noted that the acoustic signal flight speed expression and the acoustic signal sound pressure level expression of each positioning base station constructed here can be but are not limited to being collectively referred to as an acoustic signal propagation model, and the acoustic signal propagation model can be preset in the terminal to be positioned, or preset in each positioning base station. The embodiments of the present application are not limited to this.

进一步的，在计算出每个定位基站的声信号声压级之后，待定位终端还可根据该每个定位基站的声信号声压级在预设列表中确定出每个定位基站的时频域表达式，该预设列表可理解为为了保证多模态定位基站符合国际人耳声压级标准(也即保证待定位终端可听，但人耳不可听)，采用经验模型Terhardt Model，通过查表法寻找每个定位基站的声信号声压级与时频域表达式之间的关系，其对应关系图可参阅如下：Further, after calculating the sound pressure level of the acoustic signal of each positioning base station, the terminal to be positioned can also determine the time-frequency domain expression of each positioning base station in the preset list according to the sound pressure level of the acoustic signal of each positioning base station. The preset list can be understood as ensuring that the multimodal positioning base station meets the international human ear sound pressure level standard (that is, ensuring that the terminal to be positioned can hear it, but the human ear cannot hear it). The empirical model Terhardt Model is used to find the relationship between the acoustic signal sound pressure level of each positioning base station and the time-frequency domain expression through a table lookup method. The corresponding relationship diagram can be seen as follows:

图中，f(t，T)可对应为每个定位基站的时频域表达式。In the figure, f(t, T) can correspond to the time-frequency domain expression of each positioning base station.

进一步的，在查找到每个定位基站的时频域表达式之后，可根据该每个定位基站的时频域表达式以及声信号初始参数，计算出每个定位基站所发出的初始声信号，其中，每个定位基站的声信号初始参数可以但不局限于包括每个定位基站的信号发出频率以及信号发出时间。Furthermore, after finding the time-frequency domain expression of each positioning base station, the initial sound signal emitted by each positioning base station can be calculated based on the time-frequency domain expression of each positioning base station and the initial parameters of the sound signal, wherein the initial parameters of the sound signal of each positioning base station may include but are not limited to the signal emission frequency and signal emission time of each positioning base station.

此处可参阅如下所示的每个定位基站的初始声信号的表达式：Here, the expression of the initial acoustic signal of each positioning base station can be seen as follows:

上式中，S(t)可对应为每个定位基站的初始声信号，t可对应为每个定位基站的声信号飞行时间，f ₀可对应为每个定位基站的信号起始频率，f(t，T)可对应为每个定位基站的信号在信号周期T中关于飞行时间t的时频域表达式。 In the above formula, S(t) can correspond to the initial acoustic signal of each positioning base station, t can correspond to the flight time of the acoustic signal of each positioning base station, _f0 can correspond to the signal starting frequency of each positioning base station, and f(t, T) can correspond to the time-frequency domain expression of the signal of each positioning base station in the signal period T with respect to the flight time t.

进一步的，在得到每个定位基站所发出的初始声信号之后，待定位终端可根据该每个定位基站所发出的初始声信号以及预设信号估计模型，得到与每个定位基站对应的目标声信号。Furthermore, after obtaining the initial acoustic signal sent by each positioning base station, the terminal to be positioned may obtain the target acoustic signal corresponding to each positioning base station according to the initial acoustic signal sent by each positioning base station and a preset signal estimation model.

作为本申请实施例的一种可选，根据每个定位基站的初始声信号以及预设信号估计模型计算出与每个定位基站对应的目标声信号，包括：As an option of the embodiment of the present application, the target acoustic signal corresponding to each positioning base station is calculated according to the initial acoustic signal of each positioning base station and a preset signal estimation model, including:

将每个定位基站的初始声信号输入至预设信号估计模型中，得到与每个定位基站的初始声信号对应的周期、频段宽度以及噪声信号；Inputting the initial acoustic signal of each positioning base station into a preset signal estimation model to obtain the period, frequency band width and noise signal corresponding to the initial acoustic signal of each positioning base station;

具体地，待定位终端可将每个定位基站的初始声信号输入至预设信号估计模型中，以得到与每个定位基站的初始声信号对应的周期、频段宽度以及噪声信号，该与每个定位基站的初始声信号对应的周期、频段宽度以及噪声信号均为结合初始声信号所得到的估计结果。其中，预设信号估计模型的表达式可参阅如下：Specifically, the terminal to be located can input the initial acoustic signal of each positioning base station into the preset signal estimation model to obtain the period, frequency band width and noise signal corresponding to the initial acoustic signal of each positioning base station, and the period, frequency band width and noise signal corresponding to the initial acoustic signal of each positioning base station are all estimation results obtained by combining the initial acoustic signal. The expression of the preset signal estimation model can be referred to as follows:

上式中，T可对应为每个定位基站的初始声信号对应的周期，Δf可对应为与每个定位基站的初始声信号对应的频段宽度，N(t)可对应为与每个定位基站的初始声信号对应的噪声信号，m可理解为模型中的重复抽样次数，X _i(T，Δ，f，N(t))可理解为每个定位基站的初始声信号的第i个估计样本，

可理解为每个定位基站的初始声信号的第i个估计量。 In the above formula, T can correspond to the period corresponding to the initial acoustic signal of each positioning base station, Δf can correspond to the frequency band width corresponding to the initial acoustic signal of each positioning base station, N(t) can correspond to the noise signal corresponding to the initial acoustic signal of each positioning base station, m can be understood as the number of repeated sampling in the model, _Xi (T, Δ, f, N(t)) can be understood as the i-th estimated sample of the initial acoustic signal of each positioning base station,

It can be understood as the i-th estimate of the initial acoustic signal of each positioning base station.

可以理解的是，此处预设信号估计模型可根据任一定位基站的已知声信号传播模型以及已知声信号飞行时间构建得到，在本申请实施例中不限定于此。It can be understood that the preset signal estimation model here can be constructed based on the known acoustic signal propagation model and the known acoustic signal flight time of any positioning base station, and is not limited to this in the embodiments of the present application.

进一步的，在得到与每个定位基站的初始声信号对应的周期、频段宽度以及噪声信号之后，还可以但不局限于参阅如下所示的与每个定位基站对应的目标声信号的表达式：Further, after obtaining the period, frequency band width and noise signal corresponding to the initial acoustic signal of each positioning base station, it is also possible but not limited to refer to the expression of the target acoustic signal corresponding to each positioning base station as shown below:

上式中，与每个定位基站对应的目标声信号y(t)可理解为声信号在总数L的多条传播路径中的叠加，α _i可对应为信号传播的第i条路径的加权系数。可以理解的是，此处与每个定位基站对应的目标声信号也可理解为对每个定位基站的初始声信号进行环境空气声传递函数的卷积得到。 In the above formula, the target acoustic signal y(t) corresponding to each positioning base station can be understood as the superposition of the acoustic signal in a total of L multiple propagation paths, and α _i can correspond to the weighting coefficient of the i-th path of signal propagation. It can be understood that the target acoustic signal corresponding to each positioning base station here can also be understood as the convolution of the initial acoustic signal of each positioning base station with the ambient air acoustic transfer function.

步骤106、基于每个定位基站的初始声信号以及与每个定位基站对应的目标声信号，得到与每个定位基站对应的目标声信号到达待定位终端的飞行时间。Step 106: Based on the initial acoustic signal of each positioning base station and the target acoustic signal corresponding to each positioning base station, obtain the flight time of the target acoustic signal corresponding to each positioning base station to reach the terminal to be positioned.

具体地，在得到每个定位基站的初始声信号以及目标声信号之后，待定位终端可以但不局限于通过相关函数得到与每个定位基站对应的目标声信号到达待定位终端的飞行时间，其可参阅如下表达式：Specifically, after obtaining the initial acoustic signal and the target acoustic signal of each positioning base station, the terminal to be positioned can, but is not limited to, obtain the flight time of the target acoustic signal corresponding to each positioning base station to reach the terminal to be positioned through a correlation function, which can be referred to as the following expression:

上式中，ψ _CC[m]＝EE{S[t]s[t+τ _FUSION]}，也即可理解为每个定位基站的初始声信号与目标声信号的相关函数；其中，s[t+τ _FUSION]可表示为每个定位基站的目标声信号，且该τ _FUSION可理解为每个定位基站的传输时延，其可参阅如下表达式： In the above formula, ψ _CC [m] = EE {S [t] s [t + τ _FUSION ]}, which can be understood as the correlation function between the initial acoustic signal and the target acoustic signal of each positioning base station; wherein s [t + τ _FUSION ] can be expressed as the target acoustic signal of each positioning base station, and the τ _FUSION can be understood as the transmission delay of each positioning base station, which can be referred to as the following expression:

上式中，P可对应为定位基站总的传感器对数量，

可理解为多传感器组合代价函数，F{g}可理解为数学变换表达式，以用于将多传感器对飞行时间的影响叠加，保证所有传感器对的代价函数通过变换后，在同样的位置出现峰值。可以理解的是，f{g}或是

均可通过多元回归对多传感器数据进行参数回归，以得到合适的代价函数。 In the above formula, P can correspond to the total number of sensor pairs of the positioning base station,

It can be understood as a multi-sensor combination cost function, and F{g} can be understood as a mathematical transformation expression to superimpose the impact of multiple sensors on the flight time, ensuring that the cost functions of all sensor pairs have peaks at the same position after transformation. It can be understood that f{g} or

Multiple regression can be used to perform parameter regression on multi-sensor data to obtain a suitable cost function.

当然，在本申请实施例中提到的与每个定位基站对应的目标声信号到达待定位终端的飞行时间的计算方式还可参照本领域的惯用技术手段，此处不过多赘述。Of course, the method for calculating the flight time of the target sound signal corresponding to each positioning base station to reach the terminal to be positioned mentioned in the embodiment of the present application can also refer to the conventional technical means in the field, and will not be elaborated here.

步骤108、确定每个定位基站的位置，并根据所有定位基站的位置、所有定位基站的声信号飞行速度以及所有与定位基站对应的目标声信号到达待定位终端的飞行时间，得到与待定位终端对应的设计矩阵。Step 108: determine the position of each positioning base station, and obtain a design matrix corresponding to the terminal to be located based on the positions of all positioning base stations, the flight speeds of the acoustic signals of all positioning base stations, and the flight time of all target acoustic signals corresponding to the positioning base stations to reach the terminal to be located.

具体地，由于每个定位基站的位置固定，待定位终端还可获取每个定位基站之间形成的基站同步信号或是组网信息，以便于根据该基站同步信号或是组网信息得到每个定位基站的位置。当然，待定位终端还可根据每个定位基站所发送声信号中的基站标识得到相应的位置，此处不限定于此。Specifically, since the position of each positioning base station is fixed, the terminal to be positioned can also obtain the base station synchronization signal or networking information formed between each positioning base station, so as to obtain the position of each positioning base station according to the base station synchronization signal or networking information. Of course, the terminal to be positioned can also obtain the corresponding position according to the base station identifier in the acoustic signal sent by each positioning base station, which is not limited to this.

进一步的，待定位终端可根据接收到的每个定位基站的初始声信号的先后顺序对每个定位基站进行排序，例如可按照从先至后的顺序对每个定位基站排序，并将最先接收到初始声信号所对应的定位基站作为参考定位基站，其中，该参考定位基站也可理解为距离待定位终端距离最近的定位基站。Furthermore, the terminal to be located can sort each positioning base station according to the order of the initial sound signals received from each positioning base station. For example, each positioning base station can be sorted from first to last, and the positioning base station corresponding to the initial sound signal received first can be used as the reference positioning base station, where the reference positioning base station can also be understood as the positioning base station that is closest to the terminal to be located.

进一步的，在确定出参考定位基站之后，待定位终端可先确定第二接收到的初始声信号所对应的定位基站，并计算与该定位基站对应的目标声信号到达待定位终端的飞行时间，与参考定位基站对应的目标声信号到达待定位终端的飞行时间之间的时间差值；接着确定第三接收到的初始声信号所对应的定位基站，并计算与该定位基站对应的目标声信号到达待定位终端的飞行时间，与参考定位基站对应的目标声信号到达待定位终端的飞行时间之间的时间差值；接着确定第四接收到的初始声信号所对应的定位基站，并计算与该定位基站对应的目标声信号到达待定位终端的飞行时间，与参考定位基站对应的目标声信号到达待定位终端的飞行时间之间的时间差值；直至确定最后一个接收到的初始声信号所对应的定位基站，并计算与该定位基站对应的目标声信号到达待定位终端的飞行时间，与参考定位基站对应的目标声信号到达待定位终端的飞行时间之间的时间差值。Further, after determining the reference positioning base station, the terminal to be positioned may first determine the positioning base station corresponding to the second received initial acoustic signal, and calculate the time difference between the flight time of the target acoustic signal corresponding to the positioning base station reaching the terminal to be positioned and the flight time of the target acoustic signal corresponding to the reference positioning base station reaching the terminal to be positioned; then determine the positioning base station corresponding to the third received initial acoustic signal, and calculate the flight time of the target acoustic signal corresponding to the positioning base station reaching the terminal to be positioned and the time difference between the flight time of the target acoustic signal corresponding to the reference positioning base station reaching the terminal to be positioned; then determine the positioning base station corresponding to the fourth received initial acoustic signal, and calculate the flight time of the target acoustic signal corresponding to the positioning base station reaching the terminal to be positioned and the time difference between the flight time of the target acoustic signal corresponding to the reference positioning base station reaching the terminal to be positioned; until the positioning base station corresponding to the last received initial acoustic signal is determined, and calculates the flight time of the target acoustic signal corresponding to the positioning base station reaching the terminal to be positioned and the time difference between the flight time of the target acoustic signal corresponding to the reference positioning base station reaching the terminal to be positioned.

进一步的，在得到所有的时间差值之后，待定位终端可结合任意相邻的两个定位基站的位置、所有定位基站的声信号飞行速度以及所有时间差值，得到与待定位终端对应的设计矩阵，该与待定位终端对应的设计矩阵表达式可参阅如下：Further, after obtaining all the time differences, the terminal to be located can combine the positions of any two adjacent positioning base stations, the flight speeds of the acoustic signals of all positioning base stations, and all the time differences to obtain a design matrix corresponding to the terminal to be located. The expression of the design matrix corresponding to the terminal to be located can be referred to as follows:

G(i，：)＝[-2(s _i+1(t)-s _i(t)) ^Tv*Δt _i] G(i,:)=[-2(si ₊₁ (t) _-si (t)) ^Tv * _Δti ]

上式中，G(i，：)可对应为与待定位终端对应的设计矩阵的第i行，s _i+1(t)可对应为t时刻第i+1个定位基站的位置，s _i(t)可对应为t时刻第i个定位基站的位置，T可对应为转置矩阵，Δt(i)可对应为第i个时间差值。 In the above formula, G(i,:) may correspond to the i-th row of the design matrix corresponding to the terminal to be located, s _i+1 (t) may correspond to the position of the i+1-th positioning base station at time t, s _i (t) may correspond to the position of the i-th positioning base station at time t, T may correspond to the transposed matrix, and Δt(i) may correspond to the i-th time difference.

步骤110、基于与待定位终端对应的设计矩阵计算出待定位终端的坐标。Step 110: Calculate the coordinates of the terminal to be located based on the design matrix corresponding to the terminal to be located.

具体地，在根据所有定位基站的位置、所有定位基站的声信号飞行速度以及所有时间差值，得到与待定位终端对应的设计矩阵之后，基于与待定位终端对应的设计矩阵计算出待定位终端的坐标之前，还包括：Specifically, after obtaining a design matrix corresponding to the terminal to be located according to the positions of all positioning base stations, the flight speeds of the acoustic signals of all positioning base stations, and all time differences, and before calculating the coordinates of the terminal to be located based on the design matrix corresponding to the terminal to be located, the method further includes:

具体地，待定位终端还可根据参考定位基站与任意一个定位基站的位置、所有定位基站的声信号飞行速度以及所有时间差值，得到与待定位终端对应的观测向量，该与待定位终端对应的观测向量可参阅如下：Specifically, the terminal to be positioned can also obtain an observation vector corresponding to the terminal to be positioned according to the positions of the reference positioning base station and any positioning base station, the acoustic signal flight speeds of all positioning base stations, and all time differences. The observation vector corresponding to the terminal to be positioned can be referred to as follows:

上式中，h(j)可对应为与待定位终端对应的观测向量中第j个元素，v可对应为定位基站的声信号飞行速度，Δt(j)可理解为与第j个定位基站对应的目标声信号到达待定位终端的飞行时间，以及第j-1个定位基站对应的目标声信号到达待定位终端的飞行时间之间的时间差值，s _j+1可对应为第j+1个定位基站的位置，s ₁可对应为参考定位基站的位置，

可表示为向量二范数的平方。 In the above formula, h(j) can correspond to the jth element in the observation vector corresponding to the terminal to be located, v can correspond to the flight speed of the acoustic signal of the positioning base station, Δt(j) can be understood as the flight time of the target acoustic signal corresponding to the jth positioning base station to reach the terminal to be located, and the time difference between the flight time of the target acoustic signal corresponding to the j-1th positioning base station to reach the terminal to be located, s _j+1 can correspond to the position of the j+1th positioning base station, s ₁ can correspond to the position of the reference positioning base station,

It can be expressed as the square of the vector's second norm.

进一步的，待定位终端还可根据得到的设计矩阵以及预设条件数，确定出与待定位终端对应的多元回归系数矩阵，其中，预设条件数可理解为对最小二乘模型解的误差不确定度敏感性的度量，多元回归系数矩阵由线性最小二乘方法确定，用于修正位置解算过程中非线性最小二乘的参数。Furthermore, the terminal to be located can also determine the multivariate regression coefficient matrix corresponding to the terminal to be located based on the obtained design matrix and the preset condition number, wherein the preset condition number can be understood as a measure of the sensitivity to the error uncertainty of the least squares model solution, and the multivariate regression coefficient matrix is determined by the linear least squares method and is used to correct the parameters of the nonlinear least squares in the position solution process.

此处可参阅如下示出的预设条件数的表达式：Here, the expression of the preset condition number is shown as follows:

上式中，

可表示为非线性回归参数，用于非线性最小二乘解算；h _ij可表示为第i个多元回归系数下观测到的第j个值。 In the above formula,

It can be expressed as a nonlinear regression parameter and used for nonlinear least squares solution; h _ij can be expressed as the jth value observed under the ith multiple regression coefficient.

可以理解的是，在本申请实施例中预设条件数可设置为与环境对应的固定值，例如但不局限于可设置该预设条件数小于1000。It can be understood that in the embodiment of the present application, the preset condition number can be set to a fixed value corresponding to the environment, for example but not limited to, the preset condition number can be set to be less than 1000.

进一步的，可结合上述提到的预设条件数的表达式，简化得到与待定位终端对应的多元回归系数矩阵中的非线性回归参数的表达式如下：Furthermore, the expression of the preset condition number mentioned above can be combined to simplify the expression of the nonlinear regression parameter in the multivariate regression coefficient matrix corresponding to the terminal to be located as follows:

通过进行最小二乘计算得到多元回归系数矩阵之后，待定位终端可根据该多元回归系数矩阵、与待定位终端对应的设计矩阵以及与待定位终端对应的观测向量，计算出待定位终端的坐标，该待定位终端的坐标表达式可以但不局限于参阅如下：After the multivariate regression coefficient matrix is obtained by performing the least squares calculation, the terminal to be located can calculate the coordinates of the terminal to be located according to the multivariate regression coefficient matrix, the design matrix corresponding to the terminal to be located, and the observation vector corresponding to the terminal to be located. The coordinate expression of the terminal to be located can be, but is not limited to, as follows:

上式中，G可对应为与待定位终端对应的设计矩阵，T可对应为转置矩阵，I可对应为单位矩阵(其行列数与G ^TG的行列数相同)，h可对应为与待定位终端对应的观测向量。 In the above formula, G may correspond to the design matrix corresponding to the terminal to be located, T may correspond to the transposed matrix, I may correspond to the unit matrix (whose number of rows and columns is the same as that of G ^T G), and h may correspond to the observation vector corresponding to the terminal to be located.

可以理解的是，该待定位终端的坐标可以但不局限于为平面坐标，也即可表示为(x，y)。It can be understood that the coordinates of the terminal to be located can be but are not limited to plane coordinates, that is, they can be expressed as (x, y).

作为本申请实施例的又一种可选，还包括：As another option of the embodiment of the present application, it also includes:

具体地，待定位终端在得到坐标之后，可以但不局限于根据欧氏距离计算方式得到待定位终端到参考定位基站的距离，并判断该待定位终端到参考定位基站的距离与预设距离的大小。Specifically, after obtaining the coordinates, the terminal to be located can obtain the distance from the terminal to be located to the reference positioning base station by, but is not limited to, calculating the Euclidean distance, and determine the difference between the distance from the terminal to be located to the reference positioning base station and the preset distance.

可以理解的是，当检测到待定位终端到参考定位基站的距离超过预设距离时，表明待定位终端的当前位置存在风险，可及时生成与待定位终端对应的预警信息，并通过参考定位基站将该与待定位终端对应的预警信息发送至处于地面上的工作人员的控制终端，以作出相应措施。It can be understood that when it is detected that the distance between the terminal to be located and the reference positioning base station exceeds the preset distance, it indicates that there is a risk in the current position of the terminal to be located, and an early warning information corresponding to the terminal to be located can be generated in time, and the early warning information corresponding to the terminal to be located can be sent to the control terminal of the staff on the ground through the reference positioning base station to take corresponding measures.

此处可参阅图2示出的本申请实施例提供的一种应用基于多模态声信号修正的应急定位方法的典型定位布局场景示意图。如图2所示，在地下大空间内可设置由多个多模态定位基站以及隧道工作人员，该隧道工作人员可携带有待定位终端。当检测到该待定位终端到定位基站的距离超过告警半径距离时，可由该待定位终端生成预警信息，并由定位基站通过无线通讯将预警信息发送至地面监护人所在终端，同时还可由定位基站发送相应的应急广播。Here, please refer to FIG. 2, which shows a schematic diagram of a typical positioning layout scenario for an emergency positioning method based on multimodal acoustic signal correction provided by an embodiment of the present application. As shown in FIG. 2, multiple multimodal positioning base stations and tunnel workers can be set up in a large underground space, and the tunnel workers can carry a terminal to be positioned. When it is detected that the distance between the terminal to be positioned and the positioning base station exceeds the alarm radius, the terminal to be positioned can generate an early warning message, and the positioning base station sends the early warning message to the terminal where the ground guardian is located through wireless communication, and the positioning base station can also send a corresponding emergency broadcast.

请参阅图3，图3示出了本申请实施例提供的一种基于多模态声信号修正的应急定位方法测距效果对比图。Please refer to FIG. 3 , which shows a comparison diagram of ranging effects of an emergency positioning method based on multi-modal acoustic signal correction provided in an embodiment of the present application.

如图3所示，在待定位终端经过回环路径之后，可明显看出基于本申请实施例所得到的待定位终端坐标准确性高于其他技术手段所得到的待定位终端坐标，且本申请实施例所得到的待定位终端坐标的误差概率明显小于其他技术手段所得到的待定位终端坐标的误差概率。As shown in Figure 3, after the terminal to be located passes through the loop path, it can be clearly seen that the accuracy of the coordinates of the terminal to be located obtained based on the embodiment of the present application is higher than the coordinates of the terminal to be located obtained by other technical means, and the error probability of the coordinates of the terminal to be located obtained by the embodiment of the present application is significantly smaller than the error probability of the coordinates of the terminal to be located obtained by other technical means.

请参阅图4，图4示出了本申请实施例提供的一种基于多模态声信号修正的应急定位方法的***硬件结构示意图。Please refer to FIG. 4 , which shows a schematic diagram of the system hardware structure of an emergency positioning method based on multi-modal acoustic signal correction provided in an embodiment of the present application.

如图4所示，该基于多模态声信号修正的应急定位方法的***硬件结构可包括供电稳压***、声信号处理核心板、无线传输模块、气体传感器接口、温湿度传感器接口、全频段扬声器件、声信号传声器件以及信号组网及同步模块。其中，供电稳压***可向各个器件提供电压，无线传输模块可用于将配置信息无线传输至声信号处理核心板，气体传感器接口可用于将气体信息传输至声信号处理核心板，温湿度传感器接口可用于将温湿度信息传输至声信号处理核心板，全频段扬声器件可用于发出定位声信号或是告警信号，声信号传声器件可用于发出环境声信号，信号组网及同步模块可用于发出同步信息至声信号处理核心板，声信号处理核心板可用于执行上述提到的一个或多个实施例，以准确得到待定位终端的坐标。As shown in Figure 4, the system hardware structure of the emergency positioning method based on multimodal acoustic signal correction may include a power supply and voltage stabilization system, an acoustic signal processing core board, a wireless transmission module, a gas sensor interface, a temperature and humidity sensor interface, a full-band speaker, an acoustic signal transmission device, and a signal networking and synchronization module. Among them, the power supply and voltage stabilization system can provide voltage to each device, the wireless transmission module can be used to wirelessly transmit configuration information to the acoustic signal processing core board, the gas sensor interface can be used to transmit gas information to the acoustic signal processing core board, the temperature and humidity sensor interface can be used to transmit temperature and humidity information to the acoustic signal processing core board, the full-band speaker can be used to send a positioning acoustic signal or an alarm signal, the acoustic signal transmission device can be used to send an environmental acoustic signal, the signal networking and synchronization module can be used to send synchronization information to the acoustic signal processing core board, and the acoustic signal processing core board can be used to execute one or more of the above-mentioned embodiments to accurately obtain the coordinates of the terminal to be located.

请参阅图5，图5示出了本申请实施例提供的一种基于多模态声信号修正的应急定位***的软件结构示意图。Please refer to FIG. 5 , which shows a schematic diagram of the software structure of an emergency positioning system based on multimodal acoustic signal correction provided in an embodiment of the present application.

基于多模态声信号修正的应急定位***可应用于待定位终端，如图5所示，该基于多模态声信号修正的应急定位***至少可以包括信号飞行速度确定模块501、声信号处理模块502、信号飞行时间估计模块503、矩阵处理模块504以及位置估计模块505，其中：The emergency positioning system based on multimodal acoustic signal correction can be applied to the terminal to be positioned. As shown in FIG5 , the emergency positioning system based on multimodal acoustic signal correction can at least include a signal flight speed determination module 501, an acoustic signal processing module 502, a signal flight time estimation module 503, a matrix processing module 504 and a position estimation module 505, wherein:

信号飞行速度确定模块501，用于确定至少两个定位基站的传感器参数，并根据每个定位基站的传感器参数计算出每个定位基站的声信号飞行速度；The signal flight speed determination module 501 is used to determine the sensor parameters of at least two positioning base stations, and calculate the acoustic signal flight speed of each positioning base station according to the sensor parameters of each positioning base station;

声信号处理模块502，用于基于每个定位基站的声信号飞行速度确定每个定位基站发送的初始声信号，并根据每个定位基站的初始声信号以及预设信号估计模型计算出与每个定位基站对应的目标声信号；The acoustic signal processing module 502 is used to determine the initial acoustic signal sent by each positioning base station based on the acoustic signal flight speed of each positioning base station, and calculate the target acoustic signal corresponding to each positioning base station according to the initial acoustic signal of each positioning base station and a preset signal estimation model;

信号飞行时间估计模块503，用于基于每个定位基站的初始声信号以及与每个定位基站对应的目标声信号，得到与每个定位基站对应的目标声信号到达待定位终端的飞行时间；The signal flight time estimation module 503 is used to obtain the flight time of the target acoustic signal corresponding to each positioning base station to reach the terminal to be positioned based on the initial acoustic signal of each positioning base station and the target acoustic signal corresponding to each positioning base station;

矩阵处理模块504，用于确定每个定位基站的位置，并根据所有定位基站的位置、所有定位基站的声信号飞行速度以及所有与定位基站对应的目标声信号到达待定位终端的飞行时间，得到与待定位终端对应的设计矩阵；The matrix processing module 504 is used to determine the position of each positioning base station, and obtain a design matrix corresponding to the terminal to be positioned according to the positions of all positioning base stations, the flight speeds of the acoustic signals of all positioning base stations, and the flight time of all target acoustic signals corresponding to the positioning base stations to reach the terminal to be positioned;

位置估计模块505，用于基于与待定位终端对应的设计矩阵计算出待定位终端的坐标。The position estimation module 505 is used to calculate the coordinates of the terminal to be located based on the design matrix corresponding to the terminal to be located.

在一些可能的实施例中，声信号处理模块包括：In some possible embodiments, the acoustic signal processing module includes:

在一些可能的实施例中，声信号处理模块还包括：In some possible embodiments, the acoustic signal processing module further includes:

在一些可能的实施例中，矩阵处理模块包括：In some possible embodiments, the matrix processing module includes:

在一些可能的实施例中，***还包括：In some possible embodiments, the system further includes:

在一些可能的实施例中，位置估计模块包括：In some possible embodiments, the position estimation module includes:

本领域的技术人员可以清楚地了解到本申请实施例的技术方案可借助软件和/或硬件来实现。本说明书中的“单元”和“模块”是指能够独立完成或与其他部件配合完成特定功能的软件和/或硬件，其中硬件例如可以是现场可编程门阵列(Field－Programmable Gate Array，FPGA)、集成电路(Integrated Circuit，IC)等。Those skilled in the art can clearly understand that the technical solutions of the embodiments of the present application can be implemented with the help of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can independently complete or cooperate with other components to complete specific functions, where the hardware can be, for example, a field programmable gate array (FPGA), an integrated circuit (IC), etc.

请参阅图6，图6示出了本申请实施例提供的又一种基于多模态声信号修正的应急定位***的结构示意图。Please refer to FIG. 6 , which shows a schematic structural diagram of another emergency positioning system based on multimodal acoustic signal correction provided in an embodiment of the present application.

如图6所示，该基于多模态声信号修正的应急定位***600与至少两个物联网设备建立通信，每个物联网设备设置有磁通门电流传感器，该云平台600可以包括至少一个处理器601、至少一个网络接口604、用户接口603、存储器605以及至少一个通信总线602。As shown in Figure 6, the emergency positioning system 600 based on multimodal acoustic signal correction establishes communication with at least two IoT devices, each IoT device is provided with a fluxgate current sensor, and the cloud platform 600 may include at least one processor 601, at least one network interface 604, a user interface 603, a memory 605 and at least one communication bus 602.

其中，通信总线602可用于实现上述各个组件的连接通信。The communication bus 602 may be used to realize the connection and communication among the above-mentioned components.

其中，用户接口603可以包括按键，可选用户接口还可以包括标准的有线接口、无线接口。The user interface 603 may include buttons, and the optional user interface may also include a standard wired interface or a wireless interface.

其中，网络接口604可以但不局限于包括蓝牙模块、NFC模块、Wi-Fi模块等。The network interface 604 may include, but is not limited to, a Bluetooth module, an NFC module, a Wi-Fi module, etc.

其中，处理器601可以包括一个或者多个处理核心。处理器601利用各种接口和线路连接整个电子设备600内的各个部分，通过运行或执行存储在存储器605内的指令、程序、代码集或指令集，以及调用存储在存储器605内的数据，执行路由设备600的各种功能和处理数据。可选的，处理器601可以采用DSP、FPGA、PLA中的至少一种硬件形式来实现。处理器601可集成CPU、GPU和调制解调器等中的一种或几种的组合。其中，CPU主要处理操作***、用户界面和应用程序等；GPU用于负责显示屏所需要显示的内容的渲染和绘制；调制解调器用于处理无线通信。可以理解的是，上述调制解调器也可以不集成到处理器601中，单独通过一块芯片进行实现。Among them, the processor 601 may include one or more processing cores. The processor 601 uses various interfaces and lines to connect various parts within the entire electronic device 600, and executes various functions and processes data of the routing device 600 by running or executing instructions, programs, code sets or instruction sets stored in the memory 605, and calling data stored in the memory 605. Optionally, the processor 601 can be implemented in at least one hardware form of DSP, FPGA, and PLA. The processor 601 can integrate one or a combination of CPU, GPU, modem, etc. Among them, the CPU mainly processes the operating system, user interface, and application programs; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 601, and it can be implemented separately through a chip.

其中，存储器605可以包括RAM，也可以包括ROM。可选的，该存储器605包括非瞬时性计算机可读介质。存储器605可用于存储指令、程序、代码、代码集或指令集。存储器605可包括存储程序区和存储数据区，其中，存储程序区可存储用于实现操作***的指令、用于至少一个功能的指令(比如触控功能、声音播放功能、图像播放功能等)、用于实现上述各个方法实施例的指令等；存储数据区可存储上面各个方法实施例中涉及到的数据等。存储器605可选的还可以是至少一个位于远离前述处理器601的存储装置。如图6所示，作为一种计算机存储介质的存储器605中可以包括操作***、网络通信模块、用户接口模块以及基于多模态声信号修正的应急定位应用程序。Among them, the memory 605 may include RAM or ROM. Optionally, the memory 605 includes a non-transitory computer-readable medium. The memory 605 can be used to store instructions, programs, codes, code sets or instruction sets. The memory 605 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 605 may also be at least one storage device located away from the aforementioned processor 601. As shown in Figure 6, the memory 605 as a computer storage medium may include an operating system, a network communication module, a user interface module, and an emergency positioning application based on multimodal acoustic signal correction.

具体地，处理器601可以用于调用存储器605中存储的基于多模态声信号修正的应急定位应用程序，并具体执行以下操作：Specifically, the processor 601 may be used to call the emergency positioning application based on multimodal acoustic signal correction stored in the memory 605, and specifically perform the following operations:

在一些可能的实施例中，基于每个定位基站的声信号飞行速度确定每个定位基站发送的初始声信号，包括：In some possible embodiments, determining the initial acoustic signal sent by each positioning base station based on the acoustic signal flight speed of each positioning base station includes:

在一些可能的实施例中，根据每个定位基站的初始声信号以及预设信号估计模型计算出与每个定位基站对应的目标声信号，包括：In some possible embodiments, calculating the target acoustic signal corresponding to each positioning base station according to the initial acoustic signal of each positioning base station and a preset signal estimation model includes:

在一些可能的实施例中，根据所有定位基站的位置、所有定位基站的声信号飞行速度以及所有与定位基站对应的目标声信号到达待定位终端的飞行时间，得到与待定位终端对应的设计矩阵，包括：In some possible embodiments, a design matrix corresponding to the terminal to be located is obtained according to the positions of all positioning base stations, the flight speeds of the acoustic signals of all positioning base stations, and the flight time of all target acoustic signals corresponding to the positioning base stations to reach the terminal to be located, including:

根据待定位终端接收到每个定位基站的初始声信号的先后顺序对每个定位基站进行排序，并确定出参考定位基站；Sort each positioning base station according to the order in which the terminal to be positioned receives the initial acoustic signal of each positioning base station, and determine a reference positioning base station;

在一些可能的实施例中，在根据所有定位基站的位置、所有定位基站的声信号飞行速度以及所有时间差值，得到与待定位终端对应的设计矩阵之后，基于与待定位终端对应的设计矩阵计算出待定位终端的坐标之前，还包括：In some possible embodiments, after obtaining a design matrix corresponding to the terminal to be located according to the positions of all positioning base stations, the flight speeds of the acoustic signals of all positioning base stations, and all time differences, and before calculating the coordinates of the terminal to be located based on the design matrix corresponding to the terminal to be located, the method further includes:

在一些可能的实施例中，基于与待定位终端对应的设计矩阵以及与待定位终端对应的观测向量，计算出待定位终端的坐标，包括：In some possible embodiments, calculating the coordinates of the terminal to be located based on a design matrix corresponding to the terminal to be located and an observation vector corresponding to the terminal to be located includes:

在一些可能的实施例中，计算出待定位终端的坐标之后，方法还包括：In some possible embodiments, after calculating the coordinates of the terminal to be located, the method further includes:

本申请还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被处理器执行时实现上述方法的步骤。其中，计算机可读存储介质可以包括但不限于任何类型的盘，包括软盘、光盘、DVD、CD-ROM、微型驱动器以及磁光盘、ROM、RAM、EPROM、EEPROM、DRAM、VRAM、闪速存储器设备、磁卡或光卡、纳米***(包括分子存储器IC)，或适合于存储指令和/或数据的任何类型的媒介或设备。The present application also provides a computer-readable storage medium having a computer program stored thereon, which implements the steps of the above method when executed by a processor. The computer-readable storage medium may include, but is not limited to, any type of disk, including a floppy disk, an optical disk, a DVD, a CD-ROM, a micro drive, and a magneto-optical disk, a ROM, a RAM, an EPROM, an EEPROM, a DRAM, a VRAM, a flash memory device, a magnetic card or an optical card, a nanosystem (including a molecular memory IC), or any type of medium or device suitable for storing instructions and/or data.

需要说明的是，对于前述的各方法实施例，为了简单描述，故将其都表述为一系列的动作组合，但是本领域技术人员应该知悉，本申请并不受所描述的动作顺序的限制，因为依据本申请，某些步骤可以采用其他顺序或者同时进行。其次，本领域技术人员也应该知悉，说明书中所描述的实施例均属于优选实施例，所涉及的动作和模块并不一定是本申请所必须的。It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

在上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

在本申请所提供的几个实施例中，应该理解到，所揭露的装置，可通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些服务接口，装置或单元的间接耦合或通信连接，可以是电性或其它的形式。In the several embodiments provided in the present application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some service interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储器中。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储器中，包括若干指令用以使得一台计算机设备(可为个人计算机、服务器或者网络设备等)执行本申请各个实施例方法的全部或部分步骤。而前述的存储器包括：U盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、移动硬盘、磁碟或者光盘等各种可以存储程序代码的介质。If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including several instructions for a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM), random access memory (RAM), mobile hard disk, disk or optical disk and other media that can store program codes.

本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通进程序来指令相关的硬件来完成，该程序可以存储于一计算机可读存储器中，存储器可以包括：闪存盘、只读存储器(Read-Only Memory，ROM)、随机存取器(Random Access Memory，RAM)、磁盘或光盘等。A person of ordinary skill in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by entering a program to instruct related hardware. The program may be stored in a computer-readable memory. The memory may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

以上者，仅为本公开的示例性实施例，不能以此限定本公开的范围。即但凡依本公开教导所作的等效变化与修饰，皆仍属本公开涵盖的范围内。本领域技术人员在考虑说明书及实践这里的公开后，将容易想到本公开的其实施方案。本申请旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未记载的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的范围和精神由权利要求限定。The above are only exemplary embodiments of the present disclosure and cannot be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made according to the teachings of the present disclosure are still within the scope of the present disclosure. After considering the specification and practicing the disclosure here, those skilled in the art will easily think of the implementation scheme of the present disclosure. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the technical field that are not recorded in the present disclosure. The description and examples are only regarded as exemplary, and the scope and spirit of the present disclosure are defined by the claims.

Claims

一种基于多模态声信号修正的应急定位方法，其特征在于，所述方法应用于待定位终端，所述方法包括：An emergency positioning method based on multimodal acoustic signal correction, characterized in that the method is applied to a terminal to be positioned, and the method comprises:

确定至少两个定位基站的传感器参数，并根据每个所述定位基站的传感器参数计算出每个所述定位基站的声信号飞行速度；Determine sensor parameters of at least two positioning base stations, and calculate the acoustic signal flight speed of each positioning base station according to the sensor parameters of each positioning base station;

基于每个所述定位基站的声信号飞行速度确定每个所述定位基站发送的初始声信号，并根据每个所述定位基站的初始声信号以及预设信号估计模型计算出与每个所述定位基站对应的目标声信号；Determine the initial acoustic signal sent by each positioning base station based on the flight speed of the acoustic signal of each positioning base station, and calculate the target acoustic signal corresponding to each positioning base station according to the initial acoustic signal of each positioning base station and a preset signal estimation model;

基于每个所述定位基站的初始声信号以及与每个所述定位基站对应的目标声信号，得到与每个所述定位基站对应的目标声信号到达所述待定位终端的飞行时间；Based on the initial acoustic signal of each positioning base station and the target acoustic signal corresponding to each positioning base station, obtaining the flight time of the target acoustic signal corresponding to each positioning base station to reach the terminal to be positioned;

确定每个所述定位基站的位置，并根据所有所述定位基站的位置、所有所述定位基站的声信号飞行速度以及所有所述与定位基站对应的目标声信号到达所述待定位终端的飞行时间，得到与所述待定位终端对应的设计矩阵；Determine the position of each positioning base station, and obtain a design matrix corresponding to the terminal to be located according to the positions of all the positioning base stations, the flight speeds of the acoustic signals of all the positioning base stations, and the flight time of all the target acoustic signals corresponding to the positioning base stations to reach the terminal to be located;

基于与所述待定位终端对应的设计矩阵计算出所述待定位终端的坐标。The coordinates of the terminal to be located are calculated based on a design matrix corresponding to the terminal to be located.
根据权利要求1所述的方法，其特征在于，所述基于每个所述定位基站的声信号飞行速度确定每个所述定位基站发送的初始声信号，包括：The method according to claim 1, characterized in that the determining the initial acoustic signal sent by each positioning base station based on the acoustic signal flight speed of each positioning base station comprises:

获取每个所述定位基站的声信号初始参数，并根据每个所述定位基站的声信号初始参数以及每个所述定位基站的声信号飞行速度计算出每个所述定位基站的声信号声压级；Acquire the initial parameters of the acoustic signal of each positioning base station, and calculate the sound pressure level of the acoustic signal of each positioning base station according to the initial parameters of the acoustic signal of each positioning base station and the flight speed of the acoustic signal of each positioning base station;

基于每个所述定位基站的声信号声压级在预设列表中确定出每个所述定位基站的时频域表达式；Determine the time-frequency domain expression of each positioning base station in a preset list based on the sound pressure level of the acoustic signal of each positioning base station;

根据每个所述定位基站的时频域表达式以及每个所述定位基站的声信号初始参数，计算出每个所述定位基站的初始声信号。The initial acoustic signal of each positioning base station is calculated according to the time-frequency domain expression of each positioning base station and the initial acoustic signal parameter of each positioning base station.
根据权利要求1所述的方法，其特征在于，所述根据每个所述定位基站的初始声信号以及预设信号估计模型计算出与每个所述定位基站对应的目标声信号，包括：The method according to claim 1 is characterized in that the step of calculating the target acoustic signal corresponding to each positioning base station according to the initial acoustic signal of each positioning base station and a preset signal estimation model comprises:

将每个所述定位基站的初始声信号输入至预设信号估计模型中，得到与每个所述定位基站的初始声信号对应的周期、频段宽度以及噪声信号；Inputting the initial acoustic signal of each positioning base station into a preset signal estimation model to obtain a period, a frequency band width and a noise signal corresponding to the initial acoustic signal of each positioning base station;

根据每个所述定位基站的初始声信号、与每个所述定位基站的初始声信号对应的周期、频段宽度以及噪声信号，计算出与每个所述定位基站对应的目标声信号。According to the initial acoustic signal of each positioning base station, the period, frequency band width and noise signal corresponding to the initial acoustic signal of each positioning base station, the target acoustic signal corresponding to each positioning base station is calculated.
根据权利要求1所述的方法，其特征在于，所述根据所有所述定位基站的位置、所有所述定位基站的声信号飞行速度以及所有所述与定位基站对应的目标声信号到达所述待定位终端的飞行时间，得到与所述待定位终端对应的设计矩阵，包括：The method according to claim 1 is characterized in that the step of obtaining a design matrix corresponding to the terminal to be located according to the positions of all the positioning base stations, the flight speeds of the acoustic signals of all the positioning base stations, and the flight times of all the target acoustic signals corresponding to the positioning base stations reaching the terminal to be located comprises:

根据所述待定位终端接收到每个所述定位基站的初始声信号的先后顺序对每个所述定位基站进行排序，并确定出参考定位基站；Sorting each of the positioning base stations according to the order in which the terminal to be positioned receives the initial acoustic signal of each of the positioning base stations, and determining a reference positioning base station;

依次计算与参考定位基站对应的目标声信号到达所述待定位终端的飞行时间，以及与排序后的每个所述定位基站对应的目标声信号到达所述待定位终端的飞行时间之间的时间差值；Calculate the flight time of the target acoustic signal corresponding to the reference positioning base station to reach the terminal to be positioned, and the time difference between the flight time of the target acoustic signal corresponding to each of the sorted positioning base stations to reach the terminal to be positioned;

根据任意相邻的两个所述定位基站的位置、所有所述定位基站的声信号飞行速度以及所有所述时间差值，得到与所述待定位终端对应的设计矩阵。According to the positions of any two adjacent positioning base stations, the flight speeds of the acoustic signals of all the positioning base stations and all the time differences, a design matrix corresponding to the terminal to be positioned is obtained.
根据权利要求4所述的方法，其特征在于，在所述根据所有所述定位基站的位置、所有所述定位基站的声信号飞行速度以及所有所述时间差值，得到与所述待定位终端对应的设计矩阵之后，所述基于与所述待定位终端对应的设计矩阵计算出所述待定位终端的坐标之前，还包括：The method according to claim 4 is characterized in that after obtaining the design matrix corresponding to the terminal to be located according to the positions of all the positioning base stations, the flight speeds of the acoustic signals of all the positioning base stations, and all the time differences, and before calculating the coordinates of the terminal to be located based on the design matrix corresponding to the terminal to be located, it also includes:

根据所述参考定位基站与任意一个所述定位基站的位置、所有所述定位基站的声信号飞行速度以及所有所述与定位基站对应的目标声信号到达所述待定位终端的飞行时间，得到与所述待定位终端对应的观测向量；Obtaining an observation vector corresponding to the terminal to be located according to the positions of the reference positioning base station and any one of the positioning base stations, the flight speeds of the acoustic signals of all the positioning base stations, and the flight time of all the target acoustic signals corresponding to the positioning base stations reaching the terminal to be located;

所述基于与所述待定位终端对应的设计矩阵计算出所述待定位终端的坐标，包括：The calculating the coordinates of the terminal to be located based on the design matrix corresponding to the terminal to be located includes:

基于与所述待定位终端对应的设计矩阵以及与所述待定位终端对应的观测向量，计算出所述待定位终端的坐标。The coordinates of the terminal to be located are calculated based on a design matrix corresponding to the terminal to be located and an observation vector corresponding to the terminal to be located.
根据权利要求5所述的方法，其特征在于，所述基于与所述待定位终端对应的设计矩阵以及与所述待定位终端对应的观测向量，计算出所述待定位终端的坐标，包括：The method according to claim 5, characterized in that the calculating the coordinates of the terminal to be located based on the design matrix corresponding to the terminal to be located and the observation vector corresponding to the terminal to be located comprises:

根据与所述待定位终端对应的设计矩阵以及预设条件数，确定与所述待定位终端对应的多元回归系数矩阵；Determining a multivariate regression coefficient matrix corresponding to the terminal to be located according to a design matrix corresponding to the terminal to be located and a preset condition number;

对与所述待定位终端对应的多元回归系数矩阵进行最小二乘计算，并根据计算后的所述与所述待定位终端对应的多元回归系数矩阵、与所述待定位终端对应的设计矩阵以及与所述待定位终端对应的观测向量，计算出所述待定位终端的坐标。A least squares calculation is performed on the multivariate regression coefficient matrix corresponding to the terminal to be located, and the coordinates of the terminal to be located are calculated based on the calculated multivariate regression coefficient matrix corresponding to the terminal to be located, the design matrix corresponding to the terminal to be located, and the observation vector corresponding to the terminal to be located.
根据权利要求4-6任一项所述的方法，其特征在于，所述计算出所述待定位终端的坐标之后，所述方法还包括：The method according to any one of claims 4 to 6, characterized in that after calculating the coordinates of the terminal to be located, the method further comprises:

基于所述待定位终端的坐标以及所述参考定位基站的位置，确定所述待定位终端到所述参考定位基站的距离；Determine the distance from the terminal to be located to the reference positioning base station based on the coordinates of the terminal to be located and the position of the reference positioning base station;

当检测到所述待定位终端到所述参考定位基站的距离超过预设距离时，发送与所述待定位终端对应的预警信息。When it is detected that the distance between the terminal to be positioned and the reference positioning base station exceeds a preset distance, warning information corresponding to the terminal to be positioned is sent.
一种基于多模态声信号修正的应急定位***，其特征在于，所述***应用于待定位终端，所述***包括：An emergency positioning system based on multimodal acoustic signal correction, characterized in that the system is applied to a terminal to be positioned, and the system comprises:

信号飞行速度确定模块，用于确定至少两个定位基站的传感器参数，并根据每个所述定位基站的传感器参数计算出每个所述定位基站的声信号飞行速度；A signal flight speed determination module, used to determine sensor parameters of at least two positioning base stations, and calculate the acoustic signal flight speed of each positioning base station according to the sensor parameters of each positioning base station;

声信号处理模块，用于基于每个所述定位基站的声信号飞行速度确定每个所述定位基站发送的初始声信号，并根据每个所述定位基站的初始声信号以及预设信号估计模型计算出与每个所述定位基站对应的目标声信号；An acoustic signal processing module, used to determine the initial acoustic signal sent by each positioning base station based on the acoustic signal flight speed of each positioning base station, and calculate the target acoustic signal corresponding to each positioning base station according to the initial acoustic signal of each positioning base station and a preset signal estimation model;

信号飞行时间估计模块，用于基于每个所述定位基站的初始声信号以及与每个所述定位基站对应的目标声信号，得到与每个所述定位基站对应的目标声信号到达所述待定位终端的飞行时间；A signal flight time estimation module, used to obtain the flight time of the target acoustic signal corresponding to each positioning base station to reach the terminal to be positioned based on the initial acoustic signal of each positioning base station and the target acoustic signal corresponding to each positioning base station;

矩阵处理模块，用于确定每个所述定位基站的位置，并根据所有所述定位基站的位置、所有所述定位基站的声信号飞行速度以及所有所述与定位基站对应的目标声信号到达所述待定位终端的飞行时间，得到与所述待定位终端对应的设计矩阵；A matrix processing module, used to determine the position of each positioning base station, and obtain a design matrix corresponding to the terminal to be located according to the positions of all the positioning base stations, the flight speeds of the acoustic signals of all the positioning base stations, and the flight time of all the target acoustic signals corresponding to the positioning base stations to reach the terminal to be located;

位置估计模块，用于基于与所述待定位终端对应的设计矩阵计算出所述待定位终端的坐标。The position estimation module is used to calculate the coordinates of the terminal to be located based on the design matrix corresponding to the terminal to be located.
一种基于多模态声信号修正的应急定位***，其特征在于，所述云平台与至少两个物联网设备建立通信，每个所述物联网设备设置有磁通门电流传感器，所述云平台包括处理器以及存储器；An emergency positioning system based on multimodal acoustic signal correction, characterized in that the cloud platform establishes communication with at least two Internet of Things devices, each of the Internet of Things devices is provided with a fluxgate current sensor, and the cloud platform includes a processor and a memory;

所述处理器与所述存储器连接；The processor is connected to the memory;

所述存储器，用于存储可执行程序代码；The memory is used to store executable program code;

所述处理器通过读取所述存储器中存储的可执行程序代码来运行与所述可执行程序代码对应的程序，以用于执行如权利要求1-7任一项所述方法的步骤。The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to execute the steps of the method according to any one of claims 1 to 7.
一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机可读存储介质中存储有指令，当所述指令在计算机或处理器上运行时，使得所述计算机或处理器执行如权利要求1-7任一项所述方法的步骤。A computer-readable storage medium having a computer program stored thereon, characterized in that the computer-readable storage medium stores instructions, and when the instructions are executed on a computer or a processor, the computer or the processor executes the steps of the method as claimed in any one of claims 1 to 7.