CN112991681A - Fall detection method and system - Google Patents
Fall detection method and system Download PDFInfo
- Publication number
- CN112991681A CN112991681A CN202110134750.8A CN202110134750A CN112991681A CN 112991681 A CN112991681 A CN 112991681A CN 202110134750 A CN202110134750 A CN 202110134750A CN 112991681 A CN112991681 A CN 112991681A
- Authority
- CN
- China
- Prior art keywords
- target
- fall detection
- positioning system
- uwb positioning
- anchor points
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 60
- 230000001960 triggered effect Effects 0.000 claims abstract description 6
- 238000004891 communication Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 4
- 230000004807 localization Effects 0.000 claims 2
- 230000003068 static effect Effects 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 238000001228 spectrum Methods 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/02—Alarms for ensuring the safety of persons
- G08B21/04—Alarms for ensuring the safety of persons responsive to non-activity, e.g. of elderly persons
- G08B21/0438—Sensor means for detecting
- G08B21/0446—Sensor means for detecting worn on the body to detect changes of posture, e.g. a fall, inclination, acceleration, gait
Landscapes
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Gerontology & Geriatric Medicine (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Alarm Systems (AREA)
- Emergency Alarm Devices (AREA)
Abstract
The application discloses a fall detection method and system, which are used for obtaining position information of a target according to a UWB positioning system, wherein the UWB positioning system comprises two anchor points on the same plumb line, and the position information comprises height information between the target and the ground; judging whether the target falls down or not according to the height information of the target within a preset time interval; if yes, an alarm is triggered. Through the design scheme, the UWB positioning system based on the double anchor points can realize the tumble detection of the target and trigger the alarm, and meanwhile realize the dynamic instantaneous detection and the static continuous detection of the tumble state, so that the safety of the target is effectively guaranteed, the medical staff can conveniently take rescue measures.
Description
Technical Field
The present application relates to the field of fall detection technologies, and in particular, to a fall detection method and system.
Background
In recent years, with the increase of the average life of the population and the reduction of the proportion of the population of the aged-eligible people in society and the shortage of a large number of medical care personnel, the nursing cost of the old, weak, sick and disabled people is continuously increased, and in addition, the falling down to cause diseases and disabilities is an important reason for directly or indirectly causing the casualties of the old, weak, sick and disabled people. Therefore, it is becoming more and more important to research a fall detection system with high precision, good stability and strong real-time performance.
The existing fall detection methods mainly have two types: one is a fall identification technique based on video images; the other is fall identification technology based on wearable intelligent equipment. The falling identification technology based on the video image needs to install video equipment at a fixed position, and has higher cost; the existing fall detection technology based on wearable intelligent equipment generally applies an acceleration sensor to carry out fall detection, and applies UWB (Ultra Wide Band) positioning and other modes to carry out positioning. However, a single acceleration sensor cannot guarantee the accuracy of fall detection; UWB positioning used in cooperation with an acceleration sensor is a novel wireless communication technology, wireless transmission is achieved by using extremely narrow pulses below nanosecond or microsecond level, positioning accuracy is high and can reach centimeter level, but when positioning is conducted in a 3D space, at least 4 anchor points which are not on the same plane are needed to achieve positioning of a label, and hardware cost is high; other devices in the wearable intelligent equipment are easily interfered by other signals, the positioning precision is low, and the power consumption is high.
Disclosure of Invention
The technical problem mainly solved by the application is to provide a fall detection method and system, fall detection and position tracking of a target can be achieved by using a UWB positioning system based on two anchor points, safety of the target is guaranteed, hardware cost and algorithm difficulty are effectively reduced, positioning accuracy is improved, and false reporting and missing reporting are reduced.
In order to solve the technical problem, the application adopts a technical scheme that: there is provided a fall detection method comprising: acquiring position information of a target according to a UWB positioning system, wherein the UWB positioning system comprises two anchor points on the same plumb line, and the position information comprises height information between the target and the ground; judging whether the target falls down or not according to the height information of the target within a preset time interval; if yes, an alarm is triggered.
Wherein the step of determining whether the target falls or not according to the height information of the target within a preset time interval comprises: obtaining a variation value of the height information of the target within a first preset time interval; and judging whether the change value is larger than a first threshold value.
Wherein the step of determining whether the target falls or not according to the height information of the target within a preset time interval comprises: and judging whether the height information of the target is always smaller than a second threshold value within a second preset time interval.
Wherein the UWB positioning system further comprises a tag fixedly arranged on the object.
Wherein the step of obtaining the location information of the object according to the UWB positioning system comprises: obtaining coordinate information of the two anchor points in the same coordinate system and a distance between the label and each anchor point; and calculating to obtain the coordinate information of the label in the coordinate system by utilizing the coordinate information of the two anchor points, the distance and a positioning algorithm.
Wherein the positioning algorithm comprises a ToF positioning algorithm.
In order to solve the above technical problem, another technical solution adopted by the present application is: there is provided a fall detection system comprising: the UWB positioning system comprises two anchor points, and the two anchor points are positioned on the same plumb line; the processor and the UWB positioning system cooperate to implement the fall detection method as mentioned in any of the above embodiments.
Wherein the UWB positioning system comprises a tag; wherein the tag is used for fixing with a target, and the tag can send a signal to the anchor point in a pulse form.
The fall detection system further comprises a power management module for detecting power consumption of different modules in the system and distributing corresponding power according to the detected power consumption.
Wherein the fall detection system further comprises: and the wireless communication module is coupled with the processor and used for reporting the position information of the target after the processor triggers an alarm.
Different from the prior art, the beneficial effects of the application are that: the application provides a fall detection system and a fall detection method, which are used for acquiring position information of a target according to a UWB positioning system, wherein the UWB positioning system comprises two anchor points on the same plumb line, and the position information comprises height information between the target and the ground; judging whether the target falls down or not according to the height information of the target within a preset time interval; if yes, an alarm is triggered. Through the embodiment, the UWB positioning system based on the double anchor points can track the position area of the target, and is convenient for medical personnel to find the target according to the provided position area, so that rescue work can be carried out in time, and the safety of the target is guaranteed; the falling detection of the target is realized by using the height information of a single UWB positioning system, so that the algorithm difficulty is effectively reduced; in the positioning system, the falling detection is completed only by using two anchor points on the same plumb line, so that the cost of hardware facilities is effectively reduced; the detection method can detect the dynamic instantaneous state of falling and the static continuous state after falling, and reduces the situations of false alarm and missed alarm.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts. Wherein:
fig. 1 is a schematic structural diagram of an embodiment of the fall detection system of the present application;
FIG. 2 is a schematic diagram of the deployment architecture of the UWB positioning system 10 of FIG. 1;
fig. 3 is a schematic flow chart of an embodiment of the fall detection method of the present application;
FIG. 4 is a flowchart illustrating an embodiment corresponding to step S101;
fig. 5 is a schematic diagram of analyzing the spatial position according to an embodiment corresponding to step S202.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a schematic structural diagram of an embodiment of a fall detection system according to the present application. The fall detection system 100 includes: an UWB positioning system 10 and a processor 12 coupled to each other, the processor 12 interacting with the UWB positioning system 10 during fall detection. Referring to fig. 2, fig. 2 is a schematic diagram illustrating a deployment structure of the UWB positioning system 10 in fig. 1. Therein, the UWB positioning system 100 comprises two anchor points 102 and 104, the two anchor points 102 and 104 being located on the same plumb line 101. Through the embodiment, the falling detection of the target can be realized based on the UWB positioning system with the double anchor points, only two anchor points are used in the UWB positioning system, and the hardware facility cost and the later maintenance cost are effectively reduced.
Specifically, the processor 12 may also be referred to as a CPU (Central Processing Unit). The processor 12 may be an integrated circuit chip having signal processing capabilities. The Processor 12 may also be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. In addition, processor 12 may be commonly implemented by a plurality of integrated circuit chips.
Specifically, UWB (Ultra Wide Band) is a wireless carrier communication technology that uses a non-sinusoidal narrow pulse of a nanometer level instead of a sinusoidal carrier to transmit data, and thus occupies a Wide frequency spectrum. The UWB technology has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to signal fading, low interception capability, high positioning accuracy which can reach centimeter level and the like, and is particularly suitable for high-speed wireless access in dense places such as indoor places. When the UWB positioning system 10 is used in an indoor space, an indoor absolute coordinate system needs to be determined, and generally, the length direction of an indoor ground is taken as an x-axis, the width direction of the ground is taken as a y-axis, and the height direction of the indoor space is taken as a z-axis. The UWB positioning system 10 described above only needs two anchor points 102 and 104 on the same plumb line 101 to achieve fall detection, and the specific implementation process will be described in detail later.
In this embodiment, referring to fig. 2, the UWB positioning system 10 further includes a tag 105, wherein the tag 105 is fixed to the target 103, and the tag 105 can send signals to the two anchor points 102 and 104 in a pulse form. In which the UWB positioning system 10 uses anchor points 102 and 104 to interact with the tag 105 to achieve accurate positioning. The tag 105 fixedly disposed on the target 103 may be in the form of a bracelet or a chest plate, but in other embodiments, the tag 105 may also be in other forms as long as it can transmit UWB pulse signals to the anchor points 102 and 104. With the above-described embodiment, it is possible to acquire height information of the target 103 while also providing height information for fall detection later.
In this embodiment, referring to fig. 1, the fall detection system 100 further includes a power management module 14, configured to detect power consumption of different modules in the fall detection system 100 and allocate corresponding power sources according to the detected power consumption. Through the implementation mode, the power supply in the system can be reasonably distributed, and the effective operation of the falling detection system is guaranteed.
Of course, in other embodiments, since the anchor point is a long power supply device, the fall detection system may further include other hardware devices such as an acceleration sensor and a camera, which are cooperated with the UWB positioning system, so that the fall detection system can achieve more functions, which is not limited herein.
In this embodiment, please continue to refer to fig. 1, the fall detection system 100 further includes a wireless communication module 16 coupled to the processor 12, for reporting the location information of the target 103 after the processor 12 triggers the alarm. The wireless communication module 16 and the processor 12 are integrated into a wireless MCU module 18, and the wireless MCU module 18 is configured to implement functions including calculation of a height information change value, triggering of an alarm, reporting of position information, and the like.
Referring to fig. 3, fig. 3 is a schematic flow chart of an embodiment of the fall detection method implemented by the fall detection systems in a cooperative manner, where the fall detection method includes:
s101: and acquiring the position information of the target according to a UWB positioning system, wherein the UWB positioning system comprises two anchor points positioned on the same plumb line, and the position information comprises height information between the target and the ground.
Specifically, the two anchor points are located on the same vertical line to indicate that the connecting line of the two anchor points is always parallel to the z-axis, in other words, the coordinate values of the x-axis and the y-axis in the absolute coordinate system established by the two anchor points in the space are equal; the height information between the target and the ground represents the coordinate values in the z-axis direction of the absolute coordinate system.
S102: and judging whether the target falls down according to the height information of the target in the preset time interval.
In the present embodiment, step S102 includes: obtaining a change value of height information of a target in a first preset time interval; and judging whether the variation value is larger than a first threshold value. When the first time interval t1The absolute value of the coordinate variation value delta z in the inner z-axis direction is larger than a first threshold value h1If the target is determined to be in the falling moment, the process proceeds to the next step S103. The implementation method can effectively judge the falling transient state, timely sends alarm information and guarantees the safety of the target.
In another embodiment, step S102 includes: and judging whether the height information of the target is always smaller than a second threshold value in a second preset time interval. When the second predetermined time interval t is set2The coordinate value of the inner z-axis direction is always smaller than a second threshold value h2If the target is determined to be in the state after falling, the process proceeds to the next step S103. The implementation method can accurately judge the static continuous state after falling down, reduce the condition of missed judgment caused by instantaneous too fast falling down, and simultaneouslyThe misjudgment caused by the conditions of squatting and the like is reduced, and the accuracy of falling detection is improved.
S103: if yes, an alarm is triggered.
Through the embodiment, the UWB positioning system based on the double anchor points can track the position area of the target, and is convenient for medical personnel to find the target according to the provided position area, so that rescue work can be carried out in time, and the safety of the target is guaranteed; the falling detection of the target is realized by using the height information of a single UWB positioning system, so that the algorithm difficulty is effectively reduced; in the positioning system, positioning is finished by only using two anchor points fixed on the same plumb line, so that the cost of hardware facilities is effectively reduced; the detection method can detect the dynamic instantaneous state of falling and the static continuous state after falling, effectively improves the positioning precision and reduces the situations of false alarm and missed alarm.
In this embodiment, please refer to fig. 4, wherein fig. 4 is a flowchart illustrating an embodiment corresponding to step S101. The step S101 includes:
s201: and obtaining the coordinate information of the two anchor points in the same coordinate system and the distance between the label and the two anchor points.
S202: and calculating to obtain the coordinate information of the label in the coordinate system by utilizing the coordinate information, the distance and the positioning algorithm of the two anchor points.
Through the embodiment, the position of the target can be captured and tracked by utilizing the UWB positioning principle, the position information of the target is obtained, and technical support is provided for the subsequent falling judgment according to the position information in the height direction.
In the present embodiment, the positioning algorithm mentioned in step S202 includes a ToF (Time of Flight) positioning algorithm, but in other embodiments, other positioning algorithms may be used as long as coordinate information corresponding to the tag can be obtained, and the positioning algorithm is not limited herein. Through the mode, the position tracking function of the UWB positioning system can be realized, and the position information is provided for the subsequent falling judgment.
For the sake of understanding, the ToF positioning algorithm is taken as an example to obtain the coordinate information of the tag in the coordinate systemDetailed explanation of the process. Referring to FIG. 2, in the absolute coordinate system, the coordinate of the anchor point 102 is (x)1，y1，z1) The anchor point 104 has coordinates of (x)2，y2，z2) Since anchor point 102 is on the same plumb line 101 as anchor point 104, i.e. x1＝x2，y1＝y2The two anchor points 102 and 104 are different only in the coordinate value of the z-axis direction, and the distances between the tag 105 to be tested and the two anchor points are r1And r2The spatial position is calculated as follows:
(x-x1)2+(y-y1)2+(z-z1)2＝r1 2 (1)
(x-x2)2+(y-y2)2+(z-z2)2＝r2 2 (2)
due to x1＝x2，y1＝y2Subtracting the formula (1) by using the formula (2) to obtain:
referring to fig. 5, fig. 5 is a schematic diagram of analyzing the spatial position according to an embodiment corresponding to the step S202. The anchor points 102 and 104 are respectively taken as the sphere centers, and r is taken as1And r2Two spheres (not shown) are drawn in space for the sphere radius. Two intersecting spheres are projected into the XOZ coordinate system, since the two anchor points 102 and 104 are on the same plumb line, i.e. the condition x is defined1＝x2And y is1＝y2The solving of the positioning algorithm is essentially to solve the z-axis coordinate value of the intersection point 20 and 30 of the two spheres, the plane of the intersection point 20 and 30 of the spheres is a circle (not shown) in the two-dimensional plane, and the circle is parallel to the groundAnd the coordinate values of each intersection point in the z-axis direction are the same, so that the height information can be finally analyzed.
In this embodiment, after the step of triggering the alarm, reporting the approximate location area of the target to the platform is further included. Through the implementation mode, the position area of the target can be fed back in time after the patient falls down, the searching range is reduced, medical workers can find the target wounded person in time and perform rescue work conveniently, and the safety of the target is further guaranteed.
In summary, in distinction from the state of the art, the present application provides a fall detection system and method for obtaining position information of an object according to a UWB positioning system, wherein the UWB positioning system comprises two anchor points on the same plumb line, and the position information comprises height information between the object and the ground; judging whether the target falls down or not according to the height information of the target within a preset time interval; if yes, an alarm is triggered. Through the embodiment, the UWB positioning system based on the double anchor points can track the position of the target, and medical personnel can conveniently find the target according to the provided position information, so that rescue work can be carried out in time, and the safety of the target is guaranteed; the falling detection of the target is realized by using the height information of a single UWB positioning system, so that the algorithm difficulty is effectively reduced; in the positioning system, only two anchor points fixed on the same plumb line are used for completing falling detection, so that the cost of hardware facilities is effectively reduced; the detection method can detect the dynamic instantaneous state of falling and the static continuous state after falling, effectively improves the positioning precision and reduces the situations of false alarm and missed alarm.
The above description is only for the purpose of illustrating embodiments of the present application and is not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application or are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.
Claims (10)
1. A fall detection method, comprising:
acquiring position information of a target according to a UWB positioning system, wherein the UWB positioning system comprises two anchor points on the same plumb line, and the position information comprises height information between the target and the ground;
judging whether the target falls down or not according to the height information of the target within a preset time interval;
if yes, an alarm is triggered.
2. The fall detection method according to claim 1, wherein the step of determining whether the target falls or not according to the height information of the target within a preset time interval comprises:
obtaining a variation value of the height information of the target within a first preset time interval;
and judging whether the change value is larger than a first threshold value.
3. The fall detection method according to claim 1, wherein the step of determining whether the target falls or not according to the height information of the target within a preset time interval comprises:
and judging whether the height information of the target is always smaller than a second threshold value within a second preset time interval.
4. A fall detection method as claimed in claim 1, wherein the UWB location system further comprises a tag fixedly disposed on the object.
5. The fall detection method according to claim 4, wherein the step of obtaining location information of the object from the UWB positioning system comprises:
obtaining coordinate information of the two anchor points in the same coordinate system and a distance between the label and each anchor point;
and calculating to obtain the coordinate information of the label in the coordinate system by utilizing the coordinate information of the two anchor points, the distance and a positioning algorithm.
6. Fall detection method according to claim 5, wherein the localization algorithm comprises a ToF localization algorithm.
7. A fall detection system, comprising:
the UWB positioning system comprises two anchor points, and the two anchor points are positioned on the same plumb line; the processor interacts with the UWB positioning system to implement a fall detection method as claimed in any of claims 1 to 6.
8. Fall detection system according to claim 7,
the UWB positioning system comprises a tag; wherein the tag is used for fixing with a target, and the tag can send a signal to the anchor point in a pulse form.
9. A fall detection system as claimed in claim 7, further comprising a power management module for detecting power usage by different modules in the system and allocating respective power sources in dependence on the detected power usage.
10. A fall detection system as claimed in claim 9, further comprising:
and the wireless communication module is coupled with the processor and used for reporting the position information of the target after the processor triggers an alarm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110134750.8A CN112991681A (en) | 2021-01-29 | 2021-01-29 | Fall detection method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110134750.8A CN112991681A (en) | 2021-01-29 | 2021-01-29 | Fall detection method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112991681A true CN112991681A (en) | 2021-06-18 |
Family
ID=76345904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110134750.8A Pending CN112991681A (en) | 2021-01-29 | 2021-01-29 | Fall detection method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112991681A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2892216A1 (en) * | 2005-10-17 | 2007-04-20 | Thierry Herve | DEVICE AND METHOD FOR MONITORING A PERSON OR OBJECT |
| US20140375461A1 (en) * | 2008-06-27 | 2014-12-25 | Neal T. RICHARDSON | Autonomous Fall Monitor |
| US20170109990A1 (en) * | 2015-10-20 | 2017-04-20 | Micron Electronics LLC | Method and system for fall detection |
| JP2020194537A (en) * | 2019-05-28 | 2020-12-03 | ザンダー カーディアン インコーポレイテッド | Apparatus for detecting fall and rise |
-
2021
- 2021-01-29 CN CN202110134750.8A patent/CN112991681A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2892216A1 (en) * | 2005-10-17 | 2007-04-20 | Thierry Herve | DEVICE AND METHOD FOR MONITORING A PERSON OR OBJECT |
| US20140375461A1 (en) * | 2008-06-27 | 2014-12-25 | Neal T. RICHARDSON | Autonomous Fall Monitor |
| US20170109990A1 (en) * | 2015-10-20 | 2017-04-20 | Micron Electronics LLC | Method and system for fall detection |
| JP2020194537A (en) * | 2019-05-28 | 2020-12-03 | ザンダー カーディアン インコーポレイテッド | Apparatus for detecting fall and rise |
| US20200378758A1 (en) * | 2019-05-28 | 2020-12-03 | Xandar Kardian | Apparatus for detecting fall and rise |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104714209B (en) | Dynamic positioning method and device based on UWB and laser ranging combination | |
| US9557413B2 (en) | Surveillance and tracking system and method | |
| CN109669177B (en) | UWB ranging method and system | |
| US11152111B2 (en) | Historical identification and accuracy compensation for problem areas in a locating system | |
| CN105472566A (en) | Indoor positioning system and method | |
| CN108852311A (en) | A kind of old man's physiological data collection system based on bluetooth indoor positioning | |
| CN105072381A (en) | Personnel identification method and system combining video identification and UWB positioning technologies | |
| KR101242482B1 (en) | Short range position tracking system and method using wireless network | |
| CN110456305A (en) | A kind of ultra wide band location method | |
| CN109085789A (en) | The intelligent management system positioned based on ultra wide band and iBeacon high-precision three-dimensional | |
| CN114924225A (en) | High-precision indoor positioning method, device, equipment and medium | |
| CN104020464B (en) | Based on acceleration transducer and the hybrid location system of wireless distance finding technology and localization method thereof | |
| Grassi et al. | An integrated system for people fall-detection with data fusion capabilities based on 3D ToF camera and wireless accelerometer | |
| CN112991681A (en) | Fall detection method and system | |
| Cheng et al. | An improved localization algorithm with wireless heartbeat monitoring system for patient safety in psychiatric wards | |
| CN110602646A (en) | Community personnel activity path tracking method, system, equipment and storage medium | |
| CN113490272A (en) | UWB positioning-based safe hoisting early warning method, system and medium | |
| CN104346606B (en) | abnormal gait analysis method and system | |
| CN112991682A (en) | Fall detection method and system | |
| CN105448039A (en) | Tumble-detecting method decreasing false alarm rate | |
| Cao et al. | Improving the tracking accuracy of TDMA-based acoustic indoor positioning systems using a novel error correction method | |
| Chu et al. | Spatio-Temporal Constrained Trajectory Tracking for Emergency Care | |
| CN111968318A (en) | Mobile nursing system and method | |
| Zeng et al. | Eliminating UWB Self Positioning Error Based on Kalman Filter Algorithm | |
| CN220357249U (en) | Walking distance measuring system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210618 |