CN106937377A

CN106937377A - A kind of method, device and equipment that classification positioning is realized for monitoring objective

Info

Publication number: CN106937377A
Application number: CN201511010084.8A
Authority: CN
Inventors: 王�义; 姚振杰; 张志鹏; 许利群
Original assignee: China Mobile Communications Group Co Ltd
Current assignee: China Mobile Communications Group Co Ltd
Priority date: 2015-12-29
Filing date: 2015-12-29
Publication date: 2017-07-07
Anticipated expiration: 2035-12-29
Also published as: CN106937377B

Abstract

The present invention provides a kind of method, device and equipment that classification positioning is realized for monitoring objective, and wherein method includes：The characteristic parameter of the kinematic parameter and monitoring objective in monitoring objective time window is obtained, the weight vectors issued according to kinematic parameter and characteristic parameter and platform judge the positional information of monitoring objective, and the positional information that will determine that out is uploaded to platform；When positional information is that monitoring objective is in indoor, satellite positioning functions are closed；When positional information is that monitoring objective is in outdoor, the different motion strength grade for monitoring objective determines that corresponding locating periodically and positioning method realize classification positioning, and uploads location data to platform after completion is positioned.The embodiment of the present invention can reduce the power consumption of location equipment, improve the Experience Degree and satisfaction of user, solving positioning method of the prior art cannot realize consecutive tracking, super low-power consumption, portable and be independently accurately positioned, the problem of influence Consumer's Experience and practicality while meeting.

Description

A kind of method, device and equipment that classification positioning is realized for monitoring objective

Technical field

The present invention relates to communication technical field, more particularly to a kind of side that classification positioning is realized for monitoring objective Method, device and equipment.

Background technology

With the rise and development of Internet of Things, integrating mobile communication module and GPS (Global Positioning System global positioning systems) the portable position monitoring device of module can automatically upload and dote on whenever and wherever possible Thing activity data, with it is easy to use, without any operation and the advantage such as data wire, not missing data, receive To the favor of user.But it is difficult to there are some in integrated GPS module in current portable activity monitoring device Need to solve：

The power consumption of GPS module is very big, the power consumption of the IT530 modules 35mW of in the market low-power consumption, for Portable wearable device only has for the lithium battery of 720mAH, at most can only continuously work 72 hours. Existing positioning dok guardian product in the market, cruising time most long is 2-3 days.

Due to signal is covered, the indoor positioning of GPS is very poor, and inquiring position will spend 1-3 every time Minute find satellite, Consumer's Experience is poor, though the A-GPS of operator's development (Assisted GPS are auxiliary Helping GPS) power consumption is also larger in the application for need consecutive tracking, for portable positioning custodial care facility very It is inapplicable.But GPS is current most accurate technical scheme in outdoor positioning, is needing accurate poll bit It is essential in the service of confidence breath.

The localization method of traditional solution low-power consumption has several ways：

By message search mode GPS Passive Positionings.Such as 360 children bodyguard's product, in order to ensure Standby time, generally closes GPS, is triggered after GSM receives short message and starts GPS location, And report position, realize the service of Query Location target location, but this mode can not realize consecutive tracking and Position early warning, for the positioning target for needing on-line monitor and does not apply to.

GPS and cellular network are combined positioning.There is low-power consumption, inquiry velocity by cellular network location Fast the characteristics of, the A-GPS positioning methods that GPS and cellular network are combined gradually are obtained in emergency relief Application.But because satellite-signal is easily blocked by various barriers, the satellite fix such as GPS/AGPS Technology is not particularly suited for indoor or built-up occasion, and current wireless indoor location technology is developed rapidly, Strong supplement as GPS.

Indoor short-distance wireless positioning.Existing indoor wireless locating system mainly uses infrared, ultrasonic wave, indigo plant (Radio Frequency Identification are penetrated for tooth low energy consumption BLE, wireless network WiFi, Zigbee, RFID Frequency recognize) etc. short distance wireless technical.Terminal device is according to the signal RSSI for receiving multiple beaconing nodes (signal intensity that Received Signal Strength Indication are received is indicated) judges location. For example apple exploitation the iBeacon technologies based on BLE, Microsoft exploitation based on WiFi positioning RADAR radar systems, the new chip (BCM4752) for indoor positioning that company of Botong develops, but Because these technologies are required for setting multiple beaconing nodes indoors, for the place that cannot much preset node Cannot be applicable.

Based on IMU:The track following of (Inertial measurement unit measuring units).One IMU The gyroscope and geomagnetic sensor of three accelerometers of single shaft, three single shafts are contained, by measuring terminals Angular speed and acceleration in three dimensions, and the attitude of terminal is calculated with this, and obtained by integration The movement locus of terminal, is adapted to be independently determined in smaller range the motion state of wearer, but due to existing Error accumulation, it is impossible to realize that exact position tracks.

To sum up, prior art is while positioning precision is ensured, it is impossible to while meet and realizing consecutive tracking, surpassing Low-power consumption, portable, location-independent these functional imperative, have a strong impact on the Consumer's Experience of positioning dok guardian product And practicality.A-GPS power consumptions in consecutive tracking are too high, and indoor positioning is difficult, short distance positioning Need beaconing nodes, it is impossible to location-independent, the track following based on IMU is due to error accumulation, it is impossible to real Existing exact position tracking.

The content of the invention

The purpose of the embodiment of the present invention is to provide a kind of method, dress that classification positioning is realized for monitoring objective Put and equipment, it is intended to which solving positioning method of the prior art cannot realize consecutive tracking, ultralow while meeting Power consumption, portable and be independently accurately positioned, the problem of influence Consumer's Experience and practicality.

The embodiment of the present invention provides a kind of method that classification positioning is realized for monitoring objective, is applied to positioning and sets Standby, methods described includes：

The characteristic parameter of the kinematic parameter and the monitoring objective in monitoring objective time window is obtained, according to described The weight vectors that kinematic parameter and characteristic parameter and platform are issued judge the positional information of the monitoring objective, And the positional information that will determine that out is uploaded to the platform；

When the positional information is that the monitoring objective is in indoor, satellite positioning functions are closed；

When the positional information is that the monitoring objective is in outdoor, for the difference fortune of the monitoring objective Fatigue resistance grade determines that corresponding locating periodically and positioning method realize classification positioning, and position complete after to The platform uploads location data.

Wherein, the kinematic parameter at least includes：The corresponding duration of exercise intensity, exercise intensity and motion The average and variance of intensity；The characteristic parameter at least includes：The classification of the monitoring objective, the monitoring The age of target and the body weight of the monitoring objective.

Wherein, the characteristic parameter of the kinematic parameter obtained in monitoring objective time window and the monitoring objective Before, methods described also includes：

The weight vectors that the platform sends are received, wherein the weight vectors are the platforms according in advance What the kinematic parameter of the monitoring objective for first storing, characteristic parameter and positional information calculation were obtained.

The motion value of the monitoring objective is processed using adaptive filter algorithm.

Wherein, the weight vectors issued according to the kinematic parameter and characteristic parameter and platform judge institute The positional information of monitoring objective is stated, including：

Each element of the kinematic parameter, each element of the characteristic parameter are entered with the weight vectors Numerical value after row product calculation is added, and obtains a decision parameter；

The decision parameter and parameter preset are compared, are obtained at the monitoring objective according to comparative result In the positional information of indoor or outdoors.

Wherein, the criterion of the exercise intensity at least includes：Motion cadence；

The different motion strength grade for the monitoring objective determines corresponding locating periodically and positioning Before mode realizes classification positioning, methods described also includes：

All exercise intensities of the monitoring objective are counted in advance, by all exercise intensities of the monitoring objective Strength grade division is carried out according to preset rules；

The motion cadence of the monitoring objective is obtained, the fortune of the monitoring objective is determined according to the motion cadence Fatigue resistance；

The strength grade of exercise intensity and division according to the monitoring objective determines the monitoring objective Strength grade belonging to exercise intensity.

Wherein, the different motion strength grade for the monitoring objective determine corresponding locating periodically and Positioning method realizes after classification positioning that methods described also includes：

Judge whether location data can be obtained according to current positioning method；

After location data is obtained according to current positioning method, location data is uploaded to the platform；

When according to current positioning method location data cannot be obtained, positioning method is changed until obtaining positioning number Changed according to or by positioning method and finished, wherein positioning method at least includes：Satellite fix, architecture, WiFi is positioned and BLE positioning.

Wherein, the different motion strength grade for the monitoring objective determine corresponding locating periodically and Positioning method realizes classification positioning, and after location data is uploaded to the platform after positioning completion, it is described Method also includes：

Stored location data as known locations data.

The embodiment of the present invention also provides a kind of method that classification positioning is realized for monitoring objective, is applied to platform, Methods described includes：

Receive location equipment send the time window according to monitoring objective in kinematic parameter and characteristic parameter with And the positional information of the monitoring objective that the weight vectors for obtaining in advance are judged, wherein the positional information In carry the kinematic parameter and characteristic parameter of the monitoring objective；

The positional information according to default location coordinate pair is calibrated；

Kinematic parameter, characteristic parameter and positional information according to the monitoring objective and the kinematic parameter for prestoring, Characteristic parameter and positional information carry out the renewal of weight vectors, and are sent result is updated to the location equipment.

Wherein, the positional information according to default location coordinate pair is calibrated, specially:

The coordinate of the positional information is compared with the default location coordinate；

When the coordinate of the positional information is identical with the default location coordinate, determine at the monitoring objective In interior, wherein the position coordinates that the default location coordinate is the monitoring objective when being in indoor.

Wherein, methods described also includes：

Receive the location data that the location equipment is uploaded after location data is obtained.

The embodiment of the present invention also provides a kind of device that classification positioning is realized for monitoring objective, is applied to positioning Equipment, described device includes：

Judge module is obtained, for obtaining the kinematic parameter in monitoring objective time window and the monitoring objective Characteristic parameter, the weight vectors issued according to the kinematic parameter and characteristic parameter and platform judge the prison The positional information of target is surveyed, and the positional information that will determine that out is uploaded to the platform；

Closedown module, for when the positional information is that the monitoring objective is in indoor, closing satellite Bit function；

Uploading module is determined, for when the positional information is that the monitoring objective is in outdoor, for institute The different motion strength grade for stating monitoring objective determines that corresponding locating periodically and positioning method realize that classification is fixed Position, and upload location data to the platform after completion is positioned.

Wherein, the kinematic parameter obtained in judge module at least includes：Exercise intensity, exercise intensity pair The duration and the average of exercise intensity and variance answered；The characteristic parameter at least includes：The monitoring objective Classification, the age of the monitoring objective and the monitoring objective body weight.

Wherein, described device also includes：

First receiver module, for obtaining the motion ginseng in monitoring objective time window in the acquisition judge module Before the characteristic parameter of number and the monitoring objective, the weight vectors that the platform sends are received, wherein The weight vectors are kinematic parameter, characteristic parameter of the platform according to the monitoring objective for prestoring Obtained with positional information calculation.

Wherein, described device also includes：

Processing module, for it is described acquisition judge module obtain monitoring objective time window in kinematic parameter and Before the characteristic parameter of the monitoring objective, using adaptive filter algorithm to the motion number of the monitoring objective Value is processed.

Wherein, the acquisition judge module includes：

Calculating sub module, for by each element of each element of the kinematic parameter, the characteristic parameter Numerical value after carrying out product calculation with the weight vectors is added, and obtains a decision parameter；

Comparison sub-module, for the decision parameter and parameter preset to be compared, obtains according to comparative result Take the positional information that the monitoring objective is in indoor or outdoors.

Described device also includes：

Statistics division module, for strong for the different motion of the monitoring objective in the determination uploading module Before degree grade determines that corresponding locating periodically and positioning method realize classification positioning, the monitoring is counted in advance All exercise intensities of the monitoring objective are carried out intensity by all exercise intensities of target according to preset rules Grade classification；

Determining module is obtained, the motion cadence for obtaining the monitoring objective is true according to the motion cadence The exercise intensity of the fixed monitoring objective；

Determining module, institute is determined for the exercise intensity and the strength grade of division according to the monitoring objective State the strength grade belonging to the exercise intensity of monitoring objective.

Wherein, described device also includes：

Judge module, the different motion strength grade of the monitoring objective is directed to for the determination uploading module It is determined that after corresponding locating periodically and positioning method realize classification positioning, judge be according to current positioning method It is no to obtain location data；

Uploading module, for after location data is obtained according to current positioning method, it to be fixed to be uploaded to the platform Position data；

Module is changed, for when according to current positioning method location data cannot be obtained, changing positioning method Until obtain location data or change positioning method finishing, wherein positioning method at least includes：Satellite Position, architecture, WiFi positioning and BLE positioning.

Wherein, described device also includes：

Memory module, the different motion strength grade of the monitoring objective is directed to for the determination uploading module It is determined that corresponding locating periodically and positioning method realize classification positioning, and on the platform after positioning is completed Pass after location data, stored location data as known locations data.

The embodiment of the present invention also provides a kind of device that classification positioning is realized for monitoring objective, is applied to platform, Described device includes：

Second receiver module, for the motion in the time window according to monitoring objective for receiving location equipment transmission The positional information of the monitoring objective that parameter and characteristic parameter and the weight vectors for obtaining in advance are judged, The kinematic parameter and characteristic parameter of the monitoring objective are carried in wherein described positional information；

Calibration module, is calibrated for the positional information according to default location coordinate pair；

Update module, for the kinematic parameter according to the monitoring objective, characteristic parameter and positional information and The kinematic parameter, characteristic parameter and the positional information that prestore carry out the renewal of weight vectors, and will update result hair Deliver to the location equipment.

Wherein, the calibration module includes:

First submodule, for the coordinate of the positional information to be compared with the default location coordinate；

Second submodule, for when the coordinate of the positional information is identical with the default location coordinate, really The fixed monitoring objective is in interior, wherein the default location coordinate is the monitoring objective when being in indoor Position coordinates.

Wherein, described device also includes：

3rd receiver module, for receiving the location data that the location equipment is uploaded after location data is obtained.

The embodiment of the present invention also provides a kind of equipment that classification positioning is realized for monitoring objective, the equipment bag Include：

IMU sensors for gathering monitoring objective kinematic parameter and characteristic parameter；

The processor being connected by SPI interface with the IMU sensors, the processor is included：For According to the monitoring objective kinematic parameter, characteristic parameter and the state of the weight vector computation positional information for prestoring Solver, and the controller of grading control is carried out for the state according to the monitoring objective；

The power supply being connected with the processor；

BLE units, WiFi units, GPS unit and the GPRS units being connected with the power supply, its Described in WiFi units, the GPS unit be connected with the GPRS units；

Be connected with the processor for showing that time, the motion state of the monitoring objective, calorie disappear The LCD display of consumption and condition prompting；And

The button for opening or cancelling warning function being connected with the processor.

The above-mentioned technical proposal of the embodiment of the present invention at least includes following beneficial effect：

The embodiment of the present invention is by obtaining kinematic parameter and monitoring of the monitoring objective in Preset Time window Clarification of objective parameter, obtains according to the weight vector computation that kinematic parameter and characteristic parameter and platform are provided The positional information of monitoring objective, the exercise intensity of positional information and monitoring objective according to monitoring objective determines Different locating periodicallies and positioning method, realize multi-mode classification positioning, are realizing carrying out essence to monitoring objective Really, on the basis of consecutive tracking, the power consumption of location equipment can be reduced, improves Experience Degree and the satisfaction of user Degree.

Brief description of the drawings

Fig. 1 is the method flow schematic diagram one that the embodiment of the present invention realizes classification positioning for monitoring objective；

Fig. 2 is that the embodiment of the present invention is classified positioning method schematic diagram；

Fig. 3 is the method flow schematic diagram two that the embodiment of the present invention realizes classification positioning for monitoring objective；

Fig. 4 is that embodiment of the present invention state resolves block diagram；

Fig. 5 is that embodiment of the present invention state resolves schematic diagram；

Fig. 6 is the method flow schematic diagram three that the embodiment of the present invention realizes classification positioning for monitoring objective；

Fig. 7 is embodiment of the present invention location control schematic flow sheet；

Fig. 8 is the method flow schematic diagram four that the embodiment of the present invention realizes classification positioning for monitoring objective；

Fig. 9 is embodiment of the present invention weight vector computation method schematic diagram；

Figure 10 is the equipment schematic diagram that the embodiment of the present invention realizes classification positioning for monitoring objective.

Specific embodiment

To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with attached Figure and specific embodiment are described in detail.

Embodiment one

The embodiment of the present invention provides a kind of method that classification positioning is realized for monitoring objective, is applied to positioning and sets It is standby, as shown in figure 1, including：

The characteristic parameter of S101, the kinematic parameter and monitoring objective obtained in monitoring objective time window, according to fortune The weight vectors that dynamic parameter and characteristic parameter and platform are issued judge the positional information of monitoring objective, and will sentence The positional information for of breaking is uploaded to platform；

S102, when positional information is that monitoring objective is in indoor, close satellite positioning functions；

S103, when positional information is that monitoring objective is in outdoor, for the different motion intensity of monitoring objective Grade determines that corresponding locating periodically and positioning method realize classification positioning, and on platform after completion is positioned Pass location data.

Renewal can be optimized to the dynamic of monitoring objective, by above-mentioned steps according to the renewal of monitoring objective The weight vectors of kinematic parameter, the characteristic parameter of monitoring objective and acquisition afterwards obtain the position of monitoring objective Information.Indoor and outdoor localizing environment according to residing for monitoring objective, using GPS, WiFi, base station are realized many Schema hierarchy positioning method, reduces the power consumption of location equipment consecutive tracking.

Specifically, intercepting a time window first, the kinematic parameter of the monitoring objective in the time window is obtained And characteristic parameter.It should be noted that monitoring objective can be old man, children or pet, or Other need the crowd of positioning.The kinematic parameter of monitoring objective at least includes：Exercise intensity, exercise intensity pair The duration and the average of exercise intensity and variance answered.Then preset time period is directed to, it is necessary to count each fortune The average and variance of fatigue resistance, the corresponding run duration of different motion intensity, and exercise intensity.Wherein transport Fatigue resistance can be distinguished with different exercise indexs.The characteristic parameter of monitoring objective at least includes：Monitoring The body weight of the classification of target, the age of monitoring objective and monitoring objective.The classification of monitoring objective can be old People, children or pet, wherein pet can also carry out careful division according to the difference of species.Monitoring mesh Target characteristic parameter can be assumed that to be constant, i.e., characteristic parameter will not change within a certain period of time.

After the kinematic parameter and characteristic parameter in a time window is got, according to kinematic parameter and feature The weight vectors that parameter and platform are issued judge the positional information of monitoring objective, when monitoring objective is in interior When, satellite positioning functions can be closed, it is only necessary to which positioning is tracked by base station or WiFi. By closing satellite positioning functions, the power consumption of location equipment can be saved.It should be noted that satellite fix Can be GPS location, architecture is GPRS positioning, wherein GPRS (General Packet Radio Service general packet radio services) belong to mobile data services.

When monitoring objective is in outdoor, it is necessary to the different motion strength grade for being directed to monitoring objective determines accordingly Locating periodically and positioning method realize classification positioning, and position complete after to platform upload location data.

Firstly the need of each exercise intensity grade for obtaining monitoring objective, determine for each exercise intensity grade Corresponding locating periodically and positioning method, the then determination of exercise intensity grade and the motion according to monitoring objective The corresponding locating periodically of strength grade and positioning method.

As shown in Fig. 2 when monitoring objective is in the motion state of long range aggravating activities, such as monitoring mesh Target movement velocity V>6km/h, it may be determined that monitoring objective is in most strong exercise intensity grade, its motion The index of intensity is 4, according to the exercise intensity grade for pre-building and locating periodically, the relation of positioning method, The locating periodically of monitoring objective can be determined for 1 minute, the positioning method for using is GPS location.Work as prison Survey the movement velocity 2km/h of target<V<During 6km/h, it may be determined that monitoring objective is in the second exercise intensity Grade, the index of corresponding exercise intensity is 3, according to the exercise intensity grade for pre-building and locating periodically, The relation of positioning method, it may be determined that the locating periodically of monitoring objective be 5 minutes, the positioning method for using for GPS location.It should be noted that the movement velocity of monitoring objective can be calculated according to motion cadence obtaining.

When monitoring objective activity in a certain FX, because FX is the region known to user, Can be by the time lengthening of locating periodically.Exercise intensity index now is 2, and can set locating periodically is 10 minutes, GPS location can be closed in order to save power consumption, using architecture.Work as monitoring objective When remaining static, exercise intensity index now is 1, can close GPS, architecture, is reported Last positional information.

It should be noted that when GPS and architecture fail, can attempt search WiFi is carried out WiFi is positioned.When that cannot search WiFi, and monitoring objective exceedes certain distance with the distance of user, When for example more than 10m, can be positioned using BLE.

It is determined that after the locating periodically and positioning method of monitoring objective, location data can be obtained, will position Data are uploaded to platform, complete the synchronization of data.

Embodiment two

As shown in figure 3, being second embodiment of the invention method flow schematic diagram：

S201, the motion value of monitoring objective is processed using adaptive filter algorithm；

The weight vectors that S202, receiving platform send, wherein weight vectors are platforms according to the prison for prestoring Survey what the kinematic parameter of target, characteristic parameter and positional information calculation were obtained；

The characteristic parameter of S203, the kinematic parameter and monitoring objective obtained in monitoring objective time window, will move Each element of parameter, the numerical value after each element of characteristic parameter carries out product calculation with weight vectors are added, Obtain a decision parameter；

S204, decision parameter and parameter preset are compared, obtaining monitoring objective according to comparative result is in The positional information of indoor or outdoors；

S205, when positional information is that monitoring objective is in indoor, close satellite positioning functions；

S206, when positional information is that monitoring objective is in outdoor, for the different motion intensity of monitoring objective Grade determines that corresponding locating periodically and positioning method realize classification positioning, and on platform after completion is positioned Pass location data.

Specifically, as shown in figure 4, can effectively remove shake using adaptive filter algorithm and shake dry Disturb the monitoring objective motion state for causing to judge by accident, it is to avoid because lasting vibrations cause the error of gathered data.Adopt The motion value for processing monitoring objective with adaptive filter algorithm can make the method more accurate and effective.

After the motion value to monitoring objective is processed, platform can be obtained according to the prison for prestoring The weight vectors that the kinematic parameter of survey target, characteristic parameter and positional information calculation are obtained.

Then by each element of the kinematic parameter of monitoring objective, each element and weight vectors of characteristic parameter Product is carried out, each numerical value that will be obtained is added, and obtains a decision parameter.Determined to monitor according to decision parameter The positional information of target.

As shown in figure 5, by the exercise intensity of monitoring objective, the corresponding duration of exercise intensity, and motion is strong The variance and average of degree carry out multiplication operation with weight vectors, by the monitoring mesh in the characteristic parameter of monitoring objective The body weight and weight vectors of target class code, the age of monitoring objective and monitoring objective carry out multiplication operation, Then each product that will be obtained carries out sum operation, obtains decision parameter.The motion of wherein monitoring objective is strong Degree includes：Cadence, the acceleration and exercise intensity index of motion are moved, is added according to motion cadence and motion Speed can determine the grade of exercise intensity, that is, determine exercise intensity index.

For example when being positioned to pet, when the positional information of pet is obtained, it is necessary to obtain Preset Time The kinematic parameter of the pet in section.It is assumed that preset time period is 5 minutes, in this five minutes, pet may Different motion states are had, such as pet is in and runs the stage within the time period of 1-2 minutes, in 3-4 Pet is in walking phase in minute, is remained static in last 1 minute.

The cadence and acceleration of motion of pet in the statistics time period of 1-2 minutes, and determine the fortune of the short time Fatigue resistance index, the cadence and acceleration of motion of pet in the statistics time period of 3-4 minutes, and determine that this is short The exercise intensity index of time, counts the cadence and acceleration of motion of pet in the time period of last minute, And determine the exercise intensity index of the short time.

Be then based on obtain cadence, acceleration of motion, exercise intensity index calculate exercise intensity average and The average of variance, wherein exercise intensity includes cadence, acceleration of motion, the average of exercise intensity index, fortune The variance of fatigue resistance includes cadence, acceleration of motion, the variance of exercise intensity index.

Then the classification of the monitoring objective in characteristic parameter is obtained, the class code of pet is 3, obtains monitoring The age of target, it is assumed that the age of current pet is 3 years old, obtains the body weight of monitoring objective, it is assumed that current The body weight of pet is 5kg.

According to the data that statistics is obtained, calculated using the neural network algorithm shown in Fig. 5, obtain one and sentence Certainly parameter.

It should be noted that for same pet, characteristic parameter is within a certain period of time stable, and The unit of each element of kinematic parameter is default standard, and the unit for for example moving duration is minute.

After decision parameter is obtained, decision parameter is compared with parameter preset, it is necessary to illustrate, The unit for calculating each element of parameter preset is identical with the unit of each element for calculating decision parameter.And by Bigger in exercise intensity, motion duration is more long, and the variance and average of exercise intensity are bigger, then the judgement for obtaining The numerical value of parameter is bigger, when decision parameter is more than parameter preset, judges that monitoring objective is in outdoor, when sentencing When certainly parameter is less than parameter preset, judge that monitoring objective is in interior.

When monitoring objective is in it is indoor when, satellite positioning functions can be closed, it is only necessary to by base station or WiFi is tracked positioning.By closing satellite positioning functions, the power consumption of location equipment can be saved.

The embodiment of the present invention passes through kinematic parameter, characteristic parameter of the adoption status computation according to monitoring objective Decision parameter is obtained with the weight vector computation for acquiring, it is true with the relation of parameter preset according to decision parameter The positional information that monitoring objective is in indoor or outdoors is determined, then according to the positional information and prison of monitoring objective The exercise intensity for surveying target determines different locating periodically and positioning methods, realizes multi-mode classification positioning, Realization carries out accurately, on the basis of consecutive tracking, can reduce the power consumption of location equipment, carrying to monitoring objective The Experience Degree and satisfaction of user high.

Embodiment three

As shown in fig. 6, being the method flow schematic diagram of the embodiment of the present invention three：

The characteristic parameter of S301, the kinematic parameter and monitoring objective obtained in monitoring objective time window, according to fortune The weight vectors that dynamic parameter and characteristic parameter and platform are issued judge the positional information of monitoring objective, and will sentence The positional information for of breaking is uploaded to platform；

S302, when positional information is that monitoring objective is in indoor, close satellite positioning functions；

S303, when positional information is that monitoring objective is in outdoor, all motions of advance statistical monitoring target All exercise intensities of monitoring objective are carried out strength grade division by intensity according to preset rules；

S304, the motion cadence for obtaining monitoring objective, the exercise intensity of monitoring objective is determined according to motion cadence；

The strength grade of S305, the exercise intensity according to monitoring objective and division determines the motion of monitoring objective Strength grade belonging to intensity；

S306, the different motion strength grade for monitoring objective determine corresponding locating periodically and positioning method Realize classification positioning；

S307, judge whether location data can be obtained according to current positioning method；

S308, when according to current positioning method obtain location data after, to platform upload location data；

S309, when according to current positioning method location data cannot be obtained, change positioning method until obtain Location data finishes positioning method replacing；

S310, positioning complete backward platform upload location data to be carried out location data as known locations data Storage.

Specifically, the weight that issues of the kinematic parameter and characteristic parameter and platform first according to monitoring objective to Amount is calculated, and obtains the positional information of monitoring objective, the position letter of the monitoring objective that then will be calculated Breath is sent to platform.

When monitoring objective is in it is outdoor when, it is necessary to all exercise intensities of statistical monitoring target, by monitoring objective All exercise intensities carry out strength grade division according to preset rules.For example when exercise intensity index is 4 Exercise intensity grade highest, exercise intensity grade when exercise intensity index is 3 is taken second place, exercise intensity index For 2 when exercise intensity grade be 3 less than exercise intensity index when exercise intensity grade, exercise intensity refers to Exercise intensity grade when number is 1 is minimum.

The criterion of wherein exercise intensity at least includes：Motion cadence, fortune can be distinguished according to motion cadence Fatigue resistance, i.e., can determine movement velocity according to motion cadence, and exercise intensity can be determined according to movement velocity Grade.Determine that corresponding locating periodically and positioning method realize classification positioning for different exercise intensity grades.

It is determined that after positioning method, it can be determined that whether can obtain location data using current positioning method, After location data is obtained according to current positioning method, location data is uploaded to platform.When according to current fixed , it is necessary to change positioning method when position mode cannot obtain location data, until obtaining location data or will determine Position mode is changed and finished.Getting after location data is uploaded to platform by location data, the positioning that will be uploaded Data are preserved as given data.

As shown in fig. 7, judge whether to reach the predetermined time, after the scheduled time is reached, adoption status solution The position that algorithm calculates monitoring objective is calculated, when it is determined that monitoring objective is in indoor, GPS functions is closed, Upload indoor coordinate to platform.When it is determined that monitoring objective is in outdoor, according to the exercise intensity of monitoring objective Grade determines corresponding locating periodically and positioning method.It is determined that after positioning method, determining when using GPS When position cannot obtain location data, then open architecture mode and positioned, obtain location data and upload； When location data is obtained using GPS location, location data is uploaded.

When location data is obtained using base station, judge whether the mode of architecture fails, if architecture Without failure, then need to upload location data, it is determined that current positioning method is architecture.When base station is fixed During the failure of position, judge whether location data can be obtained using WiFi positioning, cannot when being positioned using WiFi When obtaining location data, positioning failure, when location data is obtained using WiFi positioning, uploads positioning number According to it is determined that current positioning method is positioned for WiFi.

The embodiment of the present invention by obtaining the kinematic parameter of monitoring objective and the characteristic parameter of monitoring objective, The weight vector computation provided according to kinematic parameter and characteristic parameter and platform obtains the position of monitoring objective Information, the exercise intensity of positional information and monitoring objective according to monitoring objective determines different locating periodicallies And positioning method, realize multi-mode classification positioning, realize carrying out monitoring objective accurately, consecutive tracking On the basis of, the power consumption of location equipment can be reduced, improve the Experience Degree and satisfaction of user.

Example IV

The embodiment of the present invention provides a kind of method that classification positioning is realized for monitoring objective, is applied to platform, As shown in figure 8, including：

S401, the kinematic parameter and feature ginseng received in the time window according to monitoring objective that location equipment sends The positional information of the monitoring objective that number and the weight vectors for obtaining in advance are judged, wherein takes in positional information Kinematic parameter and characteristic parameter with monitoring objective；

S402, calibrated according to default location coordinate pair positional information；

S403, the kinematic parameter according to monitoring objective, characteristic parameter and positional information and the motion ginseng for prestoring Number, characteristic parameter and positional information carry out the renewal of weight vectors, and are sent result is updated to location equipment.

Specifically, the positional information of the monitoring objective that location equipment sends is received, according to default location coordinate pair Positional information is calibrated, and when the coordinate of positional information is identical with default location coordinate, determines monitoring objective In interior, when the coordinate of positional information is differed with default location coordinate, determine that monitoring objective is in room Outward, wherein default location coordinate is position coordinates when monitoring objective is in indoor.

As shown in figure 9, location equipment obtains the positional information of monitoring objective, kinematic parameter and feature ginseng are judged Whether number is changed, and when a change, obtains positional information, and mesh is monitored according to being carried in positional information Target kinematic parameter, characteristic parameter and positional information and the kinematic parameter for prestoring, characteristic parameter and position Confidence breath is calculated based on a training pattern, and realization is updated to weight vectors.Then by after renewal Weight vectors are sent to location equipment.

Location equipment is according to the positional information of the weight vector computation monitoring objective after renewal and obtains positioning number According to the location data for receiving location equipment upload is preserved.

The embodiment of the present invention by obtaining the positional information of monitoring objective, and according to default location coordinate pair position Information is calibrated, then according to the kinematic parameter of monitoring objective, characteristic parameter and positional information for obtaining with And kinematic parameter, characteristic parameter and the updating location information weight vectors for prestoring, and weight vectors are sent out Deliver to location equipment so that location equipment obtains positional information and location data according to the weight vectors after renewal And upload.Accurate, continuous location data can be obtained.

Embodiment five

The embodiment of the present invention provides a kind of device that classification positioning is realized for monitoring objective, is applied to positioning and sets It is standby, including：

Obtain judge module, the feature for obtaining kinematic parameter and monitoring objective in monitoring objective time window Parameter, the weight vectors issued according to kinematic parameter and characteristic parameter and platform judge the position of monitoring objective Information, and the positional information that will determine that out is uploaded to platform；

Closedown module, for when positional information is that monitoring objective is in indoor, closing satellite positioning functions；

Uploading module is determined, for when positional information is that monitoring objective is in outdoor, for monitoring objective Different motion strength grade determines that corresponding locating periodically and positioning method realize classification positioning, and is positioning Location data is uploaded into backward platform.

Wherein, the kinematic parameter obtained in judge module at least includes：Exercise intensity, exercise intensity are corresponding The average and variance of duration and exercise intensity；Characteristic parameter at least includes：The classification of monitoring objective, monitoring The age of target and the body weight of monitoring objective.

Wherein, the device also includes：

First receiver module, for obtain judge module obtain monitoring objective time window in kinematic parameter and Before the characteristic parameter of monitoring objective, the weight vectors that receiving platform sends, wherein weight vectors are platform roots Obtained according to the kinematic parameter of the monitoring objective for prestoring, characteristic parameter and positional information calculation.

Wherein, the device also includes：

Processing module, for obtaining kinematic parameter and monitoring in judge module acquisition monitoring objective time window Before clarification of objective parameter, the motion value of monitoring objective is processed using adaptive filter algorithm.

Wherein, obtaining judge module includes：

Calculating sub module, for by each element of kinematic parameter, each element of characteristic parameter and weight to Amount carries out the addition of the numerical value after product calculation, obtains a decision parameter；

Comparison sub-module, for decision parameter to be compared with parameter preset, obtains according to comparative result and supervises Survey the positional information that target is in indoor or outdoors.

Wherein, the criterion of exercise intensity at least includes：Motion cadence；

The device also includes：

Statistics division module, for it is determined that uploading module is true for the different motion strength grade of monitoring objective Before fixed corresponding locating periodically and positioning method realize classification positioning, all fortune of advance statistical monitoring target All exercise intensities of monitoring objective are carried out strength grade division by fatigue resistance according to preset rules；

Determining module is obtained, the motion cadence for obtaining monitoring objective determines monitoring mesh according to motion cadence Target exercise intensity；

Determining module, monitoring mesh is determined for the exercise intensity according to monitoring objective and the strength grade of division Strength grade belonging to target exercise intensity.

Wherein, the device also includes：

Judge module, for determining that it is corresponding that uploading module determines for the different motion strength grade of monitoring objective Locating periodically and positioning method realize classification positioning after, judge whether can obtain according to current positioning method Location data；

Uploading module, for after location data is obtained according to current positioning method, positioning number being uploaded to platform According to；

Wherein, the device also includes：

Memory module, for determining that it is corresponding that uploading module determines for the different motion strength grade of monitoring objective Locating periodically and positioning method realize classification positioning, and position complete after to platform upload location data it Afterwards, stored location data as known locations data.

The embodiment of the present invention also provides a kind of device that classification positioning is realized for monitoring objective, is applied to platform, Including：

Second receiver module, for the motion in the time window according to monitoring objective for receiving location equipment transmission The positional information of the monitoring objective that parameter and characteristic parameter and the weight vectors for obtaining in advance are judged, wherein The kinematic parameter and characteristic parameter of monitoring objective are carried in positional information；

Calibration module, for being calibrated according to default location coordinate pair positional information；

Update module, for the kinematic parameter according to monitoring objective, characteristic parameter and positional information and prestores Kinematic parameter, characteristic parameter and positional information carry out the renewal of weight vectors, and will update result send to Location equipment.

Wherein, calibration module includes:

First submodule, for the coordinate of positional information to be compared with default location coordinate；

Second submodule, for when the coordinate of positional information is identical with default location coordinate, it is determined that monitoring mesh Mark is position coordinates when monitoring objective is in indoor in interior, wherein default location coordinate.

Wherein, the device also includes：

3rd receiver module, for receiving the location data that location equipment is uploaded after location data is obtained.

Embodiment six

The embodiment of the present invention provides a kind of equipment that classification positioning is realized for monitoring objective, as shown in Figure 10, Including：

The processor being connected by SPI interface with IMU sensors, processor is included：For according to monitoring The state solver of the parameters of target motion, characteristic parameter and the weight vector computation positional information for prestoring, and The controller of grading control is carried out for the state according to monitoring objective；

The power supply being connected with processor；

BLE units, WiFi units, GPS unit and the GPRS units being connected with power supply, wherein The connection of WiFi units, GPS unit and GPRS units；

Be connected with processor for show the time, the motion state of monitoring objective, calorie consumption and shape The LCD display of state prompting；And

The button for opening or cancelling warning function being connected with processor.

IMU sensors are responsible for the number such as acceleration of motion, angular velocity of rotation, magnetic direction to monitoring objective According to carrying out Real-time Collection, and transmitted by SPI (Serial Peripheral Interface Serial Peripheral Interface (SPI)s) To processor；Processor except for controlling each sensor and functional unit, also comprising state solver and Controller.

In state solver：Activity data to monitoring objective is analyzed pretreatment, the moving type of completion State is resolved, including multiple grades exercise intensity classification and the statistics of corresponding motion duration, intensity it is equal The features such as value, variance, using the zone of action disaggregated model set up, to activity carries out area in family or outside family Domain is classified, and is realized in regional prediction.

In the controller：According to the different active state of user to carrying out grading control, adjustment BLE, GPS, The initiation culture and resting state of GPRS, WiFi positioning.

Power supply is responsible for the power management of whole device, can according to classification positioning the need for, dynamic adjustment dormancy or D GPS locating module and GPRS module is closed to reduce power consumption.

Whether BLE communication units are responsible for measurement monitoring objective in the range of the 10m of user periphery, are exceeding Just start positioning function during scope.

GPRS units are responsible for the position of the monitoring objective of the activity data and analysis to the monitoring objective for collecting Confidence breath is by wirelessly carrying out data transmission.According to the control of processor, GPRS transmission control command is performed, And the early warning information of the disengaging safety zone to analyzing is uploaded to platform in real time.It should be noted that GPRS Unit is base station unit.

GPS unit realizes that the A-GPS of user is accurately positioned, and cellular network is combined positioning, by runing Business's location server provides service, can shorten positioning time.

WiFi units realize short distance positioning in user room, emergent logical in the case of no GPRS network Letter mode.

Button is used for the functions such as the alarm and alarm cancellation of control device.When there is automatic early-warning, if monitoring Goal verification, can manual key cancellation alarm still in safety zone.

LCD is shown for showing the work(such as time, the step number of pet activity, calorie consumption, condition prompting Can, LCD is the abbreviation of Liquid Crystal Display, Chinese liquid crystal display.

It should be noted that it is provided in an embodiment of the present invention for monitoring objective realize classification positioning device and Equipment is that then all embodiments of the above method are suitable for the device using the device and equipment of the above method And equipment, and can reach same or analogous beneficial effect.

The above is the preferred embodiment of the present invention, it is noted that for the common skill of the art For art personnel, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, These improvements and modifications also should be regarded as protection scope of the present invention.

Claims

1. a kind of method that classification positioning is realized for monitoring objective, is applied to location equipment, it is characterised in that Methods described includes：

2. the method for claim 1, it is characterised in that the kinematic parameter at least includes：Motion The average and variance of the corresponding duration of intensity, exercise intensity and exercise intensity；The characteristic parameter is at least wrapped Include：The body weight of the classification of the monitoring objective, the age of the monitoring objective and the monitoring objective.

3. the method for claim 1, it is characterised in that in the acquisition monitoring objective time window Before the characteristic parameter of kinematic parameter and the monitoring objective, methods described also includes：

4. the method for claim 1, it is characterised in that in the acquisition monitoring objective time window Before the characteristic parameter of kinematic parameter and the monitoring objective, methods described also includes：

5. the method for claim 1, it is characterised in that described according to the kinematic parameter and feature The weight vectors that parameter and platform are issued judge the positional information of the monitoring objective, including：

6. method as claimed in claim 2, it is characterised in that the criterion of the exercise intensity is at least Including：Motion cadence；

7. the method for claim 1, it is characterised in that the difference for the monitoring objective After exercise intensity grade determines that corresponding locating periodically and positioning method realize that classification is positioned, methods described is also Including：

8. the method for claim 1, it is characterised in that the difference for the monitoring objective Exercise intensity grade determines that corresponding locating periodically and positioning method realize classification positioning, and after the completion of positioning After to platform upload location data, methods described also includes：

Stored location data as known locations data.

9. a kind of method that classification positioning is realized for monitoring objective, is applied to platform, it is characterised in that institute The method of stating includes：

10. method as claimed in claim 9, it is characterised in that described according to default location coordinate pair institute State positional information to be calibrated, specially:

11. methods as claimed in claim 9, it is characterised in that methods described also includes：

A kind of 12. devices that classification positioning is realized for monitoring objective, are applied to location equipment, and its feature exists In described device includes：

13. devices as claimed in claim 12, it is characterised in that the motion in the acquisition judge module Parameter at least includes：The average and variance of the corresponding duration of exercise intensity, exercise intensity and exercise intensity； The characteristic parameter at least includes：The classification of the monitoring objective, age of the monitoring objective and described The body weight of monitoring objective.

14. devices as claimed in claim 12, it is characterised in that described device also includes：

15. devices as claimed in claim 12, it is characterised in that described device also includes：

16. devices as claimed in claim 12, it is characterised in that the acquisition judge module includes：

17. devices as claimed in claim 13, it is characterised in that the criterion of the exercise intensity is extremely Include less：Motion cadence；

Described device also includes：

18. devices as claimed in claim 12, it is characterised in that described device also includes：

19. devices as claimed in claim 12, it is characterised in that described device also includes：

A kind of 20. devices that classification positioning is realized for monitoring objective, are applied to platform, it is characterised in that Described device includes：

21. devices as claimed in claim 20, it is characterised in that the calibration module includes:

22. devices as claimed in claim 20, it is characterised in that described device also includes：

23. a kind of equipment that classification positioning is realized for monitoring objective, it is characterised in that the equipment includes：

The power supply being connected with the processor；