CN107495551B - Outdoor swimming underwater positioning bracelet and underwater positioning method - Google Patents

Outdoor swimming underwater positioning bracelet and underwater positioning method Download PDF

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Publication number
CN107495551B
CN107495551B CN201710658928.2A CN201710658928A CN107495551B CN 107495551 B CN107495551 B CN 107495551B CN 201710658928 A CN201710658928 A CN 201710658928A CN 107495551 B CN107495551 B CN 107495551B
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positioning
module
underwater
information
server
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CN107495551A (en
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高嘉伟
刘建敏
曹峰
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Shanxi University
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Shanxi University
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    • A—HUMAN NECESSITIES
    • A44—HABERDASHERY; JEWELLERY
    • A44C—PERSONAL ADORNMENTS, e.g. JEWELLERY; COINS
    • A44C5/00—Bracelets; Wrist-watch straps; Fastenings for bracelets or wrist-watch straps
    • A44C5/0007—Bracelets specially adapted for other functions or with means for attaching other articles
    • A—HUMAN NECESSITIES
    • A44—HABERDASHERY; JEWELLERY
    • A44C—PERSONAL ADORNMENTS, e.g. JEWELLERY; COINS
    • A44C5/00—Bracelets; Wrist-watch straps; Fastenings for bracelets or wrist-watch straps
    • A44C5/0007—Bracelets specially adapted for other functions or with means for attaching other articles
    • A44C5/0023—Bracelets specially adapted for other functions or with means for attaching other articles for therapeutic purposes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/02—Detecting, measuring or recording pulse, heart rate, blood pressure or blood flow; Combined pulse/heart-rate/blood pressure determination; Evaluating a cardiovascular condition not otherwise provided for, e.g. using combinations of techniques provided for in this group with electrocardiography or electroauscultation; Heart catheters for measuring blood pressure
    • A61B5/021—Measuring pressure in heart or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/68—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient
    • A61B5/6801—Arrangements of detecting, measuring or recording means, e.g. sensors, in relation to patient specially adapted to be attached to or worn on the body surface
    • A61B5/6802—Sensor mounted on worn items
    • A61B5/681—Wristwatch-type devices
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/74—Details of notification to user or communication with user or patient ; user input means
    • A61B5/746—Alarms related to a physiological condition, e.g. details of setting alarm thresholds or avoiding false alarms
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
    • G01S5/20—Position of source determined by a plurality of spaced direction-finders

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Surgery (AREA)
  • Biophysics (AREA)
  • Pathology (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
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  • General Health & Medical Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Physiology (AREA)
  • Cardiology (AREA)
  • General Physics & Mathematics (AREA)
  • Vascular Medicine (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention belongs to the technical field of outdoor swimming places such as beach and lake, and particularly relates to an outdoor swimming underwater positioning bracelet and an underwater positioning method. Mainly comprises an outdoor swimming underwater positioning bracelet and peripheral equipment. The outdoor swimming underwater positioning bracelet comprises a communication control module, a positioning module, a display module, a sensor module, a radio frequency module, a vibration motor module and/or a loudspeaker module and a power supply for supplying power to the modules. The peripheral devices include peripheral communication devices, peripheral positioning devices, environment monitoring devices, servers and power supply devices. The underwater positioning adopts an ultra-short baseline positioning mode, a positioning underwater acoustic transducer in a bracelet positioning module is matched with a positioning underwater acoustic transponder in peripheral positioning equipment, the relative time is recorded by using a two-way time ranging method, the distance between a swimmer and each positioning underwater acoustic transponder fixed under water is calculated, and the server calculates the underwater position of the swimmer by using a least square method after receiving the relative information.

Description

Outdoor swimming underwater positioning bracelet and underwater positioning method
Technical Field
The invention belongs to the technical field of outdoor swimming places such as beach and lake, and particularly relates to an outdoor swimming underwater positioning bracelet and an underwater positioning method.
Background
Swimming is one of physical exercises for building up body, exercising mind, recreation and entertainment, and promoting physical and mental health, and suitable for the old and the young. Along with the continuous improvement of swimming fan requirements on swimming environment, many outdoor fine waters such as beach, lake, river, etc. are developed successively, and become the tourism or leisure resource that people chase.
However, outdoor waters such as beach, lake, river, etc. belong to outdoor environments, and the range is wide and personnel are complex. Compared with the traditional indoor swimming stadium, the method makes the safety events such as lost, drowned and the like not easy to be discovered at the first time. Therefore, a device and a method are needed to find out abnormal events such as personnel lost, drowning and the like in time, so that how to determine the accurate underwater position of a swimmer is a very critical problem. The traditional GPS positioning mode has larger error in water, so that the traditional GPS positioning mode has higher requirements on the water positioning technology.
Currently, the positioning technology mainly includes GPS positioning, wireless positioning, and the like. The domestic GPS positioning has an error of about tens of meters outdoors and the positioning in water has a larger error. While the measurement accuracy of the wireless positioning technology is higher than that of GPS, it is mainly used for indoor positioning. In wide outdoor and water environments like beach, the wireless positioning technology is limited to a certain extent, the positioning accuracy is reduced, a plurality of base stations or wireless routes are required to be arranged, and the cost is high. In addition, the wireless electromagnetic wave transmission in water can be severely attenuated, the transmission distance is limited, and the difference of the conductivity of the wireless electromagnetic wave in fresh water and sea water is large, so that the data cannot be effectively transmitted under water through the wireless electromagnetic wave. Therefore, the methods are not well suitable for positioning the environment of wide outdoor water areas such as beach.
Disclosure of Invention
The invention provides an outdoor swimming underwater positioning bracelet and an underwater positioning method for solving the problem that the outdoor underwater positioning of a swimmer is inaccurate in the prior art.
The technical scheme adopted by the invention for solving the problems is as follows:
the outdoor swimming underwater positioning bracelet comprises an annular wrist strap, wherein a communication control module, a positioning module, a display module, a sensor module, a vibration motor module and/or a loudspeaker module and a power supply for supplying power to the modules are arranged on the wrist strap; the communication control module comprises a micro controller and a communication underwater sound transducer, wherein the micro controller is used for controlling information interaction and transmission between the outdoor swimming underwater positioning bracelet modules and peripheral equipment, and the communication underwater sound transducer is used for communicating with the communication underwater sound transducer in the peripheral communication equipment so as to realize the mutual conversion between electric signals and underwater sound signals; the positioning module consists of a positioning underwater sound transducer and a timer, wherein the positioning underwater sound transducer is matched with a positioning underwater sound transponder of peripheral positioning equipment of an outdoor swimming place for use and periodically transmits sound signals to the positioning underwater sound transponder, and the timer is used for recording the time of each time of transmitting and receiving the sound signals by the positioning underwater sound transducer and transmitting the sound signals to the server by using peripheral communication equipment through the communication control module; the sensor module comprises a heart rate sensor, a blood pressure sensor and a water pressure sensor, wherein the heart rate sensor and the blood pressure sensor are positioned at the inner side of the wrist strap so as to be clung to the inner side of the wrist strap, the water pressure sensor is arranged in the wrist strap and used for sensing the pressure in water, the current water inlet depth of the swimmer is calculated according to the pressure value given by the water pressure sensor, the sensor module is connected with the communication control module, and when the pressure value of the water pressure sensor is not zero, namely the swimmer is in an underwater state, the communication control module sends a wake-up signal to a positioning underwater sound transducer in the positioning module, and the positioning underwater sound transducer starts to send out a sound signal and communicates with a positioning underwater sound transponder of the peripheral positioning equipment on duty; the positioning module and the display module are positioned at the outer side of the wrist strap; the vibration motor module and/or the loudspeaker module and the power supply are/is arranged in the wrist strap; the display module, the vibration motor module and/or the speaker module all receive information of the server through the communication control module and by using peripheral communication equipment.
The communication control module is also provided with a viewing button positioned at the outer side of the wrist strap, when a swimming personnel presses the viewing button once, the communication control module sends a signal to the server, after the server receives the signal, the server acquires the current heart rate and blood pressure information of the user from the storage module and packages and sends the information to the communication control module of the outdoor swimming underwater positioning bracelet, and the communication control module sends the information to the display module after receiving the information, so that the current heart rate and blood pressure information of the user are displayed; the method comprises the steps that a checking button is continuously pressed twice, a communication control module in the outdoor swimming underwater positioning bracelet sends a signal to a server, after the server receives the signal, the current position information of a pre-management user is obtained from a storage module, the information is packaged and sent to the communication control module of the outdoor swimming underwater positioning bracelet, and the communication control module sends the information to a display module after receiving the information, so that the real-time checking of the position information of the pre-management user is realized; the method comprises the steps that a button is continuously pressed for three times, a communication control module in the outdoor swimming underwater positioning bracelet sends a signal to a server, after the server receives the signal, the current outdoor water area wind speed and wind direction, air temperature, PH value and salt and alkalinity value information is obtained from a storage module, the information is packaged and sent to the communication control module of the outdoor swimming underwater positioning bracelet, and the communication control module sends the information to a display module after receiving the information, so that the display of the water area wind speed and wind direction, air temperature, PH value and salt and alkalinity value information is realized. When the outdoor swimming underwater positioning bracelet receives the alarm signal from the server, a swimming worker can press the check button for a long time within a specified time, the communication control module of the outdoor swimming underwater positioning bracelet immediately sends a closing signal to the vibration motor module and/or the loudspeaker module, the vibration motor module stops vibrating, the loudspeaker module stops playing the voice, and the time for closing the alarm signal by the user is sent to the storage module of the server through the peripheral communication equipment for storage.
Preferably, in the outdoor swimming underwater positioning bracelet, after the outdoor swimming underwater positioning bracelet receives the alarm signal from the server, the swimming personnel can press the check button to close the alarm signal for a long time within a specified time, wherein the specified time is preferably 5 seconds, and the time is preferably 2 seconds.
The invention discloses a device for controlling the swimming of a user, which comprises a display module, a server and a communication module, wherein the display module comprises a touch screen and a voice communication module, touch keys are arranged on the touch screen, the touch keys comprise a setting key, an input key and a voice key, after the user clicks the setting key, if the input key is clicked again and the ID number of the pre-management user and the furthest distance allowed by the pre-management user are input, the communication control module in an outdoor swimming underwater positioning bracelet can send ID number information and furthest distance information input by the user to the server, the server stores the information into the storage module after receiving the information, the server can monitor the geographic position of the pre-management user of the user in real time, if the distance between the position of the pre-management user and the position of the user exceeds the set furthest distance, the server immediately sends an alarm signal to the communication control module in the outdoor swimming underwater positioning bracelet of the user, after receiving the information, the communication control module immediately sends a signal to a vibration motor module and/or a loudspeaker module, the vibration motor module can make the outdoor swimming positioning bracelet vibrate, and the loudspeaker module automatically play the information xx of the user beyond the set movement range after receiving the signal, thereby realizing the user's movement range beyond the set by the user ' and achieving the user ' movement range; after a user clicks a setting key, if the user clicks an input key and inputs threshold information of a heart rate value range and a blood pressure value range and preset duration, a communication control module in an outdoor swimming underwater positioning bracelet sends the information to a server, the server stores the information to a storage module after receiving the information, then the server sends a command to a sensor module through the communication control module to start a heart rate sensor and a blood pressure sensor to collect heart rate and blood pressure information and send the information to the server through the communication control module, the server stores and analyzes the received physiological information, and if any index in the collected heart rate and blood pressure information is not in the input heart rate value and blood pressure value range for a duration exceeding the preset duration, the server immediately sends an alarm signal to the communication control module in the outdoor swimming underwater positioning bracelet of a friend of the user, and immediately sends a signal to a vibration motor module and/or a loudspeaker module, the vibration motor module immediately vibrates the swimming underwater positioning bracelet outdoors, and automatically plays prompt information after the loudspeaker module sends the signal to the friend; if the acquired heart rate and blood pressure information are in the input heart rate value range, the blood pressure value range and the threshold value range or the time that any index of the acquired heart rate and blood pressure information is not in the input heart rate value and blood pressure value range but does not exceed the preset duration, no instruction is sent; after a user clicks a setting key, if the user clicks an input key and inputs threshold information of the water depth and preset time length, a communication control module in an outdoor swimming underwater positioning bracelet sends the information to a server, the server stores the information to a storage module after receiving the information, then the server sends an instruction to a sensor module through the communication control module to start a water pressure sensor to collect water pressure information and send the information to the server through the communication control module, the server stores and analyzes the received water pressure information, if the current water depth of the user measured by the water pressure sensor exceeds a preset threshold and the time length is longer than the preset time length, the server immediately sends an alarm signal to the communication control module in the outdoor swimming underwater positioning bracelet of the user, after receiving the alarm signal, the communication control module immediately sends a signal to a vibration motor module and/or a loudspeaker module, the outdoor swimming underwater positioning bracelet is vibrated, and after receiving the signal, the loudspeaker module automatically plays prompt information to draw the attention of friends of the user; if the current water depth of the user measured by the water pressure sensor is not longer than the preset time or the current water depth of the swimmer is not longer than the preset threshold, no instruction is sent; the voice communication module is used for voice communication among friends.
Preferably, in the outdoor swimming underwater positioning bracelet, the maximum distance allowed by the pre-management user and the user is preferably 50 meters, the preset duration that any one index of heart rate and blood pressure information acquired by the heart rate sensor and the blood pressure sensor is not in the threshold range of the input heart rate value and the blood pressure value is preferably 10 seconds, and the preset duration that the current water depth of the user measured by the water pressure sensor exceeds the preset threshold is preferably 30 seconds.
The invention also comprises a radio frequency module which is also arranged on the wrist strap and is used for being connected with the communication control module and communicating with the communication control module through electric signals.
The invention also comprises peripheral equipment, wherein the peripheral equipment comprises peripheral communication equipment, peripheral positioning equipment, environment monitoring equipment, power supply equipment and a server; the peripheral communication equipment comprises a communication underwater sound transducer and a wired transmission medium so as to realize communication between the outdoor swimming underwater positioning bracelet and the server, if the outdoor swimming underwater positioning bracelet transmits information to the server, firstly, data information, namely an electric signal, is converted into an acoustic signal by the communication underwater sound transducer in the communication control module, the acoustic signal is transmitted to the communication underwater sound transducer in the peripheral communication equipment, and finally, the communication underwater sound transducer in the peripheral communication equipment receives the acoustic signal, converts the acoustic signal into the electric signal again and transmits the electric signal to the server through the wired transmission medium; if the server sends information to the outdoor swimming underwater positioning bracelet, firstly, the server sends data information, namely an electric signal, to a communication underwater sound transducer in the peripheral communication equipment through a wired transmission medium in the peripheral communication equipment, then the communication underwater sound transducer in the peripheral communication equipment converts the electric signal into an acoustic signal, the acoustic signal is sent to a communication control module of the outdoor swimming underwater positioning bracelet, and finally, the communication underwater sound transducer in the communication control module receives the acoustic signal and then converts the acoustic signal into an electric signal again; the peripheral positioning equipment comprises a plurality of positioning underwater acoustic transponders, the positioning underwater acoustic transponders are matched with the positioning underwater acoustic transducers in the outdoor swimming underwater positioning bracelet positioning module for use, and receive acoustic signals sent by the positioning underwater acoustic transducers in the outdoor swimming underwater positioning bracelet positioning module, one of the positioning underwater acoustic transponders in the outdoor water area is fixed on a central pile in the outdoor water area, the rest positioning underwater acoustic transponders are fixed on auxiliary piles around the central pile, the central pile and the auxiliary piles form a matrix, and the distances between all the positioning underwater acoustic transponders and a horizontal plane are the same; the environment monitoring equipment comprises wind speed and direction equipment, water temperature equipment, PH value equipment and saline-alkali degree equipment, the environment monitoring equipment periodically transmits monitored data to the server through a wired transmission medium, the server stores the received data to the storage module, when a certain index of an outdoor water area is abnormal, the server transmits an alarm signal to a communication control module in an outdoor swimming underwater positioning bracelet, the communication control module immediately transmits a signal to a vibration motor module and/or a loudspeaker module after receiving the signal, the vibration motor module can vibrate the outdoor swimming underwater positioning bracelet, and the loudspeaker module can automatically play voice information after receiving the signal so as to draw the attention of a user; the power supply equipment comprises a solar panel and a voltage transmission line, wherein the solar panel in the power supply equipment is fixed at the top end of a central pile of an outdoor water area, the voltage transmission line is paved at the bottom of the outdoor water area and is communicated with a circuit of the central pile, and the power supply equipment adopts a power supply mode of combining solar energy and traditional power to supply power to the environment monitoring equipment.
The invention relates to an underwater positioning method, which adopts the outdoor swimming underwater positioning bracelet, and comprises the following specific steps:
1. the communication control module in the outdoor swimming underwater positioning bracelet continuously transmits the time information acquired by the timer in the positioning module to the server through the peripheral communication equipment, and the specific process is as follows:
when the pressure value of a water pressure sensor of a sensor module in the outdoor swimming underwater positioning bracelet is not zero, namely, when a swimmer is in an underwater state, the sensor module is connected with a communication control module, the communication control module sends a wake-up signal to a positioning underwater sound transducer in the positioning module, the positioning underwater sound transducer continuously sends sound signals to a standby on-duty positioning underwater sound transponder in an outdoor swimming place, each positioning underwater sound transponder sends corresponding response signals to the positioning underwater sound transducer of the outdoor swimming underwater positioning bracelet after receiving the sound signals, a timer of the positioning module in the outdoor swimming underwater positioning bracelet records the time when the positioning underwater sound transducer sends and receives the sound signals each time, and the communication control module sends time information to a server through peripheral communication equipment;
in order to effectively distinguish a plurality of swimmers, the frequencies of sound signals sent by the positioning underwater sound transducers in the outdoor swimming underwater positioning bracelet worn by different swimmers are different, and meanwhile, only response signals with the same frequency are received. The marking frequency can be set by an outdoor swimming underwater positioning bracelet manufacturer when leaving a factory, and can also be set for each outdoor swimming underwater positioning bracelet in advance by an outdoor water area manager through a display module according to the authority of the manager. The marking frequency is stored in a communication control module of the outdoor swimming underwater positioning bracelet and a storage module of the server. Meanwhile, in order to determine from which positioning underwater acoustic transponder the response signal received by the outdoor swimming underwater positioning bracelet comes, some research works have been conducted to design the underwater acoustic transponder to solve the above problem, and the work of other researchers can be seen, for example, in the "ultra short baseline underwater acoustic positioning system transponder design" in the academic paper of the university of Beijing chemical industry Chen Jun in 2012. The information sent to the server by the communication control module in the outdoor swimming underwater positioning bracelet specifically comprises the following steps: the number of the positioning underwater acoustic transponder, the moment of sending the marked frequency acoustic signal and the moment of receiving the marked frequency acoustic signal from the positioning underwater acoustic transponder.
2. The server receives the time information from the peripheral communication equipment, stores the time information into the storage module, sends an instruction to the analysis module of the server, and then the analysis module adopts a least square method to obtain the underwater position coordinates of the swimmer;
the specific process is as follows: setting m (m is more than or equal to 3) positioning underwater acoustic transponders altogether, wherein the coordinate of the ith positioning underwater acoustic transponder is (x) i ，y i ，z i ) Where i=1, 2, …, m, the coordinates of a user are (x, y, z), then the distance R of the user from the i-th positioning transponder i ＝v(t ir -t is ) Wherein v is the propagation velocity of an acoustic signal in water, t is 、t ir The time when the positioning underwater acoustic transducer in the outdoor swimming underwater positioning bracelet worn by the user sends and receives the acoustic signals to the ith positioning underwater acoustic transponder is respectively, because the distance between the swimmer and each positioning underwater acoustic transponder can be calculated through the coordinates of the swimmer and the positioning underwater acoustic transponder, m nonlinear equation sets can be obtained:
and obtaining a linear observation equation by eliminating the quadratic coefficient of the nonlinear equation set:
AX＝B (2)
in formula (2):
constructing an estimateThe performance index is as follows:
to the minimum; because a given initial value is unsuitable and causes larger deviation, a taylor series expansion mode can be utilized to linearize a quadratic equation, and iterative approximation is carried out on a least square solving algorithm;
For equation (7) at (x 0 ，y 0 ，z 0 ) The points are subjected to Taylor series expansion, and the following steps are carried out:
then
Substituting formula (9) into formula (1) yields:
taking a point (x) in the area surrounded by the positioning underwater acoustic transponder 0 ，y 0 ，z 0 ) As an initial value, after solving the equation set (10) by using a least square method, judging whether the condition (11) is satisfied;
if the condition (11) is satisfied, then (x 0 ，y 0 ，z 0 ) The coordinates of the current swimmer; if the condition (11) is not satisfied, the value of (x) 0 ，y 0 ，z 0 ) As a starting point, x 0 、y 0 、z 0 Step sizes of + -h/2, + -k/2 and + -l/2 are respectively increased, so that 8 new coordinate points can be obtained, and the new coordinate points are substituted into the formula (10) to obtain corresponding values of h, k and l; if a plurality of points exist at the same time and meet the condition (11), substituting the condition (6) to select a coordinate point with the minimum performance index value, namely the current position coordinate (x, y, z) of the swimmer; if the 8 coordinate points do not exist points meeting the condition (11), selecting the point with the minimum index value in the formula (6) as a starting point, and iteratively updating with the values of h, k and l of the point until the current position coordinates (x, y and z) of the swimmer are obtained;
3. and after the position coordinates are calculated by the analysis module of the server, the position coordinates are stored in the storage module of the server.
The communication control module comprises a communication underwater acoustic transducer and a micro-controller, and is responsible for coordinating the work among all modules of the outdoor swimming underwater positioning bracelet, and the data and signal transmission between the outdoor swimming underwater positioning bracelet and the server and the signal processing. The communication control module sends the time information acquired by the timer to the server through the communication underwater acoustic transducer at a certain frequency, and is responsible for making a series of responses to the alarm signal after receiving the signal from the server. In the outdoor swimming underwater positioning bracelet, a signal input end of the communication control module comprises a positioning module, a display module, a sensor module, a radio frequency module and peripheral communication equipment, and a signal output end comprises a vibration motor module, a loudspeaker module, a display module and peripheral communication equipment.
The vibration motor module and the loudspeaker module are used as signal output ends of the communication control module and are used for realizing an alarm function. And the communication control module of the outdoor swimming underwater positioning bracelet immediately calls the vibration motor module to vibrate the outdoor swimming underwater positioning bracelet after receiving the alarm signal from the server so as to draw attention of friends and life-saving staff of the user. The loudspeaker module is called to play a prerecorded audio file while the hand ring is positioned under the water when the hand ring is positioned outdoors and swimming is vibrated, for example, if a xxx user managed by you exceeds a movement range set by you, the user can attach importance to the user.
The user who possesses friend relation in this patent not only can carry out the voice conversation through the pronunciation button in the display module, can monitor the range of motion of a friend in a position in real time through setting up button and input button moreover, especially can effectively prevent children's emergence of losing the event when this friend is children. In the patent, a user can input the ID number of the outdoor swimming underwater positioning bracelet of the user which is pre-managed by the user through the setting key and the input key of the display module on the outdoor swimming underwater positioning bracelet, and the function similar to an electronic fence is realized by allowing the managed user to be furthest away from the user. If the position of the managed user is not in the area set by the managed user at a certain moment, the outdoor swimming underwater positioning bracelet of the managed user immediately vibrates and sends out an alarm signal, and meanwhile, voice broadcasting is carried out, for example, the xx user managed by you exceeds the movement range set by you, and the like, so that the attention of the user is drawn.
The outdoor swimming underwater positioning bracelet is powered by a battery and has a waterproof function. After the user wears the outdoor swimming underwater positioning bracelet and enters the outdoor swimming water area, the server can update the position of the user in real time and display the position on the monitoring terminal. Through the monitoring terminal, an outdoor water area manager can know the number of people, distribution conditions, crowding conditions and the like in the current water area, and is convenient for managing and maintaining the outdoor water area. The outdoor water area manager can know the index information of the wind speed and the wind direction, the air temperature, the PH value and the salt and alkali value of the outdoor water area through the monitoring terminal, and determines the opening of the outdoor water area according to the index information.
Meanwhile, a radio frequency module can be added for the outdoor swimming underwater positioning bracelet. When swimming in outdoor waters, personal articles need to be carried with them and stored in the locker in order to protect the safety of the personal articles. Therefore, in order to facilitate the use of a user, a radio frequency unlocking function can be added on the outdoor swimming underwater positioning bracelet, and the locker is unlocked in a short distance by utilizing a radio frequency technology, so that the outdoor swimming underwater positioning bracelet and a locker key are organically combined.
According to the underwater acoustic positioning system, more wireless nodes are required to be arranged in a positioning area in the wireless network positioning technology, the cost is high, meanwhile, the wireless signals are severely attenuated in water and have limited transmission distance, the conductivity difference of the wireless signals in fresh water and sea water is large, and the underwater acoustic signals have strong anti-interference capability and are not easy to be influenced by surrounding environments. The underwater sound positioning system mainly comprises three modes of an ultra-short baseline, a short baseline and a long baseline. Considering the approximate area of an actual outdoor swimming place, the small water depth of swimmers and the cost and flexibility of underwater positioning, the patent adopts an ultra-short baseline positioning mode, a large number of anchor nodes are not required to be arranged, a plurality of positioning underwater acoustic transponders (at least 3) are only required to be fixed at the bottom of the water, and a positioning underwater acoustic transducer and a timer are arranged in an outdoor swimming underwater positioning bracelet, so that the positioning of a user with higher precision can be realized, and meanwhile, the cost of underwater accurate positioning is also reduced. Meanwhile, the two-way time ranging method is adopted in the patent, the distance between the user and each positioning underwater acoustic transponder is calculated by measuring the time required by the propagation of the underwater acoustic signal between the user and the positioning underwater acoustic transponder, so that the interference of external factors is further reduced, and the ranging precision is improved.
Preferably, in the underwater positioning method for swimming personnel, the number and deployment positions of the positioning underwater acoustic transponders in the peripheral positioning equipment are scientifically and reasonably arranged according to the actual condition of the outdoor water area and the hardware cost, which has a great influence on the calculation time of the subsequent positioning method, and the number of the positioning underwater acoustic transponders is preferably 3.
Preferably, in the underwater positioning method for swimming personnel, theoretically, a point (x) in an area surrounded by the positioning underwater acoustic transponder can be taken 0 ，y 0 ，z 0 ) As an initial value, but in practical cases it is considered that the algorithm converges rapidly to the current swimmer position coordinates, (x 0 ，y 0 ，z 0 ) It may be preferable to locate the outer core within the area enclosed by the acoustic transponder.
Drawings
FIG. 1 is a schematic view of the overall appearance structure of an outdoor swimming underwater positioning bracelet according to the invention;
FIG. 2 is a schematic view of the structure of the outdoor swimming underwater positioning bracelet surface according to the invention;
FIG. 3 is a schematic view of the structure of the middle of the outdoor swimming underwater positioning bracelet according to the invention;
FIG. 4 is a schematic view of the structure of the bottom of the outdoor swimming underwater positioning bracelet according to the present invention;
FIG. 5 is a schematic diagram of a peripheral device according to the present invention;
FIG. 6 is a diagram of an outdoor swimming underwater positioning bracelet module according to the present invention;
Fig. 7 is a flowchart of a positioning method of the outdoor swimming underwater positioning bracelet.
Detailed Description
As shown in fig. 1 to 7, an outdoor swimming underwater positioning bracelet comprises a circular wrist strap 1, wherein a communication control module 2, a positioning module 3, a display module 4, a sensor module 5, a vibration motor module 6 and/or a loudspeaker module 7 and a power supply 8 for supplying power to the modules are arranged on the wrist strap 1; the communication control module 2 comprises a micro controller and a communication underwater sound transducer, wherein the micro controller is used for controlling information interaction and transmission between the modules of the outdoor swimming underwater positioning bracelet and peripheral equipment, and the communication underwater sound transducer is used for communicating with the communication underwater sound transducer 21 in the peripheral communication equipment so as to realize the interconversion between the electric signal and the underwater sound signal; the positioning module 3 consists of a positioning underwater sound transducer and a timer, wherein the positioning underwater sound transducer is matched with a positioning underwater sound transponder 23 of peripheral positioning equipment of an outdoor swimming place for use and periodically transmits sound signals to the positioning underwater sound transponder 23, and the timer is used for recording the time of each time of transmitting and receiving the sound signals by the positioning underwater sound transducer and transmitting the sound signals to a server by using peripheral communication equipment through the communication control module 2; the sensor module 5 comprises a heart rate sensor, a blood pressure sensor and a water pressure sensor, wherein the heart rate sensor and the blood pressure sensor are positioned at the inner side of the wrist strap 1 so as to be clung to the inner side of the wrist of the swimmer, the water pressure sensor is arranged in the wrist strap 1 and is used for sensing the pressure in water, the current water inlet depth of the swimmer is calculated according to the pressure value given by the water pressure sensor, the sensor module 5 is connected with the communication control module 2, when the pressure value of the water pressure sensor is not zero, namely, when the swimmer is in an underwater state, the communication control module 2 sends a wake-up signal to a positioning underwater sound transducer in the positioning module 3, and the positioning underwater sound transducer starts to send an acoustic signal and communicates with a positioning underwater sound transponder 23 of the peripheral positioning equipment on standby; the positioning module 3 and the display module 4 are positioned outside the wrist strap 1; the vibration motor module 6 and/or the speaker module 7 and the power supply 8 are built in the wrist strap 1; the display module 4, the vibration motor module 6 and/or the speaker module 7 all receive information of the server through the communication control module 2 and using peripheral communication devices.
The communication control module 2 is further provided with a viewing button 9 positioned at the outer side of the wrist strap 1, when a swimming personnel presses the viewing button 9 once, the communication control module 2 sends a signal to a server, after the server receives the signal, the server acquires the current heart rate and blood pressure information of the user from the storage module and packages the information and sends the information to the communication control module 2 of the outdoor swimming underwater positioning bracelet, and the communication control module 2 sends the information to the display module 4 after receiving the information, so that the current heart rate and blood pressure information of the user is displayed; the checking button 9 is continuously pressed twice, the communication control module 2 in the outdoor swimming underwater positioning bracelet transmits a signal to the server, after the server receives the signal, the communication control module 2 which acquires the current position information of the pre-management user from the storage module and packages the information and transmits the information to the outdoor swimming underwater positioning bracelet is provided, and the communication control module 2 transmits the information to the display module 4 after receiving the information, so that the real-time checking of the position information of the pre-management user is realized; the button 9 is continuously pressed for three times, the communication control module 2 in the outdoor swimming underwater positioning bracelet sends a signal to the server, after the server receives the signal, the information of the current outdoor water area wind speed and wind direction, the air temperature, the PH value and the saline value is obtained from the storage module, the information is packaged and sent to the communication control module 2 of the outdoor swimming underwater positioning bracelet, and the communication control module 2 sends the information to the display module 4 after receiving the information, so that the information of the water area wind speed and wind direction, the air temperature, the PH value and the saline value is displayed; when the outdoor swimming underwater positioning bracelet receives the alarm signal from the server, the swimming personnel can check the button 9 in 5 seconds for a long time by pressing 2 seconds, the communication control module 2 of the outdoor swimming underwater positioning bracelet immediately sends a closing signal to the vibration motor module 6 and/or the loudspeaker module 7, the vibration motor module 6 stops vibrating, the loudspeaker module 7 stops playing the voice, and the time for closing the alarm signal by the user is sent to the storage module of the server through the peripheral communication equipment to be stored.
The display module 4 in this embodiment includes a touch screen and a voice communication module, a touch key is set on the touch screen, the touch key includes a set key, an input key and a voice key, after the user clicks the set key, if the input key is clicked and the ID number of the pre-management user and the farthest distance allowed by the pre-management user are input by 50 meters, the communication control module 2 in the outdoor swimming underwater positioning bracelet sends the ID number information and the farthest distance information input by the user to the server, the server stores the information to the storage module after receiving the information, then the server monitors the geographic position of the pre-management user of the user in real time, if the distance between the position of the pre-management user and the position of the user exceeds the set farthest distance by 50 meters, the server immediately sends an alarm signal to the communication control module 2 in the outdoor swimming underwater positioning bracelet of the user, after the communication control module 2 receives the information, the communication control module sends signals to the vibration motor module 6 and/or the speaker module 7, the vibration motor module 6 receives the signals, and automatically plays the speaker 7 after the vibration motor module receives the signals, and the vibration motor module receives the vibration signals, thereby achieving a certain user' is noted that the movement range is set by the user; after a user clicks a setting key, if the user clicks an input key and inputs the threshold information of the heart rate value range and the blood pressure value range and the preset duration for 10 seconds, the communication control module 2 in the outdoor swimming underwater positioning bracelet sends the information to the server, the server stores the information to the storage module after receiving the information, then the server sends an instruction to the sensor module 5 through the communication control module 2 to start the heart rate sensor and the blood pressure sensor to acquire heart rate and blood pressure information and sends the information to the server through the communication control module 2, the server stores and analyzes the received physiological information, and if any one of the acquired heart rate and blood pressure information is not in the input heart rate value and the blood pressure value range for more than 10 seconds, the server immediately sends an alarm signal to the communication control module 2 in the outdoor swimming underwater positioning bracelet of a friend of the user, after receiving the alarm signal information, the communication control module 2 immediately sends a signal to the vibration motor module 6 and/or the speaker module 7, the vibration motor module 6 can vibrate the outdoor swimming underwater positioning bracelet after receiving the signal, and the speaker module 7 automatically plays the signal to prompt the friend to notice the information; if the acquired heart rate and blood pressure information are in the input heart rate value range, the blood pressure value range and the threshold value range or the time that any index of the acquired heart rate and blood pressure information is not in the input heart rate value and blood pressure value range is not longer than 10 seconds, no instruction is sent; after a user clicks a setting key, if the user clicks an input key and inputs the threshold value information of the water depth and the preset time length for 30 seconds, the communication control module 2 in the outdoor swimming underwater positioning bracelet sends the information to the server, the server stores the information to the storage module after receiving the information, then the server sends an instruction to the sensor module 5 through the communication control module 2 to start the water pressure sensor to collect the water pressure information and send the information to the server through the communication control module 2, the server stores and analyzes the received water pressure information, if the current water depth of the user measured by the water pressure sensor exceeds a preset threshold value and the time length is longer than 30 seconds, the server immediately sends an alarm signal to the communication control module 2 in the outdoor swimming underwater positioning bracelet of the friend of the user, after receiving the alarm signal, the communication control module 2 immediately sends a signal to the vibration motor module 6 and/or the loudspeaker module 7, the outdoor swimming underwater positioning bracelet is vibrated after receiving the signal, and the loudspeaker module 7 automatically plays the prompt information after receiving the signal, so that the friend of the user is noticed; if the current water depth of the user measured by the water pressure sensor is not longer than 30 seconds or the current water depth of the swimmer is not longer than the preset threshold, no instruction is sent; the voice communication module is used for voice communication among friends.
The present embodiment further comprises a radio frequency module 10, said radio frequency module 10 also being arranged on the wristband 1 for being connected to the communication control module 2 and communicating with the communication control module 2 by means of electrical signals.
The invention also comprises peripheral equipment, wherein the peripheral equipment comprises peripheral communication equipment, peripheral positioning equipment, environment monitoring equipment, power supply equipment and a server; the peripheral communication equipment comprises a communication underwater sound transducer 21 and a wired transmission medium 22, so as to realize communication between the outdoor swimming underwater positioning bracelet and the server, if the outdoor swimming underwater positioning bracelet transmits information to the server, firstly, data information, namely an electric signal, is converted into an acoustic signal through the communication underwater sound transducer in the communication control module 2, the acoustic signal is transmitted to the communication underwater sound transducer 21 in the peripheral communication equipment, and finally, after the communication underwater sound transducer 21 in the peripheral communication equipment receives the acoustic signal, the acoustic signal is converted into the electric signal again, and the electric signal is transmitted to the server through the wired transmission medium 22; if the server sends information to the outdoor swimming underwater positioning bracelet, firstly the server sends data information, namely an electric signal, to the communication underwater acoustic transducer 21 in the peripheral communication equipment through the wired transmission medium 22 in the peripheral communication equipment, then the communication underwater acoustic transducer 21 in the peripheral communication equipment converts the electric signal into an acoustic signal and sends the acoustic signal to the communication control module 2 of the outdoor swimming underwater positioning bracelet, and finally the communication underwater acoustic transducer in the communication control module 2 receives the acoustic signal and then converts the acoustic signal into an electric signal again; the peripheral positioning equipment comprises a plurality of positioning underwater acoustic transponders 23, the plurality of positioning underwater acoustic transponders 23 are matched with the positioning underwater acoustic transducers in the outdoor swimming underwater positioning bracelet positioning module 4 for use, and receive acoustic signals sent by the positioning underwater acoustic transducers in the outdoor swimming underwater positioning bracelet positioning module 4, one of the plurality of positioning underwater acoustic transponders 23 in the outdoor water area is fixed on a central pile 24 in the outdoor water area, the rest of positioning underwater acoustic transponders 23 are fixed on auxiliary piles 25 around the central pile 24, the central pile 24 and the auxiliary piles 25 form a matrix, and the distances between all positioning underwater acoustic transponders 23 and the horizontal plane are the same; the environment monitoring equipment comprises wind speed and direction equipment 26, water temperature equipment 27, PH value equipment 28 and saline-alkali degree equipment 29, the environment monitoring equipment periodically sends monitored data to a server through a wired transmission medium 22, the server stores the received data to a storage module, when a certain index of an outdoor water area is abnormal, the server sends an alarm signal to a communication control module 2 in an outdoor swimming underwater positioning bracelet, the communication control module 2 immediately sends a signal to a vibration motor module 6 and/or a loudspeaker module 7 after receiving the signal, the vibration motor module 6 can vibrate the outdoor swimming underwater positioning bracelet after receiving the signal, and the loudspeaker module 7 automatically plays voice information after receiving the signal so as to draw the attention of a user; the power supply equipment comprises a solar panel 30 and a voltage transmission line 31, wherein the solar panel 30 in the power supply equipment is fixed at the top end of the center pile 24 of an outdoor water area, the voltage transmission line 31 is paved at the bottom of the outdoor water area and is communicated with a circuit of the center pile 24, and the power supply equipment adopts a power supply mode of combining solar energy and traditional power to supply power to the environment monitoring equipment.
An underwater positioning method adopts the outdoor swimming underwater positioning bracelet disclosed by the embodiment, and specifically comprises the following steps:
1. the communication control module 2 in the outdoor swimming underwater positioning bracelet continuously transmits the time information acquired by the timer in the positioning module 3 to the server through peripheral communication equipment, and the specific process is as follows:
when the pressure value of the water pressure sensor of the sensor module 5 in the outdoor swimming underwater positioning bracelet is not zero, namely, when a swimmer is in an underwater state, the sensor module 5 is connected with the communication control module 2, the communication control module 2 sends a wake-up signal to the positioning underwater sound transducer in the positioning module 3, the positioning underwater sound transducer continuously sends sound signals to the standby on-duty positioning underwater sound transponder 23 in the outdoor swimming place, each positioning underwater sound transponder 23 sends corresponding response signals to the positioning underwater sound transducer of the outdoor swimming underwater positioning bracelet after receiving the sound signals, the timer of the positioning module 3 in the outdoor swimming underwater positioning bracelet records the time when the positioning underwater sound transducer sends and receives the sound signals each time, and the communication control module 2 sends time information to the server through peripheral communication equipment;
in order to effectively distinguish a plurality of swimmers, the frequencies of sound signals sent by the positioning underwater sound transducers in the outdoor swimming underwater positioning bracelet worn by different swimmers are different, and meanwhile, only response signals with the same frequency are received. The marking frequency can be set by the manufacturer of the outdoor swimming underwater positioning bracelet when leaving the factory, and can also be set by an outdoor water area manager in advance for each outdoor swimming underwater positioning bracelet through the display module 4 according to the authority of the manager. The marking frequency is stored in a communication control module 2 of the outdoor swimming underwater positioning bracelet and a storage module of a server. Meanwhile, in order to determine from which positioning underwater acoustic transponder 23 the response signal received by the outdoor swimming underwater positioning bracelet comes, some research works have been conducted to design the underwater acoustic transponder to solve the above problem, and reference may be made to work of other researchers, for example, the academic paper "ultra short baseline underwater acoustic positioning system transponder design" of Beijing university Chen Jun in 2012. The information sent to the server by the communication control module 2 in the outdoor swimming underwater positioning bracelet specifically comprises: the locating underwater acoustic transponder number, the time of transmission of the beacon frequency acoustic signal, and the time of receipt of the beacon frequency acoustic signal from the locating underwater acoustic transponder 23.
2. The server receives the time information from the peripheral communication equipment, stores the time information into the storage module, sends an instruction to the analysis module of the server, and then the analysis module adopts a least square method to obtain the underwater position coordinates of the swimmer;
the specific process is as follows: a total of 3 positioning underwater acoustic transponders 23 are provided, and the coordinates of the ith positioning underwater acoustic transponder 23 are (x) i ，y i ，z i ) Where i=1, 2,3, and the coordinates of a user are (x, y, z), then the user and the i-th positioning underwater acoustic transponderDistance R of 23 i ＝v(t ir -t is ) Wherein v is the propagation velocity of an acoustic signal in water, t is 、t ir The time when the positioning underwater acoustic transducer in the outdoor swimming underwater positioning bracelet worn by the user sends and receives the acoustic signal to the ith positioning underwater acoustic transponder 23 is respectively, in addition, the distance between the swimmer and each positioning underwater acoustic transponder 23 can be calculated through the coordinates of the swimmer and the positioning underwater acoustic transponder 23, so that 3 nonlinear equations can be obtained:
and obtaining a linear observation equation by eliminating the quadratic coefficient of the nonlinear equation set:
AX＝B (2)
in formula (2):
constructing an estimateThe performance index is as follows:
to the minimum; because a given initial value may have larger deviation, a taylor series expansion mode can be utilized to linearize a quadratic equation, and iterative approximation is performed on a least square solving algorithm;
For equation (7) at (x 0 ，y 0 ，z 0 ) The points are subjected to Taylor series expansion, and the following steps are carried out:
then
Substituting formula (9) into formula (1) yields:
take the initial value (x) 0 ，y 0 ，z 0 ) For the outer center of the area surrounded by each positioning underwater sound transponder 23, after the equation set (10) is solved by adopting a least square method, judging whether the condition (11) is satisfied;
if the condition (11) is satisfied, then (x 0 ，y 0 ，z 0 ) The coordinates of the current swimmer; if the condition (11) is not satisfied, the value of (x) 0 ，y 0 ，z 0 ) As a starting point, x 0 、y 0 、z 0 Step sizes of + -h/2, + -k/2 and + -l/2 are respectively increased, so that 8 new coordinate points can be obtained, and the new coordinate points are substituted into the formula (10) to obtain corresponding values of h, k and l; if a plurality of points exist at the same time and meet the condition (11), substituting the condition (6) to select a coordinate point with the minimum performance index value, namely the current position coordinate (x, y, z) of the swimmer; if the 8 coordinate points do not exist points meeting the condition (11), selecting the point with the minimum index value in the formula (6) as a starting point, and iteratively updating with the values of h, k and l of the point until the current position coordinates (x, y and z) of the swimmer are obtained;
3. and after the position coordinates are calculated by the analysis module of the server, the position coordinates are stored in the storage module of the server.

Claims (6)

1. An underwater positioning method adopts an outdoor swimming underwater positioning bracelet and is characterized by comprising the following specific steps:
1. The communication control module (2) in the outdoor swimming underwater positioning bracelet continuously transmits the time information acquired by the timer in the positioning module (3) to the server through peripheral communication equipment, and the specific process is as follows:
when the pressure value of a water pressure sensor of a sensor module (5) in the outdoor swimming underwater positioning bracelet is not zero, namely, when a swimmer is in an underwater state, the sensor module (5) is connected with a communication control module (2), the communication control module (2) sends a wake-up signal to a positioning underwater sound transducer in a positioning module (3), the positioning underwater sound transducer continuously sends sound signals to a standby on-duty positioning underwater sound transponder (23) in an outdoor swimming place, each positioning underwater sound transponder (23) sends corresponding response signals to the positioning underwater sound transducer of the outdoor swimming underwater positioning bracelet after receiving the sound signals, a timer of the positioning module (3) in the outdoor swimming underwater positioning bracelet records the time when the positioning underwater sound transducer sends and receives the sound signals each time, and the communication control module (2) sends time information to a server through peripheral communication equipment;
2. the server receives the time information from the peripheral communication equipment, stores the time information into the storage module, sends an instruction to the analysis module of the server, and then the analysis module adopts a least square method to obtain the underwater position coordinates of the swimmer;
The specific process is as follows: the m (m is more than or equal to 3) positioning underwater acoustic transponders (23) are arranged, and the coordinate of the ith positioning underwater acoustic transponder (23) is (x) i ，y i ，z i ) Where i=1, 2, …, m, the coordinates of a user being (x, y, z), the distance R of the user from the i-th positioning transponder (23) i ＝v(t ir -t is ) Wherein v is the propagation velocity of an acoustic signal in water, t is 、t ir Positioning underwater sound transducers in outdoor swimming underwater positioning bracelets worn by the user respectively face the ith positioning underwater sound transponder (23)) The moments of sending and receiving acoustic signals, because the distance of the swimmer from each positioning transponder (23) can be calculated from the coordinates of the swimmer and the positioning transponder (23), can result in m sets of nonlinear equations:
and obtaining a linear observation equation by eliminating the quadratic coefficient of the nonlinear equation set:
AX＝B (2)
in formula (2):
constructing an estimateThe performance index is as follows:
to the minimum; because a given initial value is unsuitable and causes larger deviation, a taylor series expansion mode can be utilized to linearize a quadratic equation, and iterative approximation is carried out on a least square solving algorithm;
for equation (7) at (x 0 ，y 0 ，z 0 ) The points are subjected to Taylor series expansion, and the following steps are carried out:
then
Substituting formula (9) into formula (1) yields:
Taking a point (x) within the area enclosed by the positioning underwater acoustic transponder (23) 0 ，y 0 ，z 0 ) As an initial value, after solving the equation set (10) by using a least square method, judging whether the condition (11) is satisfied;
if the condition (11) is satisfied, then (x 0 ，y 0 ，z 0 ) The coordinates of the current swimmer; if the condition (11) is not satisfied, the value of (x) 0 ，y 0 ，z 0 ) As a starting point, x 0 、y 0 、z 0 Step sizes of + -h/2, + -k/2 and + -l/2 are respectively increased, so that 8 new coordinate points can be obtained, and the new coordinate points are substituted into the formula (10) to obtain corresponding values of h, k and l; if a plurality of points exist at the same time and meet the condition (11), substituting the condition (6) to select a coordinate point with the minimum performance index value, namely the current position coordinate (x, y, z) of the swimmer; if the 8 coordinate points do not exist points meeting the condition (11), selecting the point with the minimum index value in the formula (6) as a starting point, and iteratively updating with the values of h, k and l of the point until the current position coordinates (x, y and z) of the swimmer are obtained;
3. and after the position coordinates are calculated by the analysis module of the server, the position coordinates are stored in the storage module of the server.
2. The underwater positioning method according to claim 1, characterized in that the outdoor swimming underwater positioning bracelet comprises a ring-shaped wrist strap (1), wherein the wrist strap (1) is provided with a communication control module (2), a positioning module (3), a display module (4), a sensor module (5), a vibration motor module (6) and/or a loudspeaker module (7) and a power supply (8) for supplying power to the modules; the communication control module (2) comprises a micro-controller and a communication underwater sound transducer, wherein the micro-controller is used for controlling information interaction and transmission between the outdoor swimming underwater positioning bracelet modules and peripheral equipment, and the communication underwater sound transducer is used for communicating with a communication underwater sound transducer (21) in the peripheral communication equipment to realize the mutual conversion between electric signals and underwater sound signals; the positioning module (3) consists of a positioning underwater sound transducer and a timer, wherein the positioning underwater sound transducer is matched with a positioning underwater sound transponder (23) of peripheral positioning equipment of an outdoor swimming place for use and periodically transmits sound signals to the positioning underwater sound transponder (23), and the timer is used for recording the time of each time of transmitting and receiving the sound signals by the positioning underwater sound transducer and transmitting the sound signals to a server through peripheral communication equipment by the communication control module (2); the sensor module (5) comprises a heart rate sensor, a blood pressure sensor and a water pressure sensor, wherein the heart rate sensor and the blood pressure sensor are positioned at the inner side of the wrist strap (1) so as to be clung to the inner side of the wrist strap (1), the water pressure sensor is arranged in the wrist strap (1) and is used for sensing the pressure in water, the current water inlet depth of the swimmer is calculated according to the pressure value given by the water pressure sensor, the sensor module (5) is connected with the communication control module (2), and when the pressure value of the water pressure sensor is not zero, namely, the swimmer is in an underwater state, the communication control module (2) sends a wake-up signal to a positioning underwater sound transducer in the positioning module (3), and the positioning underwater sound transducer starts to send a sound signal and communicates with a positioning underwater sound transponder (23) of the peripheral positioning equipment on standby. The positioning module (3) and the display module (4) are positioned at the outer side of the wrist strap (1); the vibration motor module (6) and/or the loudspeaker module (7) and the power supply (8) are/is arranged inside the wrist strap (1); the display module (4), the vibration motor module (6) and/or the loudspeaker module (7) all receive information of the server through the communication control module (2) and peripheral communication equipment.
3. The underwater positioning method according to claim 2, wherein the communication control module (2) is further provided with a viewing button (9) positioned at the outer side of the wrist strap (1), when a swimming person presses the viewing button (9) once, the communication control module (2) sends a signal to a server, after the server receives the signal, the current heart rate and blood pressure information of the user is obtained from the storage module and packaged and sent to the communication control module (2) of the outdoor swimming underwater positioning wrist strap, and the communication control module (2) sends the information to the display module (4) after receiving the information, so that the current heart rate and blood pressure information of the user is displayed; the method comprises the steps that a checking button (9) is continuously pressed twice, a communication control module (2) in an outdoor swimming underwater positioning bracelet sends a signal to a server, after the server receives the signal, the communication control module (2) acquires the current position information of a pre-management user from a storage module and packages and sends the information to the outdoor swimming underwater positioning bracelet, and the communication control module (2) sends the information to a display module (4) after receiving the information, so that the real-time checking of the position information of the pre-management user is realized; the method comprises the steps that a check button (9) is continuously pressed for three times, a communication control module (2) in the outdoor swimming underwater positioning bracelet sends a signal to a server, after the server receives the signal, the information of the wind speed and the wind direction, the air temperature, the PH value and the salt and alkalinity value of the current outdoor water area is obtained from a storage module, the information is packaged and sent to the communication control module (2) of the outdoor swimming underwater positioning bracelet, and the communication control module (2) sends the information to a display module (4) after receiving the information, so that the information of the wind speed and the wind direction, the air temperature, the PH value and the salt and alkalinity value of the water area is displayed; after the outdoor swimming underwater positioning bracelet receives the alarm signal from the server, a swimming worker can press the check button (9) for a long time within a specified time, the communication control module (2) of the outdoor swimming underwater positioning bracelet immediately sends a closing signal to the vibration motor module (6) and/or the loudspeaker module (7), the vibration motor module (6) stops vibrating, the loudspeaker module (7) stops playing voice, and the time for closing the alarm signal by the user is sent to the storage module of the server through the peripheral communication equipment for storage.
4. The underwater positioning method according to claim 2, wherein the display module (4) comprises a touch screen and a voice communication module, touch keys are arranged on the touch screen, the touch keys comprise a setting key, an input key and a voice key, after the user clicks the setting key, if the user clicks the input key and inputs an ID number of a pre-management user and the furthest distance allowed by the pre-management user, a communication control module (2) in an outdoor swimming underwater positioning bracelet sends ID number information and furthest distance information input by the user to a server, the server receives the information and stores the information into a storage module, then the server monitors the geographic position of the pre-management user of the user in real time, if the distance between the position of the pre-management user and the position of the user exceeds the set furthest distance, the server immediately sends an alarm signal to a communication control module (2) in the outdoor swimming underwater positioning bracelet of the user, and immediately sends an automatic vibration motor (6) and/or a loudspeaker module (7) after receiving the information, the automatic vibration motor module (7) sends a vibration signal to the loudspeaker module (7) after receiving the information, and the user 'vibration signal is played by the automatic vibration motor module' after the user's vibration signal is in a certain vibration positioning range is received, the user' is set; after a user clicks a setting key, if the user clicks an input key and inputs threshold information of a heart rate value range and a blood pressure value range and preset duration, a communication control module (2) in an outdoor swimming underwater positioning bracelet sends the information to a server, the server stores the information to a storage module after receiving the information, then the server sends an instruction to a sensor module (5) through the communication control module (2) to start a heart rate sensor and a blood pressure sensor to acquire heart rate and blood pressure information and sends the information to the server through the communication control module (2), the server stores and analyzes the received physiological information, if any index in the acquired heart rate and blood pressure information is not in the input heart rate value and the preset duration, the server immediately sends an alarm signal to the communication control module (2) in the outdoor swimming positioning bracelet of a friend of the user, and after receiving the alarm signal, the communication control module (2) immediately sends a signal to a vibration motor module (6) and/or a speaker module (7), the vibration motor module (6) automatically sends the outdoor positioning signal to the speaker module after the friend sends the sound signal to the outdoor positioning bracelet, and the user notices the user's the sound signal; if the acquired heart rate and blood pressure information are in the input heart rate value range, the blood pressure value range and the threshold value range or the time that any index of the acquired heart rate and blood pressure information is not in the input heart rate value and blood pressure value range but does not exceed the preset duration, no instruction is sent; after a user clicks a setting key, if the user clicks an input key and inputs threshold information of the water depth and preset time length, a communication control module (2) in the outdoor swimming underwater positioning bracelet sends the information to a server, the server stores the information to a storage module after receiving the information, then the server sends an instruction to a sensor module (5) through the communication control module (2) to start a water pressure sensor to collect the water pressure information and send the information to the server through the communication control module (2), the server stores and analyzes the received water pressure information, if the current water depth of the user measured by the water pressure sensor exceeds a preset threshold and the time length is longer than the preset time length, the server immediately sends an alarm signal to the communication control module (2) in the outdoor swimming underwater positioning bracelet of the user, after receiving the alarm signal, the communication control module (2) immediately sends a signal to a vibration motor module (6) and/or a loudspeaker module (7), the outdoor swimming underwater positioning bracelet is vibrated after receiving the signal, and the loudspeaker module (7) automatically plays the signal to prompt the user to notice the information; if the current water depth of the user measured by the water pressure sensor is not longer than the preset time or the current water depth of the swimmer is not longer than the preset threshold, no instruction is sent; the voice communication module is used for voice communication among friends.
5. An underwater positioning method according to claim 2, characterized by further comprising a radio frequency module (10), said radio frequency module (10) being also provided on the wristband (1) for connection with the communication control module (2) and for communication with the communication control module (2) by means of electrical signals.
6. An underwater positioning method as claimed in claim 2, further comprising peripheral devices including peripheral communication devices, peripheral positioning devices, environmental monitoring devices, power supply devices and servers; the peripheral communication equipment comprises a communication underwater sound transducer (21) and a wired transmission medium (22) so as to realize communication between the outdoor swimming underwater positioning bracelet and the server, if the outdoor swimming underwater positioning bracelet transmits information to the server, firstly, data information, namely an electric signal, is converted into an acoustic signal through the communication underwater sound transducer in the communication control module (2), the acoustic signal is transmitted to the communication underwater sound transducer (21) in the peripheral communication equipment, and finally, after the communication underwater sound transducer (21) in the peripheral communication equipment receives the acoustic signal, the acoustic signal is converted into the electric signal again and is transmitted to the server through the wired transmission medium (22); if the server sends information to the outdoor swimming underwater positioning bracelet, firstly, the server sends data information, namely an electric signal, to a communication underwater sound transducer (21) in the peripheral communication equipment through a wired transmission medium (22) in the peripheral communication equipment, then the communication underwater sound transducer (21) in the peripheral communication equipment converts the electric signal into an acoustic signal, the acoustic signal is sent to a communication control module (2) of the outdoor swimming underwater positioning bracelet, and finally the communication underwater sound transducer in the communication control module (2) receives the acoustic signal and then converts the acoustic signal into an electric signal again; the peripheral positioning equipment comprises a plurality of positioning underwater acoustic transponders (23), the positioning underwater acoustic transponders (23) are matched with positioning underwater acoustic transducers in the outdoor swimming underwater positioning bracelet positioning module (3) for use, and receive acoustic signals sent by the positioning underwater acoustic transducers in the outdoor swimming underwater positioning bracelet positioning module (3), one of the positioning underwater acoustic transponders (23) in the outdoor water area is fixed on a central pile (24) in the outdoor water area, the rest positioning underwater acoustic transponders (23) are fixed on auxiliary piles (25) around the central pile (24), the central pile (24) and the auxiliary piles (25) form a basic array, and the distances between all the positioning underwater acoustic transponders (23) and a horizontal plane are the same; the environment monitoring equipment comprises wind speed and wind direction equipment (26), water temperature equipment (27), PH value equipment (28) and saline-alkali degree equipment (29), the environment monitoring equipment periodically transmits monitored data to a server through a wired transmission medium (22), the server stores the received data to a storage module, when a certain index of an outdoor water area is abnormal, the server transmits an alarm signal to a communication control module (2) in an outdoor swimming underwater positioning bracelet, the communication control module (2) immediately transmits a signal to a vibration motor module (6) and/or a loudspeaker module (7) after receiving the signal, the vibration motor module (6) can vibrate the outdoor swimming underwater positioning bracelet after receiving the signal, and the loudspeaker module (7) automatically plays voice information to draw the attention of a user; the power supply equipment comprises a solar panel (30) and a voltage transmission line (31), wherein the solar panel (30) in the power supply equipment is fixed at the top end of a center pile (24) of an outdoor water area, the voltage transmission line (31) is paved at the bottom of the outdoor water area and is communicated with a circuit of the center pile (24), and the power supply equipment adopts a power supply mode of combining solar energy with traditional power to supply power to the environment monitoring equipment.
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