CN108200534B

CN108200534B - Method and equipment for positioning terminal

Info

Publication number: CN108200534B
Application number: CN201810021883.2A
Authority: CN
Inventors: 马路娟; 张传欣; 刘宏举
Original assignee: Hisense Co Ltd
Current assignee: Hisense Co Ltd
Priority date: 2018-01-10
Filing date: 2018-01-10
Publication date: 2020-07-10
Anticipated expiration: 2038-01-10
Also published as: WO2019136966A1; CN108200534A

Abstract

The invention discloses a method and equipment for positioning a terminal, which are used for solving the problems of inaccurate positioning and low efficiency in indoor tracking and positioning of a moving target in the prior art. The tracking equipment acquires distance information obtained according to the distance between the positioning equipment in the cluster and the target terminal, determines the position sequence of the target terminal according to the acquired distance information, and finally processes the position sequence in a grey prediction mode to determine the position of the target terminal at the next moment. Because the tracking device can obtain the distance information, the tracking device can accurately determine the target terminal position sequence according to the distance information, and finally, the target terminal position sequence is processed in a grey prediction mode to obtain a next predicted position, so that the positioning accuracy is improved, and the problems of insufficient accuracy and low efficiency in indoor tracking and positioning of a moving target in the prior art are solved.

Description

Method and equipment for positioning terminal

Technical Field

The present invention relates to the field of wireless communications technologies, and in particular, to a method and an apparatus for positioning a terminal.

Background

At present, all activities in life are mostly carried out indoors, and a terminal needs to be positioned, so that on one hand, the position of a user pushes specific information; on the other hand, when the article is lost or the child is lost, the article can be found according to the position of the terminal.

In the prior art, there are many positioning methods, such as conventional GPS (Global positioning system) and positioning based on base station, which are suitable for open environment, but there are large errors when GPS positioning and positioning based on base station are used indoors.

In summary, when indoor tracking and positioning are performed on a moving target in the prior art, positioning is not accurate enough, and efficiency is low.

Disclosure of Invention

The invention provides a method and equipment for positioning a terminal, which are used for solving the problems of inaccurate positioning and low efficiency in indoor tracking and positioning of a moving target in the prior art.

The embodiment of the invention provides a method for positioning a terminal, which comprises the following steps:

the method comprises the steps that a tracking device obtains distance information obtained according to the distance between a positioning device in a cluster and a target terminal, wherein the positioning device in the cluster is selected according to the distance between the positioning device and the target terminal;

the tracking equipment determines a position sequence of the target terminal according to the acquired distance information;

and the tracking equipment determines the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence.

The embodiment of the invention provides another method for positioning a terminal, which comprises the following steps:

after determining that the positioning equipment is used as a cluster head, the positioning equipment receives distances between the target terminal and other positioning equipment uploaded in the cluster for multiple times, wherein the positioning equipment in the cluster is selected according to the distance between the positioning equipment and the target terminal;

the positioning equipment determines a plurality of distance information according to the distance between the positioning equipment and the target terminal and the distance between the positioning equipment and the target terminal uploaded by other positioning equipment;

and the positioning equipment sends the distance information to tracking equipment so that the tracking equipment determines the position sequence of the target terminal according to the distance information and determines the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence.

The embodiment of the invention provides equipment for positioning a terminal, which comprises:

at least one processing unit and at least one memory unit, wherein the memory unit stores program code that, when executed by the processing unit, causes the processing unit to perform the following:

acquiring distance information obtained according to the distance between positioning equipment in a cluster and a target terminal, wherein the positioning equipment in the cluster is selected according to the distance between the positioning equipment and the target terminal;

determining a position sequence of the target terminal according to the acquired distance information;

and determining the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence.

after determining that the self serves as a cluster head, receiving distances between the target terminal and other positioning devices uploaded in the cluster for multiple times, wherein the positioning devices in the cluster are selected according to the distances between the positioning devices and the target terminal;

determining a plurality of distance information according to the distance between the positioning device and the target terminal and the distance between the positioning device and the target terminal uploaded by other positioning devices;

and sending the plurality of distance information to a tracking device so that the tracking device determines the position sequence of the target terminal according to the plurality of distance information and determines the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence.

the system comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring distance information obtained according to the distance between positioning equipment in a cluster and a target terminal, and the positioning equipment in the cluster is selected according to the distance between the positioning equipment and the target terminal;

the first determining module is used for determining the position sequence of the target terminal according to the acquired distance information;

and the second determining module is used for determining the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence.

the receiving module is used for receiving distances between the target terminal and other positioning equipment uploaded in the cluster for multiple times after the self serving as the cluster head is determined, wherein the positioning equipment in the cluster is selected according to the distance between the positioning equipment and the target terminal;

the determining module is used for determining a plurality of distance information according to the distance between the determining module and the target terminal and the distance between the determining module and the target terminal uploaded by other positioning equipment;

and the sending module is used for sending the distance information to the tracking equipment so that the tracking equipment determines the position sequence of the target terminal according to the distance information and determines the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence.

The tracking equipment acquires distance information obtained according to the distance between the positioning equipment in the cluster and the target terminal, determines the position sequence of the target terminal according to the acquired distance information, and finally processes the position sequence in a grey prediction mode to determine the position of the target terminal at the next moment. The tracking equipment can acquire distance information, the distance contained in the distance information is obtained according to the distance between the positioning equipment in the cluster and the target terminal, the tracking equipment can accurately determine the position sequence of the target terminal according to the distance information, and finally the position sequence of the target terminal is processed in a grey prediction mode to obtain the predicted position of the next moment, so that the positioning accuracy is improved, and the problems of inaccurate positioning and low efficiency when indoor tracking positioning is carried out on a moving target in the prior art are solved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a system for positioning a terminal according to an embodiment of the present invention;

FIG. 2 is a diagram illustrating an embodiment of determining a positioning device in a cluster;

FIG. 3 is a schematic diagram of determining a position sequence through wavelet processing according to an embodiment of the present invention;

FIG. 4 is a diagram illustrating predicted locations in a cluster according to an embodiment of the present invention;

fig. 5 is a schematic diagram of a positioning device whose predicted position is not in a cluster but in the cluster can sense a target terminal in the embodiment of the present invention;

fig. 6 is a schematic structural diagram of a first apparatus for positioning a terminal according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a second apparatus for positioning a terminal according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a third apparatus for positioning a terminal according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a fourth apparatus for positioning a terminal according to an embodiment of the present invention;

fig. 10 is a flowchart illustrating a method for positioning a terminal according to an embodiment of the present invention;

fig. 11 is a schematic flowchart of another method for positioning a terminal according to an embodiment of the present invention;

fig. 12 is a flowchart illustrating a method for tracking and positioning a terminal according to an embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in further detail with reference to the accompanying drawings, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1, a system for positioning a terminal according to an embodiment of the present invention includes:

the tracking device 10 is configured to obtain distance information obtained according to a distance between a positioning device in a cluster and a target terminal, where the positioning device in the cluster is selected according to the distance between the positioning device and the target terminal; determining a position sequence of the target terminal according to the acquired distance information; and determining the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence.

The positioning device 20 is configured to receive distances to the target terminal uploaded by other positioning devices in the cluster for multiple times after determining that the positioning device itself serves as the cluster head, where the positioning device in the cluster is selected according to the distance between the positioning device and the target terminal; determining a plurality of distance information according to the distance between the positioning device and the target terminal and the distance between the positioning device and the target terminal uploaded by other positioning devices; and sending the plurality of distance information to a tracking device so that the tracking device determines the position sequence of the target terminal according to the plurality of distance information and determines the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence.

The tracking equipment acquires distance information obtained according to the distance between the positioning equipment in the cluster and the target terminal, determines the position sequence of the target terminal according to the acquired distance information, and finally processes the position sequence in a grey prediction mode to determine the position of the target terminal at the next moment. The tracking equipment can acquire distance information, the distance contained in the distance information is obtained according to the distance between each positioning equipment in the cluster and the target terminal, the tracking equipment can accurately determine the position sequence of the target terminal according to the distance information, and finally the position sequence of the target terminal is processed in a grey prediction mode to obtain the predicted position of the next moment, so that the positioning accuracy is improved, and the problems of inaccurate positioning and low efficiency when indoor tracking positioning is carried out on a moving target in the prior art are solved.

Wherein the tracking device includes, but is not limited to, some or all of the following:

base station, home gateway, etc.

When the tracking device acquires the distance information, the tracking device acquires the distance information for multiple times, and the distance information acquired each time is determined according to the distance between the positioning device in the cluster and the target terminal. The distance information is obtained by acquiring the distance information, determining the distance between each positioning device in the cluster and the target terminal, and finally determining the distance information according to the distance between each positioning device in the cluster and the target.

Specifically, in the embodiment of the present invention, the tracking device receives the information transmitted by the target terminal, determines whether the target terminal enters a sensing range (or a target area), and after determining that the target terminal enters the sensing range (or the target area), the tracking device triggers all the positioning devices in the sensing range (or the target area), and the triggered positioning devices may receive the information transmitted by the target terminal and determine the distance between the positioning devices and the target terminal according to the signal strength carried in the received information transmitted by the target terminal.

Wherein, the information transmitted by the target terminal includes but is not limited to part or all of the following:

signal strength, identification of the target terminal, etc.

In the embodiment of the present invention, the identifier of the target terminal is mainly used, when there are multiple terminals that need to be located in a sensing range (or a target area), the tracking device may determine, according to the identifier of the target terminal, a moving direction of the target terminal, and whether the target terminal moves out of the sensing range (or the target area); and meanwhile, the positioning equipment in the sensing range (or the target area) determines which target terminal of the plurality of target terminals is subjected to ranging by the positioning equipment according to the identification of the target terminal, and reports the determined distance.

Wherein the position of the pointing device is fixed in the sensing range (or target area), and each pointing device is manually configured in the sensing range (or target area). In the implementation process, the distance information of each positioning device is obtained in a manual configuration mode.

The perception range (or target area) includes, but is not limited to, some or all of the following:

indoor environments such as supermarkets, shopping squares, gymnasiums and the like.

Specifically, the positioning device is used for performing transceiving communication of radio signals with a target node, and in implementation, the positioning device includes, but is not limited to, part or all of the following:

sensors, wireless routers, etc. may be used for communication devices that transceive radio signals.

Optionally, the positioning device determines whether itself is the positioning device in the cluster according to the following manner:

and if the distance between the positioning device and the target terminal is not greater than the threshold value, the positioning device determines that the positioning device is the positioning device in the cluster.

Specifically, a large number of positioning devices exist in a sensing range (or a target area), all the positioning devices in the sensing range (or the target area) determine the distance from the positioning device to the target terminal according to the signal strength of the target terminal, compare the determined distance with a threshold value stored in the positioning device, and if the distance from the positioning device to the target terminal is not greater than the threshold value, determine that the positioning device is a positioning device in a cluster.

The threshold is preset according to actual requirements, and the larger the value set by the threshold is, the higher the positioning accuracy is.

As shown in fig. 2, a square area in the figure is a sensing range (or a target area), a circular area is an area with the target terminal as a center and a threshold as a radius (R), and the positioning devices in the circular area are all the positioning devices in a cluster. Assuming that a plurality of positioning devices such as positioning device A, B, C, D, E, F, G exist in the sensing range (or target area), each positioning device may receive information transmitted by the target terminal, and determine the distance from the device A, B, C, D, E, F, G to the target terminal according to the signal strength carried in the received information, where the determined distances are 1 meter, 1.2 meters, 1.5 meters, 1.8 meters, 2 meters, 2.4 meters, and 2.6 meters, respectively; assuming that the threshold stored in all the positioning apparatuses is 2 meters, the positioning apparatus having a distance from the positioning apparatus to the target terminal greater than 2 meters does not belong to the positioning apparatus in the cluster, and the positioning apparatus F, G does not belong to the positioning apparatus in the cluster.

The tracking device determines the position of a target terminal, and may determine the position according to the received distance to the target terminal reported by the positioning device.

In implementation, the positioning device determines whether the positioning device is the positioning device in the cluster according to the relationship between the distance to the target terminal and the threshold, and the distance information determined according to the distance information between the positioning device in the cluster and the target terminal is more accurate, so that the positioning accuracy is improved.

Optionally, the positioning device in the cluster includes a cluster head positioning device, and when all the positioning devices in the cluster determine whether the positioning devices themselves are cluster heads, the determination may be performed in the following manner.

The first method is as follows: and the positioning equipment determines whether the positioning equipment is a cluster head or not according to the received distance between other positioning equipment in the cluster and the target terminal.

And after determining that the distance between the positioning equipment and the target terminal is smaller than the distances between other positioning equipment in the cluster and the target terminal, the positioning equipment determines that the positioning equipment is a cluster head.

Specifically, all the positioning devices in the cluster determine the distance from the target terminal to the positioning device according to the signal strength carried in the information transmitted by the target terminal; after each positioning device determines the distance from the positioning device to the target terminal, the determined distance information is sent to any positioning device in the cluster, and meanwhile, the positioning device receives the distances from the positioning device to the target terminal, which are sent by other positioning devices in the cluster; after the positioning equipment receives the distances from other positioning equipment to the target terminal, determining whether the distance between the positioning equipment and the target terminal is smaller than the distance between the other positioning equipment in the received cluster and the target terminal; and after the positioning equipment determines that the distance from the positioning equipment to the target terminal is less than the distances from other positioning equipment in the cluster to the target terminal, determining the positioning equipment as a cluster head.

For example, there are multiple positioning devices A, B, C, D, E in the cluster, and the positioning device A, B, C, D, E determines that the distances from the target terminal to the positioning device A, B, C, D, E are 1 meter, 1.2 meters, 1.5 meters, 1.8 meters, and 2 meters, respectively, according to the received signal strength of the target terminal; at this time, the positioning device a sends the determined distance of 1 meter to the positioning device B, C, D, E, the positioning device B sends the determined distance information of 1.2 meters to the positioning devices A, C, D, E, and similarly, the positioning device C, D, E sends the distance determined by itself to the target terminal to other positioning devices; after receiving the distances 1.2 m, 1.5 m, 1.8 m and 2 m from the positioning device B, C, D, E, the positioning device a determines whether the distance from itself (positioning device a) to the target terminal is less than the received distances 1.2 m, 1.5 m, 1.8 m and 2 m from the positioning device B, C, D, E to the target terminal; and after the positioning equipment A determines that the distance from the positioning equipment A to the target terminal is 1 m less than the distances from other positioning equipment in the cluster to the target terminal by 1.2 m, 1.5 m, 1.8 m and 2 m, determining that the positioning equipment A is cluster head positioning equipment.

The second method comprises the following steps: and the positioning equipment sends information to the tracking equipment, and the tracking equipment selects the cluster head positioning equipment according to the received information.

The positioning device sends the distance between the positioning device and the target terminal to the tracking device, and after receiving the information that the tracking device indicates the tracking device to serve as the cluster head, the positioning device determines that the positioning device serves as the cluster head.

Specifically, all the positioning devices in the cluster determine the distance from the target terminal to the positioning device according to the signal strength of the information transmitted by the target terminal; after each positioning device determines the distance from the positioning device to the target terminal, the positioning device sends the distance from the positioning device to the target terminal to the tracking device; after receiving the distances from all the positioning devices to the target terminal, the tracking device determines the positioning device with the shortest distance from the positioning device to the target terminal, indicates the positioning device corresponding to the determined shortest distance as a cluster head, and then sends indication information to the corresponding positioning device; and the positioning equipment determines that the tracking equipment is a cluster head after receiving the information that the tracking equipment indicates that the tracking equipment is the cluster head.

For example, there are multiple positioning devices A, B, C, D, E in the cluster, and the positioning device A, B, C, D, E determines that the distances from the target terminal to the positioning device A, B, C, D, E are 1 meter, 1.2 meters, 1.5 meters, 1.8 meters, and 2 meters, respectively, according to the received signal strength of the target terminal; at this time, the positioning device A, B, C, D, E sends the corresponding distances of 1 meter, 1.2 meters, 1.5 meters, 1.8 meters, and 2 meters to the tracking device; after the tracking device receives distances of 1 meter, 1.2 meters, 1.5 meters, 1.8 meters and 2 meters from all the positioning devices A, B, C, D, E, determining that the shortest distance from the positioning device to the target terminal is 1 meter, the positioning device corresponding to the shortest distance of 1 meter is a positioning device A, the tracking device indicates the positioning device A to be a cluster head, and the tracking device sends indication information to the positioning device A; after receiving the information indicating that the positioning device a itself is a cluster head, the positioning device a determines that the positioning device a itself is a cluster head.

In implementation, when the cluster head is selected according to the distance between the positioning device and the target terminal, the positioning device which is the shortest distance from the target terminal is selected as the cluster head, and the cluster head can receive information sent by all the positioning devices in the cluster, so that the positioning precision is improved in the positioning process.

Optionally, after determining that the positioning device is not a cluster head, the positioning device determines the distance to the target terminal multiple times, and reports the determined distance to the cluster head.

Specifically, after the positioning device in the cluster determines that the positioning device is not a cluster head, the distance between the positioning device and the target terminal is determined for multiple times, the determined distance is reported to the cluster heads, all the received information which is not reported by the cluster head positioning device is fused by the cluster heads, the fused information is reported to the tracking device, the tracking device acquires distance information according to the reported information after receiving the information reported by the cluster heads, determines the position sequence of the target terminal according to the distance information, and finally determines the position of the next moment according to the position sequence.

The distance information may also be determined by the tracking device according to a distance from the tracking device to the target terminal, where the distance is reported by each positioning device in the cluster.

The positioning equipment determines whether the positioning equipment is the cluster head or not mainly according to the distance to the target terminal, compares the distances to the target terminal according to the distances from the positioning equipment to the target terminal after receiving the distances to the target terminal, which are sent by other positioning equipment in the cluster, and determines that the positioning equipment is not the cluster head if the distance from the positioning equipment to the target terminal is not the shortest.

When determining that the positioning device which is not a cluster head determines the distance to the target terminal multiple times, the multiple times of determination may be periodically determining the distance to the target terminal according to the received signal strength, and the time of the period may be set according to the size of the sensing range (or the target area) and/or the number of positioning devices in the sensing range (or the target area).

In implementation, the positioning device which is not the cluster head is determined, the distance from the positioning device to the target terminal determined by the positioning device is reported to the cluster head, so that the cluster head fuses the received reported information and finally reports the information to the tracking device, the tracking device can determine a position sequence according to the distance from the positioning device which is not the cluster head to the target terminal, and then the position information of the next moment is predicted, and the positioning precision is improved.

In the implementation process, after the positioning device in the cluster is determined, the positioning device in the sensing range (or the target area) that does not belong to the cluster may be turned off, so as to save the energy of the positioning device in the sensing range (or the target area).

The positioning device not belonging to the cluster in the sensing range (or the target area) may be configured to compare, by the tracking device, a distance reported by the positioning device and the target terminal with the threshold, and when the distance is greater than the threshold, the tracking device instructs the positioning device to turn off; or the positioning equipment is closed when the measured distance between the positioning equipment and the target terminal is determined to be greater than the threshold value according to the comparison between the measured distance and the target terminal and the threshold value stored in the positioning equipment.

In this embodiment of the present invention, after the tracking device determines the positioning device in the cluster, before the positioning device in the determined cluster determines the distance to the target terminal according to the signal strength carried in the information transmitted by the target terminal, the determined positioning device in the cluster may sense the target terminal and determine whether the information transmitted by the target terminal can be received.

If the positioning device in the cluster can sense the information transmitted by the target terminal, determining the distance between the tracking device and the target terminal according to the signal strength carried in the information transmitted by the target terminal, so that the tracking device can execute the step of determining position information and a position sequence, and the tracking device further predicts the position according to the position sequence;

if the positioning device in the cluster cannot sense the target terminal, the positioning device in the cluster reports the information that the target terminal cannot be sensed to the tracking device, and the tracking device triggers all the positioning devices in the sensing range (or the target area) to re-determine whether the cluster head and the positioning device are the positioning devices in the cluster.

Optionally, when the tracking device determines the position of the target terminal at the next moment by using a gray prediction mode according to the position sequence, the tracking device performs denoising on the position sequence by using a wavelet processing mode;

and the tracking equipment determines the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence after the noise elimination.

Specifically, the tracking device obtains distance information obtained according to the distance between each positioning device in the cluster and the target terminal for multiple times, multiple pieces of position information can be determined according to the obtained distance information, the position sequence of the target terminal is determined according to the position information, then the position sequence of the target terminal is denoised in a wavelet processing mode, the distance information with too large deviation is eliminated, the distance information of the next moment is predicted for the remaining distance information in the position sequence in a grey prediction mode, and finally the predicted position of the next moment is obtained.

When determining the position information according to the acquired distance information, there may be a plurality of ways, such as: trilateration, triangulation, and the like.

As shown in FIG. 3, the circular area represents the current cluster, and assuming that the dots in FIG. 3 represent position information determined by the tracking device based on the acquired distance information, the determined position has X⁽⁰⁾(0),X⁽⁰⁾(1),X⁽⁰⁾(2),X⁽⁰⁾(3),X⁽⁰⁾(4),X⁽⁰⁾(5)...X⁽⁰⁾(N), corresponding to points X (0), X (1), X (2), X (3), X (4), X (5).. X (N), respectively, in fig. 3.

The position sequence determined by the tracking device at this time is: x⁽⁰⁾＝{X⁽⁰⁾(0),X⁽⁰⁾(1),X⁽⁰⁾(2)，X⁽⁰⁾(3),X⁽⁰⁾(4),X⁽⁰⁾(5)...X⁽⁰⁾(N) }, from FIG. 3, position X can be determined⁽⁰⁾(0) Has large deviation, and eliminates distance information X when wavelet processing is carried out⁽⁰⁾(0) Remaining distance information X⁽⁰⁾(1),X⁽⁰⁾(2),X⁽⁰⁾(3),X⁽⁰⁾(4),X⁽⁰⁾(5)...X⁽⁰⁾(N) is a plurality of possible position information at the next time, and the possible position sequence at the next time after the wavelet de-noising processing at this time is represented as X⁽⁰⁾＝{X⁽⁰⁾(1),X⁽⁰⁾(2),X⁽⁰⁾(3),X⁽⁰⁾(4),X⁽⁰⁾(5)...X⁽⁰⁾(N), after determining a possible position sequence, predicting the position of the next moment by using a gray prediction mode, and finally obtaining a predicted position of the next moment, wherein the specific prediction process is described in detail below.

And accumulating the determined possible position sequence once to generate an increment sequence, wherein the increment sequence is shown as a formula I:

the formula I is as follows: x⁽¹⁾＝{X⁽¹⁾(1),X⁽¹⁾(2),X⁽¹⁾(3),X⁽¹⁾(4),X⁽¹⁾(5)...X⁽¹⁾(N)}

Wherein the content of the first and second substances,

incremental sequence X in determining a sequence of possible positions⁽¹⁾Then, X is determined⁽¹⁾Is generated by the adjacent mean generation sequence Z⁽¹⁾The next adjacent mean generation sequence is shown in equation two:

the formula II is as follows: z⁽¹⁾＝{Z⁽¹⁾(1),Z⁽¹⁾(2),Z⁽¹⁾(3),Z⁽¹⁾(4),Z⁽¹⁾(5)...Z⁽¹⁾(N)}

Wherein the content of the first and second substances,

due to X⁽¹⁾The equation grows exponentially, the first order differential equation has an exponentially growing form, so X⁽¹⁾Satisfy linear differential equation

Wherein the equation

Is the whitening equation of the GM (1, 1) model.

Then for the whitening equation above, when the initial condition K ═ K is satisfied₍₀₎，X⁽¹⁾＝X⁽¹⁾(K₀) And then, solving, wherein the obtained solution is shown as a formula III:

the formula III is as follows:

the discrete values sampled at equal intervals are shown in equation four:

the formula four is as follows:

reduction by cumulant subtraction for formula four

Obtaining the predicted position at the moment k +1, wherein the predicted position is shown as a formula five:

the formula five is as follows:

in the grey prediction process, estimating constants a and b in the whitening equation by a least square method;

estimating the whitening equation using the principle of least squares to obtain formula six:

wherein, in the formula six:

due to Z⁽¹⁾(2) To Z⁽¹⁾(N) and X⁽⁰⁾(2) To X⁽⁰⁾N) is known, so that B and Y can be determined, the numerical values corresponding to a and B in the formula six can be obtained according to the determined B and Y, and the obtained a and B numerical values are respectively substituted into a formula three and a formula four to obtain

And

and determining the predicted position according to the formula V by the corresponding numerical value.

In implementation, the position sequence is denoised in a wavelet processing mode, distance information with large difference in the position sequence is eliminated, errors of the distance information are reduced, and then the position of the target terminal at the next moment is determined according to the remaining distance information, so that the positioning precision can be improved, and the predicted position at the next moment is more accurate.

Optionally, after the tracking device determines the next-moment position of the target terminal according to the position sequence by using a gray prediction mode, if the distance between the next-moment position of the target terminal and the original position of the target terminal is not greater than a threshold, the tracking device continues to perform the step of obtaining distance information according to the distance between the positioning device in the cluster and the target terminal; or

If the distance between the next-moment position of the target terminal and the original position of the target terminal is greater than a threshold value, the tracking device triggers the positioning device to re-determine whether the tracking device is the positioning device in the cluster;

wherein the original position of the target terminal is a position of the target terminal used in determining the positioning device in the cluster.

Specifically, when predicting the position of the next moment according to the position sequence, the predicted position has a plurality of situations, which are described below.

The first condition is as follows: and the next moment position of the target terminal is in the current cluster.

And if the distance between the next-moment position of the target terminal and the original position of the target terminal is not larger than the threshold value, the tracking equipment continues to execute the step of obtaining distance information obtained according to the distance between each positioning equipment in the cluster and the target terminal for multiple times.

Specifically, when the predicted position at the next time is in the current cluster, that is, the distance between the position at the next time of the target terminal and the original position of the target terminal is not greater than the threshold, the tracking device continues to use the current cluster to track and locate the target terminal.

In the implementation process, the tracking device determines a plurality of pieces of position information at the next moment according to the acquired distance information, determines a position sequence according to the position information, performs wavelet processing on the determined position sequence to obtain a position sequence including possible position information at the next moment, and performs gray prediction on the position sequence to determine a predicted position at the next moment.

The tracking device may determine the information of the predicted position, and may further determine the original position information of the target terminal according to the obtained distance information, and further determine a distance between a position of the target terminal at a next moment and the original position of the target terminal, where the target terminal compares the determined distance between the position of the target terminal at the next moment and the original position of the target terminal with a threshold included in the information reported by the positioning device.

If the distance between the next-moment position of the target terminal and the original position of the target terminal is determined to be not greater than the threshold value, the next-moment position of the target terminal is indicated to be in the current cluster, the positioning device in the cluster continues to measure the distance of the target terminal according to the received signal strength carried in the information transmitted by the target terminal, the positioning device reports the determined distance to the target terminal to the cluster head positioning device in the current cluster, the cluster head positioning device fuses the received distance between each positioning device in the cluster and the target terminal and sends the fused information to the tracking device, the tracking device can acquire distance information according to the received fusion information reported by the cluster head positioning device, and finally the next-moment position can be determined according to the distance information.

The tracking device may also determine the distance to the target terminal according to the distance reported by each positioning device in the cluster.

Wherein the current cluster is a circular area with the original position of the target terminal as the center and the threshold as the radius.

As shown in fig. 4, the circular area represents a circular area with an original position a of the target terminal as a center and a threshold R as a radius, the predicted position of the target terminal at the next moment is B, at this time, the tracking device determines that the distance between the original position information of the target terminal and the predicted position information of the target terminal at the next moment is L-1.2, the tracking device determines that the threshold R included in the received information reported by the positioning device in the cluster is 2, compares the distance L with the threshold R, determines that the distance L is not greater than the threshold R, and determines that the position of the target terminal at the next moment is in the current cluster.

Case two: the predicted location is not in the current cluster.

specifically, when the next-moment position of the target terminal is not in the current cluster, that is, the distance between the next-moment position of the target terminal and the original position of the target terminal is greater than the threshold, the tracking device triggers all positioning devices in the sensing range (or target area) where the target terminal is located, determines the distance to the target terminal again according to the received signal strength carried in the information transmitted by the target terminal, and determines whether the positioning device is in the cluster according to the threshold stored in the tracking device.

If it is determined that the distance between the position of the target terminal at the next moment and the original position of the target terminal is greater than the threshold, indicating that the position of the target terminal at the next moment is not in the current cluster, the tracking device triggers all positioning devices in the sensing range (or the target area), all the positioning devices determine the distance between the tracking device and the target terminal again according to the received signal strength carried in the information transmitted by the target terminal and report the determined distance between the tracking device and the target terminal to the tracking device, the tracking device determines the positioning device with the shortest distance according to the received distances reported by all the positioning devices, determines the positioning device with the shortest distance as a cluster head positioning device, further continues to execute the step of determining the positioning device in the cluster, and then reports the distance between the positioning device in the cluster and the target terminal to the cluster head positioning device in the current cluster, the cluster head positioning device fuses the distance between each positioning device in the received cluster and the target terminal, and sends the fused information to the tracking device, the tracking device can acquire distance information according to the received fusion information reported by the cluster head positioning device, and finally the position of the next moment can be determined according to the distance information.

As shown in fig. 5, the circular area represents a circular area with an original position a of the target terminal as a center and a threshold R as a radius, the predicted position of the target terminal at the next moment is B, at this time, the tracking device determines that the distance between the original position information of the target terminal and the predicted position information of the target terminal at the next moment is L-2.2, the tracking device determines that the threshold R included in the received information reported by the positioning device in the cluster is 2, compares the distance L with the threshold R, determines that the distance L is greater than the threshold R, and determines that the position of the target terminal at the next moment is not in the current cluster.

The tracking device judges whether the next-moment position of the target terminal is in a current cluster or not, and can also determine according to perception information reported by positioning devices in the cluster, and if the tracking device receives a message that each positioning device in the cluster can perceive the target terminal, the tracking device judges that the next-moment position of the target terminal is in the current cluster; if the tracking device receives a message that a part of positioning devices in a cluster can sense the target terminal, it is determined that the next-moment position of the target terminal is not in the current cluster, where the part of positioning devices in the cluster is a positioning device that is relatively far away from the original position of the target terminal or is in an edge area in the cluster.

And each positioning device senses the information of the target terminal all the time.

In the implementation, when the tracking and positioning are carried out again according to the information of the predicted position, whether the predicted position is in the current cluster is determined, and if the predicted position is in the current cluster, the current cluster is used for continuing the tracking and positioning; if the current cluster is not located and the positioning device in the cluster can sense the moving direction of the target terminal, triggering all the positioning devices in the target area to re-establish the cluster, ensuring that the target terminal is detected at any time and improving the positioning precision.

Optionally, before the tracking device obtains distance information according to the distance between the positioning device in the cluster and the target terminal, the tracking device takes the positioning device with the shortest distance to the target terminal as a cluster head positioning device; or determining cluster head positioning equipment according to the notification message of the positioning equipment in the cluster;

when the tracking device acquires distance information obtained according to the distance between each positioning device in the cluster and the target terminal for multiple times, the tracking device receives the distance information which is sent by the cluster head positioning device in the cluster and is obtained according to the distance between each positioning device in the cluster and the target terminal.

Specifically, before acquiring the distance information, the tracking device further determines a positioning device serving as a cluster head in the cluster, and there are various ways of determining the cluster head positioning device, which are described below.

The first method is as follows: and the tracking equipment takes the positioning equipment with the shortest distance to the target terminal as cluster head positioning equipment.

In the implementation process, each positioning device in the cluster determines the distance from the positioning device to the target terminal according to the received signal strength carried in the information transmitted by the target terminal, and reports the determined distance to the tracking device, and after receiving the distance information reported by the positioning device, the tracking device selects the positioning device corresponding to the shortest distance in the distance information to determine as the cluster head positioning device.

And if the determined distance information contains a plurality of shortest distance information, selecting one positioning device corresponding to the shortest distance information from the shortest distance information as the cluster head positioning device.

For example, the cluster includes a positioning device A, B, C, D, E, F, it is determined that the distances from the positioning device A, B, C, D, E, F to the target terminal are 1 meter, 1.2 meters, 1.4 meters, 1 meter, 2 meters, and 1 meter, the tracking device determines that the shortest distance from the positioning device to the target terminal is 1 meter, the positioning device corresponding to the shortest distance of 1 meter is a positioning device A, D, F, the tracking device selects any one positioning device from the positioning devices A, D, F as a cluster head positioning device, and may select a positioning device a, a positioning device D, or a positioning device F.

The second method comprises the following steps: and determining cluster head positioning equipment according to the notification message of the positioning equipment in the cluster.

In the implementation process, each positioning device in the cluster determines the distance from the positioning device to the target terminal according to the received signal strength carried in the information transmitted by the target terminal, and transmits the determined distance to other positioning devices in the cluster, each positioning device in the cluster receives distance messages transmitted by other positioning devices in the cluster, and the positioning device determines the distance from the positioning device to the target terminal as the distance from other positioning devices in the cluster to the target terminal, and further determines whether the positioning device is a cluster head or not, or determines that other positioning devices corresponding to the shortest distance are cluster heads.

Similarly, when the distances from the positioning devices to the target terminal are multiple identical and shortest distances, one positioning device is arbitrarily selected from the positioning devices corresponding to the identical and shortest distances as a cluster head positioning device, and the cluster head positioning device notifies other positioning devices in the cluster.

The cluster head positioning device can receive distance information sent by any positioning device in the cluster, then performs information fusion on the received distance information, and reports the fused distance information to the tracking device; and then the tracking equipment determines a distance information sequence according to the received fused distance information.

In implementation, before determining the distance information, the tracking device needs to determine the cluster head positioning device in the cluster, so that the positioning device of the cluster head receives the distance information of other positioning devices in the cluster, and reports the received distance information to the tracking device, so that the tracking device can determine the distance information according to the distance information, thereby improving the positioning accuracy.

Optionally, after the tracking device determines the next-moment position of the target terminal by using a gray prediction mode according to the position sequence, if the positioning device in the cluster cannot sense the target terminal, the tracking device triggers the positioning device to re-determine whether the tracking device is the positioning device in the cluster.

Specifically, after the tracking device determines the distance information of the target terminal at the next moment according to the position sequence, if all the positioning devices in the current cluster can not sense the target terminal, all the positioning devices in the cluster report the information of which the target terminal can not be sensed to the tracking device, after the tracking device receives the message that all the positioning devices in the current cluster cannot sense the target terminal, the tracking device will trigger all positioning devices in the whole target area, the positioning devices detect the information transmitted by the target terminal again, and determines the distance between itself and the current position of the target terminal according to the signal strength carried in the received information, and comparing the determined distance with a threshold value stored in the self to determine whether the self is the positioning device in the cluster again.

In this embodiment of the present invention, before the tracking device triggers the positioning device to determine whether the tracking device is a positioning device in a cluster again, the positioning device in the cluster may also report the distance between the tracking device and the target terminal to the tracking device, so that the tracking device triggers the positioning device.

Specifically, the positioning device in the cluster may receive information transmitted by the target terminal, and determine the distance to the target terminal according to the signal strength carried in the information, when the measured distance reported by the positioning device to the tracking device is greater than a certain value, the tracking device triggers all positioning devices in a sensing range (or a target area), and the positioning device determines whether the positioning device is a threshold value again; wherein the certain value may be preset in the tracking device in advance.

In implementation, when all the positioning devices in a cluster cannot sense the target terminal, triggering all the positioning devices in the whole target area, determining the distance between the positioning devices and the target terminal by the positioning devices according to the information transmitted by the target terminal, further re-determining whether the positioning devices are the positioning devices in the cluster, continuously tracking the target terminal, and detecting the target terminal so as to improve the positioning accuracy.

Optionally, when the tracking device determines the positioning devices in the cluster, if all the positioning devices cannot sense the target terminal, the tracking device determines that the target terminal moves out of the sensing range.

Specifically, after the positioning device in the cluster cannot sense the target terminal, the imperceptible message is sent to the tracking device, the tracking device triggers all the positioning devices in a target area where the target terminal is located, all the positioning devices detect the target terminal again, when all the positioning devices in the target area cannot sense the target terminal, all the positioning devices in the target area report the imperceptible message of the target terminal to the tracking device, the tracking device determines that the target terminal leaves the target area or moves out of a sensing range after receiving the message that all the positioning devices in the target area cannot sense the target terminal, and the tracking device finishes tracking and positioning the target terminal.

In implementation, when all the positioning devices in the target area cannot sense the target terminal, it is determined that the target terminal moves out of the current target area or sensing range, and the current tracking device ends positioning the target terminal.

In the embodiment of the present invention, the function of receiving the distance information reported by the cluster head in the tracking device and acquiring the position information according to the distance information may be executed by another entity, and the entity executing the function may be a Sink node, a home gateway, or the like.

In the embodiment of the present invention, there is also a notification method in the step of positioning the terminal, and the following describes the step of using the notification method specifically.

In implementation, when determining the positioning device in the cluster, the tracking device may also notify the positioning device whether to be the cluster head positioning device or another positioning device in the cluster.

After determining that the target enters a sensing range (or a target area) according to the information transmitted by the target terminal, the tracking device triggers all positioning devices in the sensing range (or the target area), receives the information transmitted by the target terminal after the positioning devices are triggered, determines the distance between the tracking device and the target terminal according to the signal strength carried by the information transmitted by the target terminal, and reports the distance between the tracking device and the target terminal and a threshold value stored in the positioning devices to the final device;

after receiving the distances between the tracking device and the target terminal reported by all positioning devices in the sensing range (or target area) and the threshold value stored in the positioning device and reporting to the final device, the tracking device compares the distances between the tracking device and the target terminal with the threshold value stored in the positioning device to determine whether the distances between the tracking device and the target terminal are greater than the threshold value in the positioning device.

If the tracking device determines that the distance between the positioning device and the target is not greater than the threshold value in the positioning device, indicating that the positioning device whose distance between the positioning device and the target is not greater than the threshold value is a positioning device in a cluster, and notifying an indication message to a corresponding positioning device in a sensing range (or a target area); if the tracking device determines that the distance between the positioning device and the target terminal is greater than the threshold value in the positioning device, the positioning device greater than the threshold value in the positioning device is not instructed to process or close the positioning device.

As shown in fig. 6, a first apparatus for positioning a terminal according to an embodiment of the present invention includes: at least one processing unit 600 and at least one memory unit 601, wherein said memory unit 601 stores program code which, when executed by said processing unit 600, causes said processing unit 600 to perform the following processes:

Optionally, the processing unit 600 is specifically configured to:

denoising the position sequence by utilizing a wavelet processing mode;

and determining the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence after the noise elimination.

Optionally, the processing unit 600 is further configured to:

if the distance between the next-moment position of the target terminal and the original position of the target terminal is not larger than the threshold value, continuing to execute the step of obtaining distance information according to the distance between the positioning equipment in the cluster and the target terminal; or

If the distance between the next-moment position of the target terminal and the original position of the target terminal is greater than a threshold value, triggering the positioning equipment to determine whether the positioning equipment is the positioning equipment in the cluster again;

Optionally, the processing unit 600 is further configured to:

taking the positioning equipment with the shortest distance to the target terminal as cluster head positioning equipment; or determining cluster head positioning equipment according to the notification message of the positioning equipment in the cluster;

the processing unit 600 is specifically configured to:

and receiving distance information which is sent by the cluster head positioning equipment in the cluster and is obtained according to the distance between the cluster head positioning equipment and the target terminal.

Optionally, the processing unit 600 is further configured to:

and if the positioning equipment in the cluster cannot sense the target terminal, triggering the positioning equipment to determine whether the positioning equipment is the positioning equipment in the cluster again.

Optionally, when determining the positioning devices in the cluster, if all the positioning devices cannot sense the target terminal, the processing device 600 determines that the target terminal moves out of the sensing range.

As shown in fig. 7, a second apparatus for positioning a terminal according to an embodiment of the present invention includes:

an obtaining module 700, configured to obtain distance information obtained according to a distance between a positioning device in a cluster and a target terminal, where the positioning device in the cluster is selected according to the distance between the positioning device and the target terminal;

a first determining module 701, configured to determine a position sequence of the target terminal according to the obtained distance information;

a second determining module 702, configured to determine, according to the position sequence, a position of the target terminal at the next moment in a gray prediction manner.

Optionally, the second determining module 702 is specifically configured to:

denoising the position sequence by utilizing a wavelet processing mode;

Optionally, the second determining module 702 is further configured to:

Optionally, the obtaining module 700 is further configured to:

the obtaining module 700 is specifically configured to:

Optionally, the second determining module 702 is further configured to:

Optionally, when determining the positioning devices in the cluster, the second determining module 702 determines that the target terminal moves out of the sensing range if all the positioning devices cannot sense the target terminal.

As shown in fig. 8, a third apparatus for positioning a terminal according to an embodiment of the present invention includes: at least one processing unit 800 and at least one memory unit 801, wherein the memory unit 802 stores program code that, when executed by the processing unit 801, causes the processing unit 801 to perform the following:

Optionally, after determining that the processing device 800 is not a cluster head, the processing device 800 determines the distance to the target terminal multiple times, and reports the determined distance to the cluster head.

Optionally, the processing device 800 determines whether itself is a cluster head according to the following manner:

after determining that the distance between the self and the target terminal is smaller than the distances between other positioning equipment in the cluster and the target terminal, determining the self as a cluster head; or

And sending the distance between the tracking device and the target terminal to a tracking device, and determining that the tracking device is a cluster head after receiving the information indicating that the tracking device is used as the cluster head.

Optionally, the processing device 800 determines whether itself is a positioning device in the cluster according to the following manner:

and if the distance between the target terminal and the target terminal is not greater than the threshold value, determining that the target terminal is the positioning equipment in the cluster.

As shown in fig. 9, a fourth apparatus for positioning a terminal according to the embodiment of the present invention includes:

a receiving module 900, configured to receive distances to a target terminal uploaded by other positioning devices in a cluster for multiple times after determining that the positioning device itself serves as a cluster head, where the positioning device in the cluster is selected according to the distance between the positioning device and the target terminal;

a determining module 901, configured to determine a plurality of distance information according to the distance between the determining module and the target terminal and the distance between the determining module and the target terminal, which is uploaded by another positioning device;

a sending module 902, configured to send the multiple pieces of distance information to a tracking device, so that the tracking device determines a position sequence of the target terminal according to the multiple pieces of distance information, and determines a position of the target terminal at a next moment by using a gray prediction manner according to the position sequence.

Optionally, the device further includes a reporting module, where the reporting module is configured to determine the distance to the target terminal multiple times after determining that the device is not a cluster head, and report the determined distance to the cluster head.

Optionally, the receiving module 900 is configured to determine whether itself is a cluster head according to the following manners:

Optionally, the determining module 901 is configured to determine whether itself is a positioning device in the cluster according to the following manner:

Based on the same inventive concept, the embodiment of the present invention further provides a method for positioning a terminal, and since the method is a method corresponding to the device for positioning a terminal in the embodiment of the present invention, and the principle of the method for solving the problem is similar to that of the device, the method can be implemented by referring to the device, and repeated details are not repeated.

As shown in fig. 10, a method for positioning a terminal according to an embodiment of the present invention includes:

step 1000, a tracking device obtains distance information obtained according to the distance between a positioning device in a cluster and a target terminal, wherein the positioning device in the cluster is selected according to the distance between the positioning device and the target terminal;

1001, the tracking device determines a position sequence of the target terminal according to the acquired distance information;

step 1002, the tracking device determines the next position of the target terminal according to the position sequence by using a grey prediction mode.

when the tracking equipment acquires distance information obtained according to the distance between the positioning equipment in the cluster and the target terminal, the tracking equipment receives the distance information which is sent by the cluster head positioning equipment in the cluster and is obtained according to the distance between the positioning equipment in the cluster and the target terminal.

Based on the same inventive concept, another method for positioning a terminal is provided in the embodiments of the present invention, and since the method is a method corresponding to the device for positioning a terminal in the embodiments of the present invention, and the principle of the method for solving the problem is similar to that of the device, the implementation of the method can refer to the implementation of the device, and repeated details are not repeated.

As shown in fig. 11, another method for positioning a terminal according to an embodiment of the present invention includes:

1100, after determining that the positioning equipment is used as a cluster head, the positioning equipment receives distances between the target terminal and the positioning equipment uploaded by other positioning equipment in the cluster for multiple times, wherein the positioning equipment in the cluster is selected according to the distance between the positioning equipment and the target terminal;

step 1101, the positioning device determines a plurality of distance information according to the distance between the positioning device and the target terminal and the distance between the positioning device and the target terminal uploaded by other positioning devices;

step 1102, the positioning device sends the plurality of distance information to a tracking device, so that the tracking device determines a position sequence of the target terminal according to the plurality of distance information, and determines a position of the target terminal at the next moment by using a gray prediction mode according to the position sequence.

Optionally, the positioning device determines whether the positioning device is a cluster head according to the following manner:

after the positioning equipment determines that the distance between the positioning equipment and the target terminal is smaller than the distances between other positioning equipment in the cluster and the target terminal, the positioning equipment determines that the positioning equipment is a cluster head; or

And the positioning equipment sends the distance between the positioning equipment and the target terminal to the tracking equipment, and determines that the positioning equipment is a cluster head after receiving the information indicating that the tracking equipment is used as the cluster head.

Specifically, the following describes in detail a method for tracking and positioning the target terminal according to the information transmitted by the target terminal and the positioning device in the sensing range (or target area).

As shown in fig. 12, the method for tracking and positioning a target terminal according to the embodiment of the present invention includes the following steps:

step 1200, after determining that the target terminal enters a sensing range (or a target area) according to the information transmitted by the target terminal, the tracking device triggers all positioning devices in the sensing range;

step 1201, the positioning device determines the distance between the positioning device and the target terminal according to the received signal strength carried in the information transmitted by the target terminal;

step 1202, the positioning device reports the determined distance between itself and the target terminal to the tracking device, and the tracking device determines that the positioning device corresponding to the shortest distance is a cluster head positioning device and indicates that the positioning device is a cluster head positioning device;

step 1203, the positioning device compares the determined distance between itself and the target terminal with a threshold stored in itself, and when the distance is determined not to be greater than the threshold, it is determined that itself is the positioning device in the cluster;

1204, determining whether the positioning device in the cluster can sense the target terminal, if so, executing 1205, otherwise, executing 1200;

step 1205, the positioning device in the cluster determines the distance between itself and the target terminal according to the received signal strength carried in the information transmitted by the target terminal, and reports the determined distance to the cluster head positioning device;

step 1206, after receiving the distances to the target terminal reported by other positioning devices in the cluster, the cluster head positioning device fuses the received information into distance information and reports the distance information to the tracking device;

step 1207, after the tracking device obtains distance information, determining a plurality of pieces of position information of the target terminal according to the obtained distance information, and combining the plurality of pieces of position information into a position sequence;

step 1208, the tracking device performs wavelet denoising processing on the position sequence, and determines a position sequence containing a plurality of possible position information;

step 1209, the tracking device determines the next position of the target terminal by using a grey prediction mode according to the position sequence containing the plurality of possible position information;

step 1210, after determining the next position of the target terminal, the tracking device determines the distance between the next position and the original position of the target terminal, and determines whether the distance between the next position and the original position of the target terminal is greater than the threshold, if not, then step 1205 is executed; otherwise, step 1200 is performed.

When determining the cluster head positioning device in the cluster in implementation, the positioning device in the cluster may also be determined according to each positioning device in the cluster, each positioning device in the cluster may send the distance between itself and the target terminal to other positioning devices in the cluster, each positioning device in the cluster may receive the distance between itself and the target terminal sent by other positioning devices in the cluster, and compare each received distance with the distance between itself and the target terminal, thereby determining that the positioning device corresponding to the shortest distance is the cluster head positioning device.

Embodiments of the present invention may also determine by the tracking device whether a positioning device in the sensing range (or target area) is a positioning device in a cluster, after all the positioning devices are triggered, all the positioning devices determine the distance between the positioning devices and the target terminal according to the received signal strength carried in the information transmitted by the target terminal, and sending the distance and the threshold value stored in the tracking device to the tracking device, wherein after receiving the distance between the positioning device and the target terminal and the threshold value stored in the positioning device, comparing the distance to the threshold, determining a positioning device for which the distance is not greater than the threshold, and indicating the positioning equipment with the distance not greater than the threshold value as the positioning equipment in the cluster, and sending the indication information to the corresponding positioning equipment.

And the positioning equipment in the cluster determines that the distance between the positioning equipment and the target terminal is carried out periodically according to the received signal strength carried in the information transmitted by the target terminal.

The present application is described above with reference to block diagrams and/or flowchart illustrations of methods, apparatus (systems) and/or computer program products according to embodiments of the application. It will be understood that one block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, and/or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer and/or other programmable data processing apparatus, create means for implementing the functions/acts specified in the block diagrams and/or flowchart block or blocks.

Accordingly, the subject application may also be embodied in hardware and/or in software (including firmware, resident software, micro-code, etc.). Furthermore, the present application may take the form of a computer program product on a computer-usable or computer-readable storage medium having computer-usable or computer-readable program code embodied in the medium for use by or in connection with an instruction execution system. In the context of this application, a computer-usable or computer-readable medium may be any medium that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. A method for positioning a terminal, the method comprising:

the tracking equipment determines the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence;

the tracking device determines the next position of the target terminal by using a grey prediction mode according to the position sequence, and the method comprises the following steps:

the tracking equipment utilizes a wavelet processing mode to perform denoising on the position sequence;

2. The method according to claim 1, wherein after the tracking device determines the position of the target terminal at the next moment by using a gray prediction mode according to the position sequence, the method further comprises:

if the distance between the next-moment position of the target terminal and the original position of the target terminal is not larger than the threshold value, the tracking equipment continues to execute the step of obtaining distance information according to the distance between the positioning equipment in the cluster and the target terminal; or

3. The method of claim 1, wherein before the tracking device obtains the distance information according to the distance between the positioning device in the cluster and the target terminal, the method further comprises:

the tracking equipment takes the positioning equipment with the shortest distance to the target terminal as cluster head positioning equipment; or determining cluster head positioning equipment according to the notification message of the positioning equipment in the cluster;

the tracking device obtains distance information obtained according to the distance between the positioning device in the cluster and the target terminal, and the method comprises the following steps:

and the tracking equipment receives distance information which is sent by the cluster head positioning equipment in the cluster and is obtained according to the distance between the cluster head positioning equipment and the target terminal.

4. The method according to claim 1, wherein after the tracking device determines the position of the target terminal at the next moment by using a gray prediction mode according to the position sequence, the method further comprises:

and if the positioning equipment in the cluster cannot sense the target terminal, the tracking equipment triggers the positioning equipment to determine whether the tracking equipment is the positioning equipment in the cluster again.

5. The method according to any one of claims 2 to 4, wherein when the tracking device determines the positioning devices in the cluster, if all the positioning devices cannot sense the target terminal, the tracking device determines that the target terminal moves out of a sensing range.

6. A method for positioning a terminal, the method comprising:

and the positioning equipment sends the distance information to tracking equipment so that the tracking equipment determines a position sequence of the target terminal according to the distance information, performs noise elimination on the position sequence by using a wavelet processing mode, and determines the position of the target terminal at the next moment by using a gray prediction mode according to the position sequence after noise elimination.

7. The method of claim 6, further comprising:

and after determining that the positioning equipment is not the cluster head, the positioning equipment determines the distance between the positioning equipment and the target terminal for multiple times and reports the determined distance to the cluster head.

8. The method of claim 6, wherein the positioning device determines whether it is a cluster head according to:

9. The method according to any of claims 6 to 8, wherein the positioning device determines whether it is a positioning device in the cluster according to the following:

10. An apparatus for positioning a terminal, the apparatus comprising: at least one processing unit and at least one memory unit, wherein the memory unit stores program code that, when executed by the processing unit, causes the processing unit to perform the following:

determining the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence;

wherein the processing unit is specifically configured to:

denoising the position sequence by utilizing a wavelet processing mode;

11. The device of claim 10, wherein the processing device is further to:

12. The device of claim 10, wherein the processing unit is further to:

the processing unit is specifically configured to:

13. The device of claim 10, wherein the processing unit is further to:

14. The device according to any one of claims 11 to 13, wherein the processing unit is configured to, when determining the positioning devices in the cluster, determine that the target terminal moves out of a sensing range if all the positioning devices cannot sense the target terminal.

15. An apparatus for positioning a terminal, the apparatus comprising: at least one processing unit and at least one memory unit, wherein the memory unit stores program code that, when executed by the processing unit, causes the processing unit to perform the following:

and sending the distance information to a tracking device, so that the tracking device determines a position sequence of the target terminal according to the distance information, performs denoising on the position sequence by using a wavelet processing mode, and determines the position of the target terminal at the next moment by using a gray prediction mode according to the denoised position sequence.

16. The apparatus of claim 15, further comprising:

and after determining that the target terminal is not the cluster head, determining the distance to the target terminal for multiple times, and reporting the determined distance to the cluster head.

17. The apparatus of claim 15, wherein the processing unit is configured to determine whether itself is a cluster head according to:

18. The device according to any of claims 15 to 17, wherein the processing unit is configured to determine whether it is a positioning device in the cluster:

19. An apparatus for positioning a terminal, the apparatus comprising:

the second determining module is used for determining the position of the target terminal at the next moment by utilizing a grey prediction mode according to the position sequence;

the second determining module is specifically configured to: and denoising the position sequence by using a wavelet processing mode, and determining the position of the target terminal at the next moment by using a gray prediction mode according to the denoised position sequence.

20. An apparatus for positioning a terminal, the apparatus comprising:

and the sending module is used for sending the distance information to the tracking equipment so that the tracking equipment determines the position sequence of the target terminal according to the distance information, performs noise elimination on the position sequence by using a wavelet processing mode, and determines the position of the target terminal at the next moment by using a gray prediction mode according to the position sequence after noise elimination.