CN112672111A - Multimode fusion wireless positioning system and method - Google Patents
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Abstract
The invention belongs to the technical field of indoor wireless positioning, and discloses a multimode converged wireless positioning system and a method, wherein the multimode converged wireless positioning system comprises: the system comprises a positioning module, an image acquisition module, a track acquisition module, a distance acquisition module, a display module, a central processing module, a wireless transmission module, a cloud service module, a position information management module, a positioning information analysis module, a signal processing module and a track prediction module. According to the multimode fusion wireless positioning system provided by the invention, various parameters of the position of an object can be acquired through the positioning module, the image acquisition module, the track acquisition module and the distance acquisition module, so that the accuracy of object positioning is improved. Meanwhile, the cloud server utilizes a big data processing technology to process and analyze data in the system, so that the precision and the efficiency of data processing are improved; the invention is beneficial to the analysis and processing of the motion of the object through the position information management module, the positioning information analysis module and the track prediction module.
Description
Technical Field
The invention belongs to the technical field of indoor wireless positioning, and particularly relates to a multimode fusion wireless positioning system and a multimode fusion wireless positioning method.
Background
At present, the indoor positioning technology has extremely wide application fields, and has important application in the fields of finance, prisons, detention houses, nursing homes, mines, hospitals, logistics and the like. The indoor positioning technology mainly comprises UWB technology, cs technology, radio frequency identification technology, Bluetooth, wi-fi technology, zigbee technology and the like. The UWB technology is the ultra wide band technology, has good anti-interference and anti-multipath capability, and high positioning precision which can reach the precision of 0.1 meter. The cs technology is a linear frequency modulation spread spectrum technology, the positioning precision is within 1 meter, and the cost is lower than that of the UWB technology. The radio frequency identification technology is used for positioning, the realization cost is low, but the communication distance is short, and is generally less than ten meters. The Wi-Fi technology is used for positioning, equipment is easy to install, and cost is low. The zigbee technology is a short-distance and low-speed wireless network technology, realizes positioning by means of mutual coordination communication among sensors in a network, and is low in power consumption and low in cost of a single sensor. However, the existing multimode fusion positioning system cannot quickly and accurately position an object in the operation process; meanwhile, the existing multimode fusion positioning system cannot acquire clear signals and is not beneficial to processing object positioning information.
Through the above analysis, the problems and defects of the prior art are as follows: the existing multimode fusion positioning system can not quickly and accurately position an object in the operation process; meanwhile, the existing multimode fusion positioning system cannot acquire clear signals and is not beneficial to processing object positioning information.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a multimode fusion wireless positioning system and a multimode fusion wireless positioning method.
The invention is realized in such a way that a multimode converged wireless positioning method comprises the following steps:
acquiring image information of an object by using a camera through an image acquisition module; surrounding wifi signals are collected through a positioning module by using a wifi signal positioning unit, and the wifi signals are analyzed through wifi parameters in wifi signal information, so that the positioning through the wifi signals is realized;
step two, performing communication connection with three service base stations closest to each other by using GPRS/4G/5G signals through a mobile communication signal positioning unit to acquire information of the communication base stations, wherein the acquired information of the communication base stations comprises area numbers of the base stations, numbers of the base stations and signal intensity attenuation values;
step three, inquiring a communication base station database according to the acquired area number of the base station and the number of the base station, and acquiring the acquired longitude and latitude coordinate value of each communication base station; estimating a direct proportional distance between the detection position and each communication base station according to the detected signal intensity attenuation value between each communication base station and the corresponding transmitting power of the communication base station;
step four, calculating a positioning weight corresponding to the communication base station according to the estimated direct proportional distance between the mobile terminal and the communication base station; carrying out position location by detecting the distance from different service base stations by utilizing the location weight of the communication base station and the latitude and longitude coordinate values of the communication base station;
step five, receiving a Beidou positioning signal and a GPS positioning signal through a Beidou GPS dual-mode positioning unit, and carrying out position positioning through a satellite signal to obtain position information of a detected object;
step six, detecting the distance between the object and the sensor by using the distance sensor through the distance acquisition module; sampling each simple action for multiple times by using a gyroscope sensor through a track acquisition module to obtain multiple data of each simple action in a motion track;
step seven, dividing the collected multiple data of each simple movement at different moments to obtain a sensor data interval of each simple movement at each corresponding moment; taking the intermediate value of the sensor data interval at each corresponding moment as a standard value, and sequentially connecting a plurality of standard values in series to obtain a complete motion track;
step eight, the central processing module is respectively connected with the positioning module, the image acquisition module, the track acquisition module, the distance acquisition module, the display module, the wireless transmission module, the position information management module, the positioning information analysis module, the signal processing module and the track prediction module, and the central processing unit coordinately controls the normal operation of each module of the multimode fusion wireless positioning system;
managing the position information of the object in the system by using an information management program through a position information management module; analyzing the position information of the object by a positioning information analysis module by using a positioning information analysis program; processing the collected electric signals, image signals and optical signals by a signal processing module through a signal processing program;
the process of processing the collected electric signals by the signal processing module is as follows: analog-to-digital conversion, which converts an analog signal into a digital signal and performs discretization processing; processing the digital signal through transform domain analysis, filtering, identification and synthesis; restoring the processed digital signal to an analog signal;
step ten, acquiring image detection data comprising N images through a track prediction module, wherein N is an integer greater than 1; determining motion data of an object in the image data according to the image detection data, wherein the motion data of the object is used for representing the position of the object in the image data;
step eleven, predicting the motion trail of the object in a preset time period according to the motion data of the object and a preset motion trail prediction model, wherein the motion trail prediction model is obtained according to the motion data of each object in a sample training library and the motion trail training of each object in the preset time period; predicting the motion trail of the object through a motion trail prediction model;
step twelve, building a corresponding information interaction bridge by the central processing module and the cloud service module through the wireless transmission module and the wireless transmission equipment; processing and analyzing data in the system by using a cloud server through a cloud service module and by using a big data processing technology; and displaying the position information of the detected object, the image information of the object, the distance information between the object and the sensor, the positioning information analysis data, the signal processing result and the real-time data of the track prediction information by using the display screen through the display module.
Further, in the first step, the wiFi parameters include a wiFi access point address coding MAC value and a wiFi signal strength value.
Further, in step nine, the method for filtering a digital signal includes:
(1) establishing a corresponding signal data set by using the digital signal;
(2) and sequencing the digital signals in the signal data set, and taking the intermediate value as the effective value.
Further, in step nine, the method for processing an image signal by a signal processing module includes:
(1) establishing a corresponding data set for the collected indoor images;
(2) extracting an image containing noise through noise identification, and performing gray processing;
(3) after the gray level processing of the image is finished, filtering/edge detection/segmentation is carried out;
(4) and after the preprocessing is finished, extracting corresponding characteristic values from the image.
Further, the method for processing the image gray scale comprises the following steps:
1) converting the colored image into a gray image, and calculating the arithmetic average value of the gray image;
2) and taking the arithmetic mean value as a threshold value, and binarizing the gray level image.
Further, after the image gray processing is completed, the method for edge detection includes:
1) performing Laplace transformation on the filtered image to obtain a Laplace image;
2) in the laplacian image, all zero-crossing maps are extracted.
Another object of the present invention is to provide a multi-mode converged wireless positioning system for implementing the multi-mode converged wireless positioning method, the multi-mode converged wireless positioning system comprising:
the positioning module is connected with the central processing module and is used for detecting the position information of the object by utilizing the VLC positioning sensor;
the image acquisition module is connected with the central processing module and acquires image information of an object through the camera;
the track acquisition module is connected with the central processing module and acquires the motion track of the object through the gyroscope sensor;
the distance acquisition module is connected with the central processing module and detects the distance between an object and the sensor through the distance sensor;
the display module is connected with the central processing module and displays the position information of the detected object, the image information of the object, the distance information between the object and the sensor, the positioning information analysis data, the signal processing result and the real-time data of the track prediction information through a display screen;
the central processing module is respectively connected with the positioning module, the image acquisition module, the track acquisition module, the distance acquisition module, the display module, the wireless transmission module, the position information management module, the positioning information analysis module, the signal processing module and the track prediction module and is used for coordinating and controlling the normal operation of each module of the multimode fusion wireless positioning system through the central processing unit;
the wireless transmission module is connected with the central processing module and used for building a corresponding information interaction bridge by the central processing module and the cloud service module through wireless transmission equipment;
the cloud service module is connected with the wireless transmission module and is used for processing and analyzing data in the system by utilizing a big data processing technology through the cloud server;
the position information management module is connected with the central processing module and is used for managing the position information of the object in the system through an information management program;
the positioning information analysis module is connected with the central processing module and analyzes the position information of the object through a positioning information analysis program;
the signal processing module is connected with the central processing module and processes the collected electric signals, image signals and optical signals through a signal processing program;
and the track prediction module is connected with the central processing module and used for predicting the motion track of the object according to the detected data.
Further, the positioning module includes:
the wiFi signal positioning unit is used for acquiring surrounding wiFi signals through a wiFi signal transmitter and positioning through wiFi signal information;
the mobile communication signal positioning unit is used for carrying out communication connection with three service base stations closest to each other through a GPRS/4G/5G signal communicator and carrying out position positioning through mobile communication signals;
and the Beidou GPS dual-mode positioning unit is used for carrying out position positioning through the Beidou positioning signal and the GPS positioning signal.
It is another object of the present invention to provide a computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface to implement the multimode converged wireless location method when executed on an electronic device.
It is another object of the present invention to provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method for multi-mode converged wireless location.
By combining all the technical schemes, the invention has the advantages and positive effects that: according to the multimode fusion wireless positioning system provided by the invention, various parameters of the position of an object can be acquired through the positioning module, the image acquisition module, the track acquisition module and the distance acquisition module, so that the accuracy of object positioning is improved. According to the invention, the cloud server is used for processing and analyzing the data in the system by utilizing a big data processing technology, so that the precision and the efficiency of data processing are improved; according to the invention, the analysis processing of the motion of the object is facilitated through the position information management module, the positioning information analysis module and the track prediction module; meanwhile, the signal processing module processes the acquired electric signals, image signals and optical signals by using a signal processing program, provides corresponding clear signals for object positioning, and is favorable for positioning the object.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a multi-mode converged wireless positioning system according to an embodiment of the present invention;
in the figure: 1. a positioning module; 2. an image acquisition module; 3. a trajectory acquisition module; 4. a distance acquisition module; 5. a display module; 6. a central processing module; 7. a wireless transmission module; 8. a cloud service module; 9. a location information management module; 10. a positioning information analysis module; 11. a signal processing module; 12. and a track prediction module.
Fig. 2 is a flowchart of a multimode converged wireless positioning method according to an embodiment of the present invention.
Fig. 3 is a flowchart of a method for processing an acquired electrical signal by a signal processing module according to an embodiment of the present invention.
Fig. 4 is a flowchart of a method for processing an image signal in a signal processing module according to an embodiment of the present invention.
Fig. 5 is a flowchart of an image gray scale processing method according to an embodiment of the present invention.
Fig. 6 is a flowchart of a positioning method adopted by a mobile communication signal positioning unit according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In view of the problems in the prior art, the present invention provides a multi-mode converged wireless positioning system and a method thereof, and the present invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the multi-mode converged wireless positioning system provided in the embodiment of the present invention includes:
and the positioning module 1 is connected with the central processing module 6 and is used for detecting the position information of the object by utilizing the VLC positioning sensor.
And the image acquisition module 2 is connected with the central processing module 6 and acquires the image information of the object through a camera.
And the track acquisition module 3 is connected with the central processing module 6 and acquires the motion track of the object through a gyroscope sensor.
And the distance acquisition module 4 is connected with the central processing module 6 and is used for detecting the distance between an object and the sensor through a distance sensor.
And the display module 5 is connected with the central processing module 6 and is used for displaying related data through a display screen.
And the central processing module 6 is respectively connected with the positioning module 1, the image acquisition module 2, the track acquisition module 3, the distance acquisition module 4, the display module 5, the wireless transmission module 7, the position information management module 9, the positioning information analysis module 10, the signal processing module 11 and the track prediction module 12, and coordinates and controls the normal operation of each module of the multimode fusion wireless positioning system through a central processing unit.
And the wireless transmission module 7 is connected with the central processing module 6 and is used for building a corresponding information interaction bridge by the central processing module and the cloud service module by utilizing wireless transmission equipment.
And the cloud service module 8 is connected with the wireless transmission module 7, and processes and analyzes data in the system by using a big data processing technology through a cloud server.
And a position information management module 9 connected to the central processing module 6 for managing the position information of the object in the system by an information management program.
And a positioning information analysis module 10 connected to the central processing module 6 for analyzing the position information of the object by a positioning information analysis program.
And the signal processing module 11 is connected with the central processing module 6 and processes the acquired electric signals, image signals and optical signals through a signal processing program.
And the track prediction module 12 is connected with the central processing module 6 and used for predicting the motion track of the object according to the detected data.
The positioning module 1 in the embodiment of the present invention includes:
the wiFi signal positioning unit is used for acquiring surrounding wiFi signals through a wiFi signal transmitter and positioning through wiFi signal information;
the mobile communication signal positioning unit is used for carrying out communication connection with three service base stations closest to each other through a GPRS/4G/5G signal communicator and carrying out position positioning through mobile communication signals;
and the Beidou GPS dual-mode positioning unit is used for carrying out position positioning through the Beidou positioning signal and the GPS positioning signal.
As shown in fig. 2, the multimode converged wireless positioning method provided in the embodiment of the present invention includes:
s101: the positioning module detects the position information of the object by utilizing the VLC positioning sensor; the image acquisition module acquires image information of an object through the camera.
S102: the track acquisition module acquires the motion track of an object through a gyroscope sensor; and the distance acquisition module detects the distance between the object and the sensor through the distance sensor.
S103: and the central processing module is respectively connected with the positioning module, the image acquisition module, the track acquisition module, the distance acquisition module, the display module, the wireless transmission module, the position information management module, the positioning information analysis module, the signal processing module and the track prediction module, and coordinates the normal operation of each module.
S104: the position information management module manages the position information of the object in the system through an information management program; the positioning information analysis module analyzes the position information of the object through a positioning information analysis program.
S105: the signal processing module processes the collected electric signals, image signals and optical signals through a signal processing program; and the track prediction module predicts the motion track of the object according to the detected data.
S106: the wireless transmission module is used for building a corresponding information interaction bridge by the central processing module and the cloud service module by utilizing wireless transmission equipment; the cloud service module processes and analyzes data in the system by using a big data processing technology through a cloud server; the display module is used for displaying related data through a display screen.
As shown in fig. 3, in S105 provided by the embodiment of the present invention, a specific process of processing the acquired electrical signal by the signal processing module is as follows:
s201: analog-to-digital conversion, which converts an analog signal into a digital signal and performs discretization processing;
s202: processing the digital signal through transform domain analysis, filtering, identification and synthesis;
s203: the processed digital signal is reduced to an analog signal.
The specific process of filtering the digital signal is as follows:
establishing a corresponding signal data set by using the digital signal;
and sequencing the digital signals in the signal data set, and taking the intermediate value as the effective value.
As shown in fig. 4, in S105 provided by the embodiment of the present invention, a specific process of processing the image signal in the signal processing module is as follows:
s301: establishing a corresponding data set for the collected indoor images;
s302: extracting an image containing noise through noise identification, and performing gray processing;
s303: after the gray level processing of the image is finished, filtering/edge detection/segmentation is carried out;
s304: and after the preprocessing is finished, extracting corresponding characteristic values from the image.
As shown in fig. 5, the specific process of the image gray processing is as follows:
s401: converting the colored image into a gray image, and calculating the arithmetic average value of the gray image;
s402: and taking the arithmetic mean value as a threshold value, and binarizing the gray level image.
After the image gray processing is finished, the specific process of edge detection is as follows:
performing Laplace transformation on the filtered image to obtain a Laplace image;
in the laplacian image, all zero-crossing maps are extracted.
In step S101 in the embodiment of the present invention, the detecting the position information of the object by using the positioning units in the plurality of different modes includes:
surrounding wifi signals are collected through a wifi signal positioning unit, and wifi parameters in wifi signal information are analyzed to realize position positioning through the wifi signals; the wiFi parameters include a wiFi access point address code MAC value and a wiFi signal strength value.
The mobile communication signal positioning unit is used for carrying out communication connection with three nearest service base stations by utilizing GPRS/4G/5G signals, and the position positioning is carried out by detecting the distances between the mobile communication signal positioning unit and different service base stations;
and receiving a Beidou positioning signal and a GPS positioning signal through a Beidou GPS dual-mode positioning unit, and carrying out position positioning through a satellite signal.
As shown in fig. 6, in step S101 in the embodiment of the present invention, the positioning method adopted by the mobile communication signal positioning unit includes:
s501, a mobile communication signal positioning unit is used for acquiring information of a communication base station, wherein the acquired information of the communication base station comprises a base station affiliated area number, a base station self number and a signal intensity attenuation value;
s502, inquiring a communication base station database according to the acquired area number to which the base station belongs and the number of the base station, and acquiring the acquired longitude and latitude coordinate value of each communication base station;
s503, estimating the direct proportional distance between the detection position and the communication base station according to the detected signal intensity attenuation value between each communication base station and the corresponding transmitting power of the communication base station;
s504, calculating a positioning weight corresponding to the communication base station according to the estimated direct proportional distance between the mobile terminal and the communication base station;
and S505, calculating to obtain the position coordinate of the detection position by using the positioning weight of the communication base station and the latitude and longitude coordinate values of the communication base station.
In step S102 in the embodiment of the present invention, a specific method for acquiring a motion trajectory of an object by using the trajectory acquisition module includes:
sampling each simple motion for multiple times through a gyroscope sensor to obtain multiple data of each simple motion in a motion trail;
dividing collected multiple times of data of each simple movement at different moments to obtain a sensor data interval of each simple movement at each corresponding moment;
and taking the intermediate value of the sensor data interval at each corresponding moment as a standard value, and sequentially connecting the plurality of standard values in series to obtain a complete motion track.
In step S105 in the embodiment of the present invention, the predicting module predicts the motion trajectory of the object according to the detected data, including:
acquiring image detection data comprising N images through a track prediction module, wherein N is an integer greater than 1;
determining motion data of an object in the image data according to the image detection data, wherein the motion data of the object is used for representing the position of the object in the image data;
predicting the motion trail of the object within a preset time period according to the motion data of the object and a preset motion trail prediction model, wherein the motion trail prediction model is obtained according to the motion data of each object in a sample training library and the motion trail training of each object within the preset time period;
and predicting the motion trail of the object through a motion trail prediction model.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When used in whole or in part, can be implemented in a computer program product that includes one or more computer instructions. When loaded or executed on a computer, cause the flow or functions according to embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.)). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that includes one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the scope of the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made by those skilled in the art within the technical scope of the present invention disclosed herein, which is within the spirit and principle of the present invention, should be covered by the present invention.
Claims (10)
1. A multi-mode converged wireless positioning method, characterized in that the multi-mode converged wireless positioning method comprises the following steps:
acquiring image information of an object by using a camera through an image acquisition module; surrounding wifi signals are collected through a positioning module by using a wifi signal positioning unit, and the wifi signals are analyzed through wifi parameters in wifi signal information, so that the positioning through the wifi signals is realized;
step two, performing communication connection with three service base stations closest to each other by using GPRS/4G/5G signals through a mobile communication signal positioning unit to acquire information of the communication base stations, wherein the acquired information of the communication base stations comprises area numbers of the base stations, numbers of the base stations and signal intensity attenuation values;
step three, inquiring a communication base station database according to the acquired area number of the base station and the number of the base station, and acquiring the acquired longitude and latitude coordinate value of each communication base station; estimating a direct proportional distance between the detection position and each communication base station according to the detected signal intensity attenuation value between each communication base station and the corresponding transmitting power of the communication base station;
step four, calculating a positioning weight corresponding to the communication base station according to the estimated direct proportional distance between the mobile terminal and the communication base station; carrying out position location by detecting the distance from different service base stations by utilizing the location weight of the communication base station and the latitude and longitude coordinate values of the communication base station;
step five, receiving a Beidou positioning signal and a GPS positioning signal through a Beidou GPS dual-mode positioning unit, and carrying out position positioning through a satellite signal to obtain position information of a detected object;
step six, detecting the distance between the object and the sensor by using the distance sensor through the distance acquisition module; sampling each simple action for multiple times by using a gyroscope sensor through a track acquisition module to obtain multiple data of each simple action in a motion track;
step seven, dividing the collected multiple data of each simple movement at different moments to obtain a sensor data interval of each simple movement at each corresponding moment; taking the intermediate value of the sensor data interval at each corresponding moment as a standard value, and sequentially connecting a plurality of standard values in series to obtain a complete motion track;
step eight, the central processing module is respectively connected with the positioning module, the image acquisition module, the track acquisition module, the distance acquisition module, the display module, the wireless transmission module, the position information management module, the positioning information analysis module, the signal processing module and the track prediction module, and the central processing unit coordinately controls the normal operation of each module of the multimode fusion wireless positioning system;
managing the position information of the object in the system by using an information management program through a position information management module; analyzing the position information of the object by a positioning information analysis module by using a positioning information analysis program; processing the collected electric signals, image signals and optical signals by a signal processing module through a signal processing program;
the process of processing the collected electric signals by the signal processing module is as follows: analog-to-digital conversion, which converts an analog signal into a digital signal and performs discretization processing; processing the digital signal through transform domain analysis, filtering, identification and synthesis; restoring the processed digital signal to an analog signal;
step ten, acquiring image detection data comprising N images through a track prediction module, wherein N is an integer greater than 1; determining motion data of an object in the image data according to the image detection data, wherein the motion data of the object is used for representing the position of the object in the image data;
step eleven, predicting the motion trail of the object in a preset time period according to the motion data of the object and a preset motion trail prediction model, wherein the motion trail prediction model is obtained according to the motion data of each object in a sample training library and the motion trail training of each object in the preset time period; predicting the motion trail of the object through a motion trail prediction model;
step twelve, building a corresponding information interaction bridge by the central processing module and the cloud service module through the wireless transmission module and the wireless transmission equipment; processing and analyzing data in the system by using a cloud server through a cloud service module and by using a big data processing technology; and displaying the position information of the detected object, the image information of the object, the distance information between the object and the sensor, the positioning information analysis data, the signal processing result and the real-time data of the track prediction information by using the display screen through the display module.
2. The multi-mode converged wireless positioning method of claim 1, wherein in step one, the wiFi parameters include wiFi access point address coding MAC values and wiFi signal strength values.
3. The multi-mode converged wireless positioning method of claim 1, wherein in step nine, the method of filtering the digital signal comprises:
(1) establishing a corresponding signal data set by using the digital signal;
(2) and sequencing the digital signals in the signal data set, and taking the intermediate value as the effective value.
4. The multimode converged wireless positioning method of claim 1, wherein in step nine, the method for processing the image signal by the signal processing module comprises:
(1) establishing a corresponding data set for the collected indoor images;
(2) extracting an image containing noise through noise identification, and performing gray processing;
(3) after the gray level processing of the image is finished, filtering/edge detection/segmentation is carried out;
(4) and after the preprocessing is finished, extracting corresponding characteristic values from the image.
5. The multi-mode converged wireless positioning method of claim 4, wherein the method of image grayscale processing comprises:
1) converting the colored image into a gray image, and calculating the arithmetic average value of the gray image;
2) and taking the arithmetic mean value as a threshold value, and binarizing the gray level image.
6. The multi-mode converged wireless positioning method according to claim 4, wherein the method for performing edge detection after the image gray scale processing is completed comprises:
1) performing Laplace transformation on the filtered image to obtain a Laplace image;
2) in the laplacian image, all zero-crossing maps are extracted.
7. A multi-mode converged wireless positioning system implementing the multi-mode converged wireless positioning method according to any one of claims 1 to 6, wherein the multi-mode converged wireless positioning system comprises:
the positioning module is connected with the central processing module and is used for detecting the position information of the object by utilizing the VLC positioning sensor;
the image acquisition module is connected with the central processing module and acquires image information of an object through the camera;
the track acquisition module is connected with the central processing module and acquires the motion track of the object through the gyroscope sensor;
the distance acquisition module is connected with the central processing module and detects the distance between an object and the sensor through the distance sensor;
the display module is connected with the central processing module and displays the position information of the detected object, the image information of the object, the distance information between the object and the sensor, the positioning information analysis data, the signal processing result and the real-time data of the track prediction information through a display screen;
the central processing module is respectively connected with the positioning module, the image acquisition module, the track acquisition module, the distance acquisition module, the display module, the wireless transmission module, the position information management module, the positioning information analysis module, the signal processing module and the track prediction module and is used for coordinating and controlling the normal operation of each module of the multimode fusion wireless positioning system through the central processing unit;
the wireless transmission module is connected with the central processing module and used for building a corresponding information interaction bridge by the central processing module and the cloud service module through wireless transmission equipment;
the cloud service module is connected with the wireless transmission module and is used for processing and analyzing data in the system by utilizing a big data processing technology through the cloud server;
the position information management module is connected with the central processing module and is used for managing the position information of the object in the system through an information management program;
the positioning information analysis module is connected with the central processing module and analyzes the position information of the object through a positioning information analysis program;
the signal processing module is connected with the central processing module and processes the collected electric signals, image signals and optical signals through a signal processing program;
and the track prediction module is connected with the central processing module and used for predicting the motion track of the object according to the detected data.
8. The multi-mode converged wireless location system of claim 7, wherein the location module comprises:
the wiFi signal positioning unit is used for acquiring surrounding wiFi signals through a wiFi signal transmitter and positioning through wiFi signal information;
the mobile communication signal positioning unit is used for carrying out communication connection with three service base stations closest to each other through a GPRS/4G/5G signal communicator and carrying out position positioning through mobile communication signals;
and the Beidou GPS dual-mode positioning unit is used for carrying out position positioning through the Beidou positioning signal and the GPS positioning signal.
9. A computer program product stored on a computer readable medium, comprising a computer readable program for providing a user input interface for implementing a multi-mode converged wireless location method as claimed in any one of claims 1 to 6 when executed on an electronic device.
10. A computer readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method of multi-mode converged wireless location according to any one of claims 1 to 6.
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