CN113055949A - Positioning method, apparatus, device and medium - Google Patents
Positioning method, apparatus, device and medium Download PDFInfo
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- CN113055949A CN113055949A CN201911369955.3A CN201911369955A CN113055949A CN 113055949 A CN113055949 A CN 113055949A CN 201911369955 A CN201911369955 A CN 201911369955A CN 113055949 A CN113055949 A CN 113055949A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/0005—Control or signalling for completing the hand-off
- H04W36/0083—Determination of parameters used for hand-off, e.g. generation or modification of neighbour cell lists
- H04W36/00837—Determination of triggering parameters for hand-off
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/24—Reselection being triggered by specific parameters
- H04W36/32—Reselection being triggered by specific parameters by location or mobility data, e.g. speed data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The invention discloses a positioning method, a positioning device, positioning equipment and a positioning medium. The method comprises the following steps: determining a scene where the target is located and a positioning mode corresponding to the scene where the target is located, wherein the scene where the target is located is an indoor scene or an outdoor scene, the indoor scene corresponds to the indoor positioning mode, and the outdoor scene corresponds to the outdoor positioning mode; and when the scene is determined to be switched according to the motion parameters of the target, switching the scene to another scene, and switching the positioning mode to a positioning mode corresponding to another scene. According to the positioning method, the positioning device, the positioning equipment and the positioning medium, the positioning accuracy can be improved.
Description
Technical Field
The present invention relates to the field of communications, and in particular, to a positioning method, apparatus, device, and medium.
Background
In recent years, the position service industry has been developed rapidly, and people have higher demands on positioning technology. The positioning accuracy of the traditional satellite positioning cannot be guaranteed due to the influence of shielding or interference and other reasons in an indoor scene. The indoor positioning technology is mainly applied to small-range positioning, but positioning accuracy cannot be guaranteed in an outdoor complex space environment. Therefore, a positioning method capable of improving the positioning accuracy is required.
Disclosure of Invention
The positioning method, the positioning device, the positioning equipment and the positioning medium provided by the embodiment of the invention can improve the positioning precision.
In a first aspect, a positioning method is provided, including: determining a scene where the target is located and a positioning mode corresponding to the scene where the target is located, wherein the scene where the target is located is an indoor scene or an outdoor scene, the indoor scene corresponds to the indoor positioning mode, and the outdoor scene corresponds to the outdoor positioning mode; and when the scene is determined to be switched according to the motion parameters of the target, switching the scene to another scene, and switching the positioning mode to a positioning mode corresponding to another scene.
The positioning method provided by the embodiment of the invention can be used for refining the positioning scene into an indoor scene and an outdoor scene. And the scene of the target can be determined according to the motion parameters of the target. If the scene of the target changes, the positioning mode which is consistent with the scene can be selected, so that the positioning precision is ensured.
In an alternative embodiment, if the motion parameters include motion direction, motion speed, and real-time position; the method further comprises the following steps: determining whether the target has a scene switching condition or not according to an included angle between the moving direction of the target and a first connecting line, wherein the first connecting line is a connecting line between the target and a target reference object; if the target has a scene switching condition, calculating the probability of scene switching of the target according to the movement speed of the target and the distance between the target and a target reference object, wherein the distance between the target and the target reference object is calculated according to the real-time position of the target and the position of the target reference object; and if the probability is greater than the probability threshold, determining that the scene where the target is located is switched.
By the embodiment, whether the target has the scene switching condition can be determined according to the motion information such as the motion direction, the motion speed, the real-time position and the like of the target to be detected in the motion process, and the probability of scene switching is calculated, so that the possibility of switching of the positioning mode is judged, and the judgment accuracy can be improved.
In an alternative embodiment, the scene change condition includes: the included angle between the moving direction of the target and the first connecting line is smaller than an angle threshold value. Through the embodiment, whether the target has the accuracy of scene switching from the target reference object can be determined according to the included angle between the moving direction of the target and the first connecting line, and the judgment accuracy is improved.
In an alternative embodiment, the formula for calculating the probability of scene cut of the target includes:
wherein P represents the probability of scene change of the target, k represents the first coefficient, v represents the motion speed of the target0Indicating the reference speed of movement, R, of the object1Denotes a distance threshold, d1Indicating the position of the target reference, tan-1Representing the arctan function.
During the gradual approach of the target to the outlet,
will increase continuously and approach 1. As the moving speed of the object increases, the probability P of the object performing scene change also increases gradually. Through the formula, the probability of the target going out can be accurately judged. And the situation that the target stays near the doorway or the target wanders around the doorway can be prevented from being mistakenly determined as the target is switching scenes.
In an alternative embodiment, if the scene is an indoor scene, the target reference object may be an exit to the outside; and/or, if the scene is an outdoor scene, the target reference object may be a building leading indoors.
Since the target must enter the room from the inside through the entrance and exit and must enter the building to enter the room from the outside. Therefore, the accuracy of the determination can be improved by using the exit to the outside and the building to the inside as the target reference.
In an optional implementation manner, when it is determined that the scene is switched according to the motion parameters of the target, switching the scene to another scene and switching the positioning mode to a positioning mode corresponding to another scene includes: when the scene is determined to be switched according to the motion parameters of the target, receiving a radio frequency signal sent by a reader installed on a target reference object; and if the scene is determined to be switched based on the strength of the radio frequency signal, switching the scene to another scene, and switching the positioning mode to a positioning mode corresponding to the other scene.
According to the embodiment, whether the target is subjected to scene switching is determined by acquiring the strength of the radio frequency signal sent by the reader arranged on the target reference object, so that the accuracy of judgment is improved.
In an optional embodiment, the method further comprises: and in the process of receiving a radio frequency signal sent by a reader installed on the target reference object, requesting positioning information by using a positioning mode corresponding to another scene.
By the embodiment, seamless positioning switching can be realized. The positioning mode request positioning information corresponding to another scene is obtained in advance before the positioning mode switching operation is executed, so that the time delay of obtaining the positioning information can be reduced, and the timeliness and the accuracy of positioning switching are improved.
In an optional embodiment, the method further comprises: and if the intensity of the radio frequency signal is higher than the intensity threshold value, determining that the scene is switched.
By utilizing the strength of the radio frequency signal, whether the scene is switched can be accurately judged, and the judgment accuracy is improved.
In an alternative embodiment, the indoor positioning mode comprises an ultra-wideband positioning mode; and/or the outdoor positioning mode comprises a satellite positioning mode.
If select for use UWB locate mode as indoor locate mode, select for use satellite UWB to have high accuracy, anti-interference, reliability height, advantages such as low power dissipation, and satellite locate mode precision is high, the cover is wide, combines both advantages, obtains indoor outer amalgamation location scheme, can solve the demand of two kinds of scenes simultaneously.
In a second aspect, there is provided a positioning device comprising: the state judgment module is used for determining a scene where the target is located and a positioning mode corresponding to the scene where the target is located, wherein the scene where the target is located is an indoor scene or an outdoor scene, the indoor scene corresponds to the indoor positioning mode, and the outdoor scene corresponds to the outdoor positioning mode; and the scene switching execution module is used for switching the scene to another scene and switching the positioning mode to a positioning mode scene switching execution module corresponding to another scene when the scene is determined to be switched according to the motion parameters of the target.
In an alternative embodiment, if the motion parameters include motion direction, motion speed, and real-time position; the device still includes: a motion analysis module to: determining whether the target has a scene switching condition or not according to an included angle between the moving direction of the target and a first connecting line, wherein the first connecting line is a connecting line between the target and a target reference object; and the system is used for calculating the probability of scene switching of the target according to the movement speed of the target and the distance between the target and the target reference object if the target has the scene switching condition, wherein the distance between the target and the target reference object is calculated according to the real-time position of the target and the position of the target reference object; and if the probability is larger than the probability threshold, determining that the scene where the target is located is switched.
In a third aspect, a positioning apparatus is provided, including: a memory for storing a program;
a processor, configured to execute a program stored in the memory to perform the positioning method provided in the first aspect or any optional implementation manner of the first aspect.
In a fourth aspect, a computer storage medium is provided, on which computer program instructions are stored, and the computer program instructions, when executed by a processor, implement the positioning method provided in the first aspect or any optional implementation manner of the first aspect.
According to the positioning method, the positioning device, the positioning equipment and the positioning medium, provided by the embodiment of the invention, the positioning scene can be refined into an indoor scene and an outdoor scene. And the scene of the target can be determined according to the motion parameters of the target. If the scene of the target changes, the positioning mode which is consistent with the scene can be selected, so that the positioning precision is ensured.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic flow chart of a positioning method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a positioning method according to an embodiment of the present invention;
FIG. 3 is a logic diagram for determining whether a target has a scene change condition according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a positioning method according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a positioning apparatus according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of an exemplary positioning device provided by an embodiment of the present invention;
fig. 7 is a block diagram of an exemplary hardware architecture of a positioning device according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not to be construed as limiting the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the present invention by illustrating examples of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
In order to improve the positioning accuracy, the embodiment of the invention provides a positioning scheme, which is suitable for positioning a moving target. In the embodiment of the invention, the scene where the target is located can be determined according to the motion parameters of the target. If the scene of the target changes, the positioning mode which is consistent with the scene can be selected, so that the positioning precision is ensured.
For a better understanding of the present invention, methods, apparatuses, devices, and media for positioning according to embodiments of the present invention will be described in detail below with reference to the accompanying drawings, and it should be noted that these embodiments are not intended to limit the scope of the present disclosure.
Fig. 1 is a schematic flow chart diagram illustrating a positioning method according to an embodiment of the present invention. As shown in fig. 1, the positioning method 100 in the present embodiment may include the following steps S110 and S120.
S110, determining a scene where the target is located and a positioning mode corresponding to the scene where the target is located, wherein the scene where the target is located is an indoor scene or an outdoor scene, the indoor scene corresponds to the indoor positioning mode, and the outdoor scene corresponds to the outdoor positioning mode. Wherein the object may be a portable mobile terminal having a positioning function. Such as a smart phone, smart watch, tablet computer, etc.
In some embodiments, the indoor positioning mode may be a positioning mode with higher positioning accuracy when indoors. Specifically, the indoor positioning mode may include a Wireless local area network (WiFi) positioning mode, a bluetooth positioning mode, an inertial navigation positioning mode, a Radio Frequency Identification (RFID) positioning mode, and an Ultra-Wide-band (UWB) positioning mode. Optionally, the indoor positioning mode is a UWB positioning mode. Considering that the UWB technology is greatly different from the conventional communication technology, data is transmitted by sending and receiving extremely narrow pulses with nanosecond or microsecond order or less without carriers, so that the ultra-narrow pulse transmission method has a bandwidth with 3.1-10.6 GHz order, is a wireless technology which has high transmission rate, low transmission power, strong penetration capability and is based on the extremely narrow pulses, adopts the UWB positioning technology indoors, has the advantages of high precision, interference resistance, high reliability, low power consumption and the like, and utilizes a Time Difference of Arrival (TDOA) algorithm, so that the indoor positioning precision can reach 20-30 cm.
In some embodiments, the outdoor positioning mode may be selected to be a positioning mode with higher outdoor positioning accuracy. In particular, a satellite positioning mode may be selected. The satellite positioning mode includes at least one of: global Positioning System (GPS), Global NAVIGATION satellite System (Global NAVIGATION SATELLITE SYSTEM, GLONASS), GALILEO (GALILEO) satellite NAVIGATION System, and chinese beidou NAVIGATION Positioning System. The satellite positioning is to receive longitude and latitude coordinate signals provided by a satellite to perform positioning, and comprises a space part, a ground control part and a user equipment part. Four equations can be written by listing four satellites at known positions, together with the time difference between the satellites and the receiver, to obtain the three-dimensional coordinates (x, y, z) of the user. The basic principle of the satellite navigation system is that the distance between a satellite with a known position and a user receiver is measured, the specific position of the receiver can be calculated by integrating the position information of a plurality of satellites, and the Beidou differential positioning precision can reach the centimeter level.
Optionally, in the embodiment of the present invention, since the UWB has the advantages of high precision, interference resistance, high reliability, low power consumption, and the like, and the satellite positioning mode has the advantages of high precision, wide coverage, and the like, if the UWB positioning mode is selected as the indoor positioning mode and the satellite positioning mode is selected as the outdoor positioning mode, the advantages of the UWB positioning mode and the satellite positioning mode can be combined to obtain an indoor and outdoor fusion positioning scheme, and the requirements of two scenarios can be met at the same time.
In some embodiments, after the positioning device starts working, the positioning mode may be used to determine the scene where the target is located. Specifically, the indoor positioning mode may be started first to determine whether the target is indoors. For example, if the indoor positioning mode is the UWB positioning mode, whether the target to be measured is indoors or not can be confirmed by transmitting the UWB signal with the indoor base station, and thus the indoor/outdoor operating mode is started according to the determination result.
And S120, if the scene is determined to be switched according to the motion parameters of the target, switching the scene to another scene, and switching the positioning mode to a positioning mode corresponding to the other scene. And if the target is in an indoor scene before scene switching is carried out, the other scene is an outdoor scene. And if the target is in the outdoor scene before scene switching is carried out, the other scene is an indoor scene. That is, if it is determined that the scene in which the target is located is switched from indoor to outdoor, the positioning mode is switched from the indoor positioning mode to the outdoor positioning mode. And if the scene where the target is located is determined to be switched from the outdoor location mode to the indoor location mode, switching the location mode from the outdoor location mode to the indoor location mode. In some embodiments, in the positioning process, S120 may be a self-loop process. Specifically, if the scene where the target is located is the outdoor scene when the ith switching of the scene where the target is located occurs, S110 may be omitted when the (i + 1) th switching of the scene where the target is located occurs, S120 may be directly executed again, the scene where the target is located is switched from the outdoor scene to the indoor scene, and the positioning mode is switched to the outdoor positioning mode.
The positioning method provided by the embodiment of the invention can divide the positioning scene into an indoor scene and an outdoor scene, and can determine the scene of the target according to the motion parameters of the target. If the scene of the target changes, the positioning mode which is consistent with the scene can be selected, so that the positioning precision is ensured.
In addition, through mode switching, a positioning mode can be selected for positioning work according to the scene where the target is located, all the other positioning modes are in a closed state most of time, power consumption is low, and the requirement of a user for indoor and outdoor fusion positioning is met.
Fig. 2 is a schematic flowchart of a positioning method according to an embodiment of the present invention. As shown in fig. 2, the positioning method 200 is different from the positioning method 100 shown in fig. 1 in that the motion parameters of the target include a motion direction, a motion speed, and a real-time position, and a step of determining whether a scene is switched by using the motion parameters of the target is further included between S110 and S120 shown in fig. 1. Accordingly, as shown in fig. 2, the positioning method 200 further includes S131 to S133 between S110 and S120.
S131, determining whether the target has a scene switching condition according to an included angle between the moving direction of the target and the first connecting line. Wherein, the first connecting line is a connecting line of the target and the target reference object.
First, for a scene change condition, the scene change condition characterizes the possibility that a target exists for a scene change based on a target reference. In one embodiment, the scene change condition includes: the included angle between the moving direction of the target and the first connecting line is smaller than an angle threshold value. For example, the angle threshold may be 90 °. For example, FIG. 3 shows a logical diagram of determining whether a target has a scene cut condition. As shown in fig. 3, in the direction of motion l of the object1To the first connection line l2Angle of (theta)>In the case of 90 °, if the target is indoors, there is no possibility of the characterization target going outdoors. If the target is outdoors, then there is no possibility of characterizing the target going indoors. In the case of θ ≦ 90, if the target is indoors, then there is a possibility of the token target going outdoors. If the target is outdoors, then the token target has a possibility of going indoors. For example, the motion track of the target may be obtained, and a tangent of the motion track of the target may be determined as the motion of the targetAnd (4) direction. The first line may be a line between the target and an entrance or exit of the target reference.
Secondly, for the target reference object, in one embodiment, if the scene where the target is located before the scene switching is performed is an indoor scene, the target reference object may be an exit to the outdoor. And/or, if the scene of the target before scene switching is an outdoor scene, the target reference object may be a building leading to the indoor. In one embodiment, if a plurality of target reference objects exist around the target, whether the target has a scene switching condition may be calculated according to each target reference object, and if the target has a possibility of performing scene transformation based on at least one target reference object, for each target reference object in the at least one target reference object, a probability of scene switching of the target from each target reference object may be calculated respectively.
Since the target must enter the room from the inside through the entrance and exit and must enter the building to enter the room from the outside. Therefore, the accuracy of the determination can be improved by using the exit to the outside and the building to the inside as the target reference.
And S132, if the target has the scene switching condition, calculating the probability of scene switching of the target according to the movement speed of the target and the distance between the target and the target reference object.
And calculating the distance between the target and the target reference object according to the real-time position of the target and the position of the target reference object. The moving speed of the target and the distance between the target and the target reference object can be obtained in real time by utilizing a positioning mode corresponding to the current scene.
In one embodiment, the greater the probability value of a target making a scene cut, the higher the probability of the target going out. Formula (1) for calculating the probability of scene cut of an object includes:
wherein P represents the probability of the target performing scene change, k represents the first coefficient, and v represents the targetSpeed of movement, v0Indicating the reference speed of movement, R, of the object1Denotes a distance threshold, d1Indicating the position of the target reference, tan-1Representing the arctan function. Illustratively, the first coefficient k is used to balance the relationship between the values in the formula (1) to ensure that the value range of P is [0,1 ]]In the meantime. Exemplary, reference movement velocity v0May be a normal moving speed of the object calculated from a historical moving speed of the object. Exemplary, R1The indication distance threshold may be set to different values according to specific work scenarios and work requirements, which is not limited to this.
During the gradual approach of the target to the outlet,
will increase continuously and approach 1. As the moving speed of the object increases, the probability P of the object performing scene change also increases gradually. Through the formula (1), the probability of the target going out can be accurately judged. And the situation that the target stays near the doorway or the target wanders around the doorway can be prevented from being mistakenly determined as the target is switching scenes.
And S133, if the probability is greater than the probability threshold, determining that the scene where the target is located is switched.
The probability threshold may be a value set according to a specific work scene and a work requirement, and is less than or equal to 1. Illustratively, the probability threshold may take on a value of 90%. That is, when the probability P of the target making a scene change is 90% or more, the target has a high possibility of making a scene change, and S120 may be continuously performed. When the probability P of the target for scene switching is less than 90%, the probability of scene switching of the target is reduced, and at this time, the motion parameters of the target can be continuously acquired and whether the scene where the user is located is switched or not can be judged.
Through S131 to S133, whether the target has a scene switching condition or not can be determined according to the motion information such as the motion direction, the motion speed, the real-time position and the like of the target to be detected in the motion process, and the probability of scene switching can be calculated, so that the possibility of positioning mode switching can be judged, and the judgment accuracy can be improved.
Fig. 4 shows a schematic flowchart of a positioning method according to an embodiment of the present invention. As shown in fig. 4, the positioning method 400 is different from the positioning method in the embodiment shown in fig. 1 and 2 in that S120 specifically includes S121 and S122.
And S121, receiving a radio frequency signal sent by a reader installed on a target reference object if the scene is determined to be switched according to the motion parameters of the target. Specifically, if it is determined that the scene is switched, the RFID positioning mode may be turned on to receive the radio frequency signal transmitted by the reader of the target reference object. For example, if the target is indoors, a reader may be installed at each outlet to the outdoors. The RFID positioning technology can obtain centimeter-level positioning accuracy information within milliseconds, and has the advantages of non-contact, non-line-of-sight and the like.
In some embodiments, in the process of receiving a radio frequency signal sent by a reader installed on a target reference object, positioning information is requested by using a positioning mode corresponding to another scene. Specifically, before the switching action of the positioning mode is executed, both the indoor positioning mode and the outdoor positioning mode may be kept in an on state, so as to acquire positioning information in advance by using a positioning mode corresponding to another scene where the positioning information is located. When the switching action of the positioning mode is executed, the positioning mode corresponding to the scene where the target is located before the scene switching is performed can be closed, so that seamless positioning switching is realized. The positioning mode request positioning information corresponding to another scene is obtained in advance before the positioning mode switching operation is executed, so that the time delay of obtaining the positioning information can be reduced, and the timeliness and the accuracy of positioning switching are improved.
For example, if it is required to switch from the indoor positioning mode to the outdoor positioning mode in S120, the satellite positioning mode is selected as the outdoor positioning mode. In the process of receiving the radio frequency signal sent by the reader installed on the target reference object, the navigation message can be simultaneously received from the satellite, and the approximate position information of the target can be calculated according to the satellite time, the target clock, the satellite ephemeris and other data. When the positioning mode switching operation is performed, the indoor positioning mode may be turned off, and positioning may be continued using the satellite positioning mode.
For example, if it is required to switch from the outdoor positioning mode to the indoor positioning mode in S120, the UWB positioning mode is selected as the indoor positioning mode. In the process of receiving the radio frequency signal sent by the reader installed on the target reference object, the UWB signal can be sent to the nearby positioning base station at the same time, so as to acquire the information of the nearby base station and the rough position of the positioning target. When the positioning mode switching operation is performed, the outdoor positioning mode may be turned off, and positioning may be continued using the UWB positioning mode.
And S122, if the scene is determined to be switched based on the strength of the radio frequency signal, switching the scene to another scene, and switching the positioning mode to a positioning mode corresponding to the other scene.
In some embodiments, the specific manner of determining the scene where the scene is switched based on the strength of the radio frequency signal may include: and if the intensity of the radio frequency signal is higher than the intensity threshold value, determining that the scene is switched. The intensity threshold may be set according to a specific working scenario and a working requirement, which is not limited herein.
Through S121 and S122, after the scene where the target is located is determined to be switched based on the motion parameters of the target, whether the scene of the target is switched can be determined again by obtaining the strength of the radio frequency signal sent by the reader arranged on the target reference object, so that the accuracy of judgment is improved.
An apparatus according to an embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
Based on the same inventive concept, the embodiment of the invention provides a positioning device. Fig. 5 is a schematic structural diagram of a positioning device according to an embodiment of the present invention. As shown in fig. 5, the positioning apparatus 500 includes:
and the state judgment module 510 is configured to determine a scene where the target is located and a positioning mode corresponding to the scene where the target is located. The scene is an indoor scene or an outdoor scene, the indoor scene corresponds to the indoor positioning mode, and the outdoor scene corresponds to the outdoor positioning mode.
The scene switching executing module 520 is configured to switch the scene to another scene and switch the positioning mode to a positioning mode corresponding to another scene when it is determined that the scene is switched according to the motion parameter of the target.
In one example, the indoor positioning mode comprises an ultra-wideband positioning mode.
In one example, the outdoor positioning mode includes a satellite positioning mode.
In some embodiments of the present invention, the motion parameters include a motion direction, a motion speed, and a real-time position, and the positioning device 500 further includes a motion analysis module.
And the motion analysis module is used for determining whether the target has a scene switching condition or not according to an included angle between the motion direction of the target and a first connecting line, wherein the first connecting line is a connecting line between the target and a target reference object.
And if the target has the scene switching condition, the motion analysis module is used for calculating the probability of scene switching of the target according to the motion speed of the target and the distance between the target and the target reference object, wherein the distance between the target and the target reference object is calculated according to the real-time position of the target and the position of the target reference object.
And the motion analysis module is also used for determining that the scene where the target is located is switched if the probability is greater than the probability threshold.
In some embodiments, the scene cut condition may include: the included angle between the moving direction of the target and the first connecting line is smaller than an angle threshold value.
In some embodiments, equation (1) for calculating the probability of a scene cut by a target comprises:
wherein P represents the probability of scene change of the target, k represents the first coefficient, v represents the motion speed of the target0Indicating the reference speed of movement, R, of the object1Denotes a distance threshold, d1Indicating the position of the target reference, tan-1Representing the arctan function.
In some embodiments, if the scene is an indoor scene, the target reference may be an exit to the outdoors.
In some embodiments, the target reference may be a building leading indoors if the scene is an outdoor scene.
In some embodiments of the present invention, the positioning apparatus 500 further comprises a scene change determination module.
And the scene switching judgment module is used for receiving the radio frequency signal sent by the reader arranged on the target reference object if the scene is determined to be switched according to the motion parameters of the target.
Accordingly, the scene switching executing module 520 is specifically configured to switch the located scene to another located scene and switch the positioning mode to a positioning mode corresponding to another located scene if it is determined that the located scene is switched based on the strength of the radio frequency signal.
In some embodiments, the scene switching determination module is further configured to request positioning information by using a positioning mode corresponding to another scene in a process of receiving a radio frequency signal sent by a reader installed on the target reference object.
In some embodiments, the scene switching determination module is further configured to determine that the scene is switched if the intensity of the radio frequency signal is higher than the intensity threshold.
In one example, fig. 6 is a schematic structural diagram of an exemplary positioning apparatus provided in an embodiment of the present invention. As shown in fig. 6, the positioning apparatus 600 includes a state determination module 510, a scene change execution module 520, a motion analysis module 530, and a scene change determination module 540. The specific contents of each module can be referred to the related description in the embodiment shown in fig. 5, and are not repeated herein.
In locating an object, the modules of the locating device 600 work together as follows.
First, after the positioning apparatus 600 starts working, the state determining module 510 determines the scene where the target is located, and sends the information of the scene where the target is located to the scene switching executing module 520, so as to use the information of the scene where the target is located as the initialization information of the scene where the target is located in the scene switching executing module 520.
Then, after the scene switching execution module 520 finishes updating the initialization information of the scene, it notifies the motion analysis module 530 to determine whether the target has the scene switching condition and the probability of scene switching according to the motion parameter of the target.
Then, when the probability of the target performing the scene switching is greater than the probability threshold, the motion analysis module 530 notifies the scene switching determination module 540 to determine whether the intensity of the radio frequency signal sent by the reader installed on the target reference object is greater than the intensity threshold.
Subsequently, the motion analysis module 530 notifies the scene switch execution module 520 to perform the scene switch and the corresponding positioning mode switch when the rf signal is greater than the strength threshold.
Then, the state determining module 510 performs a first switching between the scene and the positioning mode based on the initial scene sent by the state determining module 510.
Then, after the first switching, the scene switching executing module 520, the motion analyzing module 530 and the scene switching determining module 540 form a loop to continue switching between the scene and the positioning mode according to the motion parameters of the target during the positioning of the target until the positioning apparatus 600 stops working.
The scene switching executing module 520 switches the (i + 1) th scene and the positioning mode according to the switching result of the (i) th scene and the positioning mode. For example, if the scene is switched to the indoor scene and the positioning mode is switched to the indoor positioning mode during the ith switching, the scene where the target is located is switched from the indoor scene to the outdoor scene during the (i + 1) th switching, and the positioning mode is switched to the outdoor positioning mode.
Other details of the positioning apparatus according to the embodiment of the present invention are similar to the positioning method described in the above example shown in fig. 1 to 4, and are not repeated herein for brevity.
According to the positioning device provided by the embodiment of the invention, the positioning scene can be refined into an indoor scene and an outdoor scene. And the scene of the target can be determined according to the motion parameters of the target. If the scene of the target changes, the positioning mode which is consistent with the scene can be selected, so that the positioning precision is ensured.
Fig. 7 is a block diagram of an exemplary hardware architecture of a positioning device in an embodiment of the invention.
As shown in fig. 7, the pointing device 700 includes an input device 701, an input interface 702, a central processor 703, a memory 704, an output interface 705, and an output device 706. The input interface 702, the central processing unit 703, the memory 704, and the output interface 705 are connected to each other through a bus 710, and the input device 701 and the output device 707 are connected to the bus 710 through the input interface 702 and the output interface 705, respectively, and further connected to other components of the positioning device 700.
Specifically, the input device 701 receives input information from the outside, and transmits the input information to the central processor 703 through the input interface 702; the central processor 703 processes input information based on computer-executable instructions stored in the memory 704 to generate output information, stores the output information temporarily or permanently in the memory 704, and then transmits the output information to the output device 706 through the output interface 705; the output device 706 outputs the output information to the exterior of the pointing device 700 for use by the user.
That is, the positioning apparatus shown in fig. 7 may also be implemented to include: a memory storing computer-executable instructions; and a processor which, when executing computer executable instructions, may implement the method of locating a device described in the embodiments shown in fig. 1, 2 and 4.
An embodiment of the present invention further provides a computer storage medium, where computer program instructions are stored on the computer storage medium, and when the computer program instructions are executed by a processor, the positioning method in the embodiments shown in fig. 1, fig. 2, and fig. 4 is implemented.
It is to be understood that the invention is not limited to the specific arrangements and instrumentality described above and shown in the drawings. A detailed description of known methods is omitted herein for the sake of brevity. In the above embodiments, several specific steps are described and shown as examples. However, the method processes of the present invention are not limited to the specific steps described and illustrated, and those skilled in the art can make various changes, modifications and additions or change the order between the steps after comprehending the spirit of the present invention.
The functional blocks shown in the above structural block diagrams may be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic circuit, an Application Specific Integrated Circuit (ASIC), suitable firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine-readable medium or transmitted by a data signal carried in a carrier wave over a transmission medium or a communication link. A "machine-readable medium" may include any medium that can store or transfer information. Examples of a machine-readable medium include electronic circuits, semiconductor memory devices, ROM, flash memory, Erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, Radio Frequency (RF) links, and so forth. The code segments may be downloaded via computer networks such as the internet, intranet, etc.
As will be apparent to those skilled in the art, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Claims (13)
1. A method of positioning, the method comprising:
determining a scene where a target is located and a positioning mode corresponding to the scene where the target is located, wherein the scene where the target is located is an indoor scene or an outdoor scene, the indoor scene corresponds to the indoor positioning mode, and the outdoor scene corresponds to the outdoor positioning mode;
and when the scene is determined to be switched according to the motion parameters of the target, switching the scene to another scene, and switching the positioning mode to a positioning mode corresponding to the other scene.
2. The method of claim 1, wherein the motion parameters include a direction of motion, a speed of motion, and a real-time location;
the method further comprises the following steps:
determining whether the target has a scene switching condition or not according to an included angle between the moving direction of the target and a first connecting line, wherein the first connecting line is a connecting line between the target and a target reference object;
if the target has a scene switching condition, calculating the probability of scene switching of the target according to the movement speed of the target and the distance between the target and the target reference object, wherein the distance between the target and the target reference object is calculated according to the real-time position of the target and the position of the target reference object;
and if the probability is greater than a probability threshold, determining that the scene where the target is located is switched.
3. The method of claim 2, wherein the scene change condition comprises:
and the included angle between the motion direction of the target and the first connecting line is smaller than an angle threshold value.
4. The method of claim 2 or claim 3, wherein the formula for calculating the probability of the target making a scene cut comprises:
wherein P represents the probability of the target performing scene change, k represents a first coefficient, v represents the motion speed of the target, and0indicating the reference speed of movement, R, of the object1Denotes a distance threshold, d1Indicating the position of the target reference, tan-1Representing arc tangent functionAnd (4) counting.
5. The method of claim 2,
if the scene is an indoor scene, the target reference object can be an outlet to the outdoor;
and/or the presence of a gas in the gas,
if the scene is an outdoor scene, the target reference object may be a building leading indoors.
6. The method according to claim 1, wherein when it is determined that the scene is switched according to the motion parameter of the target, switching the scene to another scene and switching the positioning mode to a positioning mode corresponding to the another scene comprises:
when the scene is determined to be switched according to the motion parameters of the target, receiving a radio frequency signal sent by a reader installed on a target reference object;
and if the scene is determined to be switched based on the intensity of the radio frequency signal, switching the scene to another scene, and switching the positioning mode to a positioning mode corresponding to another scene.
7. The method of claim 6, further comprising:
and in the process of receiving a radio frequency signal sent by a reader installed on the target reference object, requesting positioning information by using the switched positioning mode corresponding to the other scene.
8. The method of claim 6, further comprising:
and if the intensity of the radio frequency signal is higher than an intensity threshold value, determining that the scene is switched.
9. The method of claim 1,
the indoor positioning mode comprises an ultra-wideband positioning mode;
and/or
The outdoor positioning mode includes a satellite positioning mode.
10. A positioning device, the device comprising:
the state judgment module is used for determining a scene where a target is located and a positioning mode corresponding to the scene where the target is located, wherein the scene where the target is located is an indoor scene or an outdoor scene, the indoor scene corresponds to the indoor positioning mode, and the outdoor scene corresponds to the outdoor positioning mode;
and the scene switching execution module is used for switching the scene to another scene and switching the positioning mode to a positioning mode corresponding to the other scene when the scene is determined to be switched according to the motion parameters of the target.
11. The apparatus of claim 1, wherein if the motion parameters include a motion direction, a motion speed, and a real-time location; the device further comprises:
a motion analysis module to:
determining whether the target has a scene switching condition or not according to an included angle between the moving direction of the target and a first connecting line, wherein the first connecting line is a connecting line between the target and a target reference object;
and if the target has a scene switching condition, calculating the probability of scene switching of the target according to the movement speed of the target and the distance between the target and the target reference object, wherein the distance between the target and the target reference object is calculated according to the real-time position of the target and the position of the target reference object;
and if the probability is larger than a probability threshold, determining that the scene where the target is located is switched.
12. A positioning apparatus, characterized in that the apparatus comprises:
a memory for storing a program;
a processor for executing the program stored in the memory to perform the positioning method of any one of claims 1 to 9.
13. A computer storage medium having computer program instructions stored thereon, which when executed by a processor, implement the positioning method of any one of claims 1-9.
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