CN113316083A - Ultra-wideband-based positioning method and device - Google Patents

Ultra-wideband-based positioning method and device Download PDF

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CN113316083A
CN113316083A CN202110597808.2A CN202110597808A CN113316083A CN 113316083 A CN113316083 A CN 113316083A CN 202110597808 A CN202110597808 A CN 202110597808A CN 113316083 A CN113316083 A CN 113316083A
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uwb
tag
uwb tag
electronic map
information
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宋志华
曹书森
陈雪
李阳
李程
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Shandong Shenlan Zhipu Digital Technology Co ltd
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Shandong Shenlan Zhipu Digital Technology Co ltd
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    • G06Q50/14—Travel agencies
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters
    • H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services

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Abstract

The application provides a positioning method and device based on ultra-wideband, which receives positioning data of each UWB tag from each ultra-wideband UWB base station. The positioning data of the UWB tags is used for representing the relative position of each UWB tag and each UWB base station, and the positioning data of each UWB tag comprises a corresponding UWB tag identifier. And determining the label group to which each UWB label belongs based on the UWB label identification and the preset corresponding relation. And determining a primary UWB tag and a secondary UWB tag in each tag group. The tag groups correspond to tour groups one by one, the main UWB tag corresponds to tour guides of the tour groups, and the auxiliary UWB tag corresponds to tourists of the tour groups. Based on the positioning data of each UWB tag and the preset electronic map of the tourist attraction, the UWB electronic map is generated and sent to the first terminal corresponding to the main UWB tag so as to be displayed for the user. Above-mentioned scheme can ensure visitor's personal safety, prevents that the visitor from wandering away.

Description

Ultra-wideband-based positioning method and device
Technical Field
The present application relates to the field of wireless positioning technologies, and in particular, to a positioning method and apparatus based on an ultra wideband.
Background
Along with the development of economy and the progress of society, people pay more attention to the spiritual culture life enrichment, tourism becomes an implementation mode of the spiritual culture life enrichment, and more people like the tourism. The group following tour is a mainstream mode of travel at present, and people can visit all scenic spots in a group following mode.
When a tourist group arrives at a tourist attraction, tourists can freely move at the tourist attraction to visit the attraction, an exhibition hall and the like, but the number of the tourists following the tourist group is large, and the tour guide cannot observe the movement of each tourist in real time. In the course of free activities, tourists may walk out of the exhibition area of the tourist attraction and wander away from the tourist group. At present, tour guides usually count lists of tourists at a fixed time to prevent some tourists from missing, especially for old people and children among the tourists. This approach prevents the relative lag in the loss of the guest and does not provide a good guarantee of the guest's personal safety. How to guarantee the personal safety of the tourists and prevent the tourists from missing becomes a crucial technical problem in the tourism process.
Disclosure of Invention
The embodiment of the application provides a positioning method and device based on ultra wide band, which are used for guaranteeing personal safety of tourists and preventing the tourists from being lost.
In one aspect, the present application provides an ultra-wideband-based positioning method, including:
positioning data for each UWB tag from each UWB base station is received. The positioning data of the UWB tags is used for representing the relative position of each UWB tag and each UWB base station, and the positioning data of each UWB tag comprises a corresponding UWB tag identifier. Wherein, each UWB basic station sets up in the tourist attraction, UWB label and user one-to-one, and the user is guide or visitor. And determining the label group to which each UWB label belongs based on the UWB label identification and the preset corresponding relation. And determining a primary UWB tag and a secondary UWB tag in each tag group. The tag groups correspond to tour groups one by one, the main UWB tag corresponds to tour guides of the tour groups, and the auxiliary UWB tag corresponds to tourists of the tour groups. Based on the positioning data of the UWB tags and the preset electronic map of the tourist attraction, the UWB electronic map is generated and sent to the first terminal corresponding to the main UWB tag. The UWB electronic map comprises geographical position information of the UWB tag in a preset electronic map.
In the embodiment of the application, according to the positioning data of the UWB tag sent by the UWB base station, the tag group to which the UWB tag belongs, the main UWB tag and the sub UWB tag in the tag group are determined, and according to the positioning data of the UWB tag and the preset electronic map of the tourist attraction, the UWB electronic map is generated and sent to the first terminal corresponding to the main UWB tag. The technical scheme of this application, the visitor with the group trip in-process, no matter indoor tourist attraction, outdoor tourist attraction, guarantee that the visitor can not wander away, bring the guarantee for visitor's personal safety.
In one implementation of the present application, the movement locus information of the sub UWB tag is determined based on the received positioning data of the UWB tag. Wherein, the moving track information at least comprises: moving direction and moving speed. And determining the moving trend of the auxiliary UWB tag according to the preset electronic map and the moving track information of the auxiliary UWB tag. And determining whether the shortest distance between the auxiliary UWB tag and the virtual electronic fence is smaller than a first preset threshold and larger than a second preset threshold or not according to the positioning data of the auxiliary UWB tag. The virtual electronic fence is set for the tour guide through the first terminal according to a preset rule. And under the condition that the shortest distance is smaller than a first preset threshold and larger than a second preset threshold and the movement trend of the auxiliary UWB tag accords with the preset movement trend, taking the auxiliary UWB tag as the UWB tag to be outlier. And generating and sending first prompt information to a second terminal corresponding to the UWB tag to be outlier according to the UWB tag to be outlier. The first prompt information is used for prompting a visitor corresponding to the UWB tag to be outlier, and the second terminal corresponds to the visitor.
In the embodiment of the application, through virtual electronic fence, remind the visitor not to leave tourist attraction easily at the tourism in-process, prevent that the visitor from leaving tourist group too far at tourist group tourism in-process, further ensure visitor's personal safety.
In one implementation manner of the present application, when the shortest distance between the sub-UWB tag and the virtual electronic fence is smaller than a second preset threshold and the sub-UWB tag is the to-be-outlier UWB tag, it is determined that the sub-UWB tag is the outlier UWB tag. And determining a tag group corresponding to the outlier UWB tag, and sending outlier information to a first terminal corresponding to a main UWB tag in the tag group to prompt a guide corresponding to the first terminal.
In one implementation of the present application, when an aggregation request is received from a first terminal, a corresponding aggregation route is generated and sent to each second terminal corresponding to each sub-UWB tag in the tag group. Wherein the aggregation request at least comprises an aggregation point position and an aggregation time. The rendezvous route is used for indicating a route of the user from the current position of the sub UWB tag to the rendezvous point position. And determining the current moving track and the current moving speed of the sub UWB tag after the sub UWB tag receives the set request according to the positioning data of the sub UWB tag. And under the condition that the current moving track is not matched with the corresponding aggregation route, calculating the moving time of the auxiliary UWB tag to the position of the aggregation point according to the current moving speed according to a preset electronic map. And generating second prompt information and sending the second prompt information to a second terminal corresponding to the sub UWB tag under the condition that the moving time is greater than the set time. The second prompt information at least comprises countdown of the aggregation time and prompt moving speed from the current position of the sub UWB tag to the aggregation point position. And the prompt moving speed is obtained according to the countdown and the distance from the current position to the set point position.
In this embodiment of the application, when a first terminal corresponding to a tour guide sends a collection request, a second terminal may receive a collection route, and a guest may collect the collection route according to the collection route displayed by the second terminal. The technical scheme of this application prevents that the visitor from can't accurately finding the rendezvous point position at the process of assembling, makes things convenient for the visitor to use.
In one implementation of the present application, signal characteristic information of each secondary UWB tag acquired by each UWB base station is determined. The signal characteristic information comprises signal strength and arrival time of the signal. And inputting the signal characteristic information into a pre-trained height recognition model to obtain the height of the sub UWB tag. Wherein, the height recognition model is a neural network model. And determining the corresponding floor according to the height of each pair of UWB tags. And determining the positioning data of the secondary UWB tag based on the floor where the secondary UWB tag is located. And generating the UWB electronic map according to the positioning data of each UWB tag and the preset electronic map of the tourist attraction.
In the embodiment of the application, the UWB base station collects the signal characteristic information of the UWB tag, and the height identification of the UWB tag is carried out so as to determine the floor of the UWB tag. The technical scheme of this application can prevent that the visitor from in the tourist attraction of many floors, unable normal demonstration visitor position in the UWB electronic map, when the visitor lost, and the guide can't in time discover, can't in time give the visitor help, brings the problem of personal safety for the visitor.
In one implementation of the present application, a visitor location map corresponding to a sub UWB tag is generated from a UWB electronic map. And sending the tourist positioning map corresponding to the auxiliary UWB tag to a corresponding second terminal so as to acquire feedback information according to the operation of the user on the second terminal. The feedback information is used for indicating whether the floor where the secondary UWB tag in the tourist positioning map is located is accurate or not. And according to the feedback information, retraining the height recognition model.
In one implementation of the present application, the number of frame slots of a broadcast frame of an ultra-wideband UWB base station is determined according to the distribution of the number of slots of a previous received frame of the ultra-wideband UWB base station, so that the ultra-wideband UWB base station emits the broadcast frame. The time slot number distribution comprises idle time slots, UWB tag signal identification success time slots and UWB tag signal collision time slots. It is determined whether there is a UWB tag signal collision slot in the number of frame slots of the broadcast frame. And under the condition that the UWB tag signal conflict time slot exists in the frame time slot number of the broadcast frame, increasing the frame time slot number of the broadcast frame so as to enable the UWB base station to send out the broadcast frame again until the UWB tag signal conflict time slot does not exist in the frame time slot number of the broadcast frame, and receiving the positioning data of each UWB tag from each UWB base station.
In one implementation manner of the application, the signal strength and the arrival time of the signal of the at least one UWB base station for acquiring the sub-UWB tag are determined according to the positioning data of the UWB tag. And acquiring the positioning information of the second terminal corresponding to the auxiliary UWB tag under the condition that the signal intensity is smaller than a third preset threshold and the arrival time of the signal is larger than a fourth preset threshold. And the positioning information of the second terminal is the geographical position provided by the second terminal. And determining whether the positioning information of the sub UWB tag is matched with the geographical position of the sub UWB tag in the UWB electronic map. And under the condition that the positioning information of the sub UWB tag is not matched with the geographical position of the sub UWB tag in the UWB electronic map, generating the UWB electronic map according to the positioning information.
In the embodiment of the application, according to the positioning data of the UWB tag, it is determined that at least one UWB base station acquires the signal intensity of the sub UWB tag and the arrival time of the signal, and it is determined whether the signal intensity is smaller than a third preset threshold and the arrival time of the signal is greater than a fourth preset threshold, and under the condition that the signal intensity is smaller than the third preset threshold and the arrival time of the signal is greater than the fourth preset threshold, the positioning information of the second terminal corresponding to the sub UWB tag is acquired, and according to the matching condition of the positioning information of the sub UWB tag and the geographical position of the sub UWB tag in the UWB electronic map, the UWB electronic map is generated. According to the technical scheme, when the UWB base station cannot normally provide accurate positioning data, the auxiliary UWB tag is positioned through the second terminal, and then the UWB electronic map is generated.
In one implementation manner of the application, the preset range of the current position of the sub-UWB tag is determined according to the positioning data of the UWB tag and the preset electronic map of the tourist attraction. And acquiring tour points of the tourist attractions corresponding to the preset range, and acquiring the scenic spot explanation information corresponding to the tour points. The scenic spot explanation information is stored in a corresponding database in advance. And transmitting the scenic spot explanation information to a second terminal corresponding to the auxiliary UWB tag so as to explain the tourist spot to the user through the second terminal.
In another aspect, the present application provides an ultra-wideband based positioning apparatus, comprising:
at least one processor. And a memory communicatively coupled to the at least one processor. Wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to: positioning data for each UWB tag from each UWB base station is received. The positioning data of the UWB tags is used for representing the relative position of each UWB tag and each UWB base station, and the positioning data of each UWB tag comprises a corresponding UWB tag identifier. Wherein, each UWB basic station sets up in the tourist attraction, UWB label and user one-to-one, and the user is guide or visitor. And determining the label group to which each UWB label belongs based on the UWB label identification and the preset corresponding relation. And determining a primary UWB tag and a secondary UWB tag in each tag group. The tag groups correspond to tour groups one by one, the main UWB tag corresponds to tour guides of the tour groups, and the auxiliary UWB tag corresponds to tourists of the tour groups. Based on the positioning data of the UWB tags and the preset electronic map of the tourist attraction, the UWB electronic map is generated and sent to the first terminal corresponding to the main UWB tag. The UWB electronic map comprises geographical position information of the UWB tag in a preset electronic map.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flow chart of an ultra-wideband-based positioning method according to an embodiment of the present application;
fig. 2 is a schematic flow chart of an ultra-wideband-based positioning method according to an embodiment of the present application;
fig. 3 is a schematic flow chart of an ultra-wideband-based positioning method according to an embodiment of the present application;
fig. 4 is a schematic flow chart of an ultra-wideband-based positioning method according to an embodiment of the present application;
fig. 5 is a schematic diagram of an ultra-wideband based positioning method in an embodiment of the present application;
fig. 6 is a schematic flow chart of an ultra-wideband-based positioning method according to an embodiment of the present application;
fig. 7 is a schematic flow chart of an ultra-wideband-based positioning method according to an embodiment of the present application;
fig. 8 is a schematic flow chart of an ultra-wideband-based positioning method according to an embodiment of the present application;
fig. 9 is a schematic flow chart of an ultra-wideband-based positioning method according to an embodiment of the present application;
fig. 10 is a schematic structural diagram of an ultra-wideband-based positioning apparatus in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
With the prevalence of travel culture, travel becomes a realization mode of enriching cultural life of people, people can know travel companions by participating in group travel, and the trouble of arranging travel routes by themselves is also saved. Therefore, the travel with the group becomes the main way of travel.
In the process of traveling, the tour guide of group needs to be responsible for the personal safety of each tourist, and because the tourist quantity is big, the tour guide can not observe the trend of each tourist in time, and thus some tourists may lose when strolling by oneself and meet accident. How to guarantee the personal safety of the tourists and prevent the tourists from missing becomes a crucial technical problem in the tourism process.
Based on the above, the embodiment of the application provides a positioning method and device based on ultra wide band, which are used for preventing a tourist from missing in a tourism process and ensuring personal safety of the tourist.
Various embodiments of the present application are described in detail below with reference to the accompanying drawings.
An embodiment of the present application provides a positioning method based on ultra wide band, as shown in fig. 1, the method may include steps S101 to S103:
s101, the server receives positioning data of each UWB tag from each UWB base station.
The positioning data of the UWB tags is used for representing the relative position of each UWB tag and each UWB base station, and the positioning data of each UWB tag comprises a corresponding UWB tag identifier. Wherein, each UWB basic station sets up in the tourist attraction, UWB label and user one-to-one, and the user is guide or visitor.
In the embodiment of the application, the UWB tag sends out a pulse signal, and the UWB base station receives and analyzes the pulse signal to obtain the position of the UWB tag relative to the UWB base station and the UWB tag identifier, where the UWB tag identifier is an identity identifier for distinguishing each UWB tag. The UWB base station sends the UWB tag to the server relative to the position of the UWB base station and the UWB tag identification, and then obtains the positioning data of each UWB tag, and the position of the UWB tag in tourist attractions can be determined through the positioning data.
In order to realize the scheme, the UWB base station needs to be arranged in the scenic spot in advance, and the arrangement position of the UWB base station can be selected after testing, so that the UWB tag position can be obtained at each position of the scenic spot. UWB tags may be held by navigation, guests.
It should be noted that the server exists as an implementation subject of the positioning method based on the ultra-wideband as an example, and is not limited to the server, and the present application is not limited to this.
S102, the server determines a tag group to which each UWB tag belongs and determines a main UWB tag and an auxiliary UWB tag in each tag group based on each UWB tag identification and a preset corresponding relation.
The tag groups correspond to tour groups one by one, the main UWB tag corresponds to tour guides of the tour groups, and the auxiliary UWB tag corresponds to tourists of the tour groups.
In the embodiment of the application, the personal safety of tourists is generally taken charge of by the tour guide, a tour group comprises a plurality of tourists, the application groups according to the tour group UWB tags, and sets a main UWB tag and an auxiliary UWB tag in a UWB tag group so as to distinguish the tour guide and the tourists, and the authority of the main UWB tag and the auxiliary UWB tag can be different. The main UWB label is higher than the auxiliary UWB labels in terms of weight, so that the tour guide can conveniently and timely determine the positions of tourists corresponding to the auxiliary UWB labels. For example, the server can search the position of each secondary UWB tag through the primary UWB tag.
S103, the server generates a UWB electronic map and sends the UWB electronic map to a first terminal corresponding to the main UWB tag based on the positioning data of the UWB tags and the preset electronic map of the tourist attraction.
The UWB electronic map comprises geographical position information of the UWB tag in a preset electronic map.
In the embodiment of the application, the main UWB tag can be bound with the corresponding first terminal, so that the tour guide can conveniently check the information of the tourists in the tour process. The server can generate a UWB electronic map according to the positioning data of the UWB tags and the preset electronic map of the tourist attraction, and the UWB electronic map can comprise the positions of all UWB tags in a UWB tag group in the tourist attraction. The server sends the UWB electronic map to the first terminal, and the tour guide can conveniently know whether the tourists are lost or not through the first terminal in time.
The first terminal corresponds to a tour guide, and the first terminal may be an electronic device such as a mobile phone and a tablet personal computer of the tour guide, or may be another device.
Through above-mentioned scheme, the tour guide can prevent that the visitor from getting lost the direction in tourist attraction through the position that the visitor was looked over at first terminal to avoid the visitor to run into danger, harm personal safety. The position of the tourist can be accurately positioned by the UWB technology, and the UWB tourist map is suitable for tourist attractions of various sizes, particularly tourist attractions such as indoor exhibition halls, art museums and the like.
The actual tourist attractions may be museums, art museums, etc. typically, such tourist attractions have multiple floors, and therefore, the floors of the UWB tags need to be located to generate an accurate UWB electronic map. The floor positioning method based on the scheme comprises the following steps:
s201, the server determines the signal characteristic information of each secondary UWB tag collected by each UWB base station.
The signal characteristic information comprises signal strength and arrival time of the signal.
In the embodiment of the present application, the UWB base station may obtain signal characteristic information of the signal emitted by the secondary UWB tag, such as signal strength and arrival time of the signal, and transmit the signal characteristic information to the server.
S202, the server inputs the signal characteristic information into a pre-trained height recognition model to obtain the height of the sub UWB tag.
Wherein, the height recognition model is a neural network model.
In the embodiment of the application, the server inputs the received signal characteristic information into a pre-trained height recognition model, and the pre-trained height recognition model is a neural network model obtained by continuous training according to the signal characteristic information of a plurality of positions collected in tourist attractions.
The server can determine the height of the secondary UWB tag according to the height recognition model.
S203, the server determines the corresponding floor according to the height of each pair of UWB tags.
In the embodiment of the application, different height intervals are needed to correspond to each floor due to different heights of users. One height interval corresponds to one floor, for example [0,3] corresponds to the first floor, (3,6] corresponds to the second floor, and according to the height of the sub UWB tag, the server determines the corresponding floor of the sub UWB tag.
S204, the server determines the positioning data of the UWB tag based on the floor where the secondary UWB tag is located.
S205, the server generates the UWB electronic map according to the positioning data of the UWB tags and the preset electronic map of the tourist attraction.
In the embodiment of the application, the server generates the three-dimensional UWB electronic map by including the positioning data of the floor where the auxiliary UWB tag is located and the preset electronic map, so that the position of the UWB tag can be displayed more accurately.
Through above-mentioned scheme, accomplish the location to the vice UWB label of different floors and generate UWB electronic map, can satisfy the demand of different tourist attractions, fix a position more accurately to the visitor, can guarantee visitor's personal safety to a great extent.
In an embodiment of the present application, the height recognition model may be retrained to ensure recognition accuracy, and specifically includes the following steps:
s301, the server generates a tourist positioning map corresponding to the sub UWB tag according to the UWB electronic map.
In an embodiment of the application, the server may generate a guest positioning map corresponding to the sub UWB tags, the guest positioning map including only a corresponding single sub UWB tag, so as to avoid interference with the user due to the display of a plurality of sub UWB tags.
S302, the server sends the tourist positioning map corresponding to the sub UWB tag to the corresponding second terminal so as to obtain feedback information according to the operation of the user on the second terminal.
The feedback information is used for indicating whether the floor where the secondary UWB tag in the tourist positioning map is located is accurate or not.
In the embodiment of the application, the server can send the tourist positioning map corresponding to the secondary UWB tag to the second terminal corresponding to the secondary UWB tag, the second terminal displays the tourist positioning map to the tourist, the tourist can operate the second terminal, and if the second terminal clicks the option box that the tourist positioning map is accurate, the server obtains the clicking operation of the tourist to obtain the feedback information.
And S303, the server retrains the height recognition model according to the feedback information.
In the embodiment of the application, the server records the position of the sub UWB tag positioned in the tourist positioning map according to feedback information, for example, when a tourist clicks the tourist positioning map incorrectly, and retrains the height recognition model to obtain the height recognition model with accurate recognition.
Through above-mentioned scheme, can improve the server and fix a position the degree of accuracy to user's floor, fix a position UWB label more accurately, further guarantee visitor's personal safety, prevent that the visitor from wandering away in multilayer tourist attraction.
In the actual travel process, when the tourist freely moves in the tourist attraction, the tourist can unconsciously walk out of the tourist attraction, and at the moment, the tourist does not know that the tourist leaves the tourist attraction, so that certain trouble is caused to the tourist and the tour guide. Therefore, the embodiments of the present application further provide the following method, as shown in fig. 4, with specific reference to the following steps:
s401, the server determines the moving track information of the sub UWB tag based on the received positioning data of the UWB tag.
Wherein, the moving track information at least comprises: moving direction and moving speed.
In the embodiment of the application, the server can determine the position of a sub UWB tag at a time and the position of the sub UWB tag at the previous time according to the positioning data of the UWB tag and the preset electronic map, wherein the time interval between the previous time and the time can be 2 seconds, obtain the moving direction of the sub UWB tag at the time relative to the previous time, and determine the moving speed of the sub UWB tag. The server further obtains the movement track information of the sub UWB tag.
S402, the server determines the moving trend of the auxiliary UWB tag according to a preset electronic map and the moving track information of the auxiliary UWB tag.
In the embodiment of the application, the server can determine the moving trend of the sub UWB tag in the tourist attraction according to the moving track information of the sub UWB tag and the preset electronic map. The movement tendency is, for example: the sub UWB tag continuously moves in a direction at a moving speed without changing the moving direction, which indicates that the moving tendency is a moving tendency in the direction. Specifically, there is a display platform in the tourist attraction, and the tourist moves towards the display platform at a moving speed of 5 km/h, which indicates that the tourist has a moving trend towards the display platform.
S403, the server determines whether the shortest distance between the auxiliary UWB tag and the virtual electronic fence is smaller than a first preset threshold and larger than a second preset threshold according to the positioning data of the auxiliary UWB tag.
The virtual electronic fence is set for the tour guide through the first terminal according to a preset rule.
In the embodiment of the application, the tour guide can set the virtual electronic fence in the range of the tourist attraction through the first terminal. Specifically, the server may send one or more virtual electronic fences with preset area sizes to the first terminal, and the guide operates the first terminal to select a suitable virtual electronic fence. The virtual electronic fence can be set in other manners, the method only provides the above exemplary setting scheme, and the scheme for setting the virtual electronic fence is not particularly limited.
Fig. 5 shows a schematic diagram of virtual electronic fences of a tourist attraction, and the server determines whether the shortest distance d between the secondary UWB tag a and the virtual electronic fence a is smaller than a first preset threshold B and larger than a second preset threshold C.
S404, under the condition that the shortest distance is smaller than a first preset threshold value and larger than a second preset threshold value and the movement trend of the auxiliary UWB tag accords with the preset movement trend, the server takes the auxiliary UWB tag as the UWB tag to be outlier.
In the embodiment of the application, when the server determines that the shortest distance between the sub UWB tag and the virtual electronic fence is smaller than a first preset threshold and larger than a second preset threshold, it is determined whether the movement trend of the sub UWB tag conforms to a preset movement trend, where the preset movement trend is a movement trend of the sub UWB tag to the virtual electronic fence.
Specifically, as shown in fig. 5, point D is an exit position of a tourist attraction and is also an edge position of the virtual electronic fence, and the moving trend of the sub UWB tag is to move to point D, so that the moving trend of the sub UWB tag conforms to a preset moving trend.
And under the condition that the shortest distance between the auxiliary UWB tag and the virtual electronic fence is smaller than a first preset threshold and larger than a second preset threshold and the movement trend of the auxiliary UWB tag accords with the preset movement trend, the server takes the auxiliary UWB tag as a tag to be outlier.
S405, the server generates and sends first prompt information to a second terminal corresponding to the UWB tag to be outlier according to the UWB tag to be outlier.
The first prompt information is used for prompting a visitor corresponding to the UWB tag to be outlier, and the second terminal corresponds to the visitor.
In the embodiment of the application, in order to prevent the wandering of the visitor and remind the visitor of moving within the range of the tourist attraction, the server may send first prompt information to the second terminal corresponding to the UWB tag to be outlier, so as to prompt the visitor to be outlier, that is, the position of the visitor is located at the edge of the virtual electronic fence.
The first prompt message may include text, sound, and the like. It should be noted that the second terminal may be a mobile phone, an ipad, or other devices, and this application is not limited in this respect.
S406, under the condition that the shortest distance between the auxiliary UWB tag and the virtual electronic fence is smaller than a second preset threshold value and the auxiliary UWB tag is the UWB tag to be outlier, the server determines that the auxiliary UWB tag is the UWB tag to be outlier.
In the embodiment of the application, when the server determines that the shortest distance between the secondary UWB tag and the virtual electronic fence is smaller than a second preset threshold and the secondary UWB tag is the UWB tag to be outlier, the server takes the secondary UWB tag as the outlier UWB tag.
S407, the server determines a tag group corresponding to the outlier UWB tag, and sends outlier information to the first terminal corresponding to the main UWB tag in the tag group to prompt a tour guide corresponding to the first terminal.
In the embodiment of the application, after the server determines that the sub UWB tag is the outlier UWB tag, the server sends outlier information to the first terminal of the tourist party to which the sub UWB tag belongs, so as to convey to the tourist that the tourist corresponding to the sub UWB tag leaves the virtual electronic fence. The tour guide can search the outlier tourists according to the outlier information, so that the tourists are prevented from missing, and the personal safety of the tourists is ensured.
Through above-mentioned scheme, guarantee the tourist in the tourist attraction internalization that virtual fence corresponds, when preventing that the tourist from walking out the tourist attraction, take place the circumstances such as wandering away, lost, guarantee tourist's personal safety constantly. Meanwhile, the tour guide can know the trends of the tourists constantly, the tour guide can conveniently work in the tour, and the situation that the tour guide cannot pay attention to the movement of part of the tourists in time and the tourists fall behind is prevented.
In the process of tourism, a tour guide may organize all tourists to gather, group the tourists to move, at the moment, the tourists who freely move in the scenic spots need to know the gathering point and the gathering time and also need to know the route from the current position to the gathering point, and the tourists can finish gathering on time. Accordingly, embodiments of the present application provide the following method, as shown in fig. 6, including the following steps:
s601, the server generates and sends a corresponding aggregation route to each second terminal corresponding to each sub-UWB tag in the tag group when receiving an aggregation request from the first terminal.
Wherein, the aggregation request at least comprises an aggregation point position and an aggregation time; the rendezvous route is used for indicating a route of the user from the current position of the sub UWB tag to the rendezvous point position.
In the embodiment of the application, the tour guide may send an aggregation request to the server through the first terminal, and the server determines, according to the aggregation request, each sub-UWB tag in the UWB tag group corresponding to the first terminal and a route from the current position of each sub-UWB tag to the aggregation point position, and generates an aggregation route. And the server sends the aggregation route to each second terminal corresponding to each secondary UWB tag.
The aggregation route sent to the second terminal may only include a route from the corresponding sub UWB tag to the aggregation point, and the route of other sub UWB tags may be avoided from affecting the user to view the aggregation route.
S602, the server determines the current moving track and the current moving speed of the secondary UWB tag after receiving the set request according to the positioning data of the secondary UWB tag.
S603, under the condition that the current moving track is not matched with the corresponding aggregation route, the server calculates the moving time of the auxiliary UWB tag to move to the position of the aggregation point according to the current moving speed according to a preset electronic map.
In the embodiment of the present application, since the visitor may want to visit another place after receiving the rendezvous route, the server needs to determine the moving time of the visitor to the rendezvous point location, which can be obtained according to the quotient of the distance from the current location to the rendezvous point location and the current moving speed of the sub UWB tag.
And S604, the server generates second prompt information and sends the second prompt information to a second terminal corresponding to the sub UWB tag under the condition that the moving time is greater than the set time.
The second prompt information at least comprises countdown of the aggregation time and prompt moving speed from the current position of the auxiliary UWB tag to the aggregation point position; and the prompt moving speed is obtained according to the countdown and the distance from the current position to the set point position.
In the embodiment of the application, when the tourist does not walk according to the gathering route and cannot reach the gathering point position according to the current moving speed of the tourist, the server generates second prompt information to remind the tourist to walk according to the gathering route and gather at the gathering point position.
And when the server determines that the moving time from the current moving speed to the assembly point position is greater than the assembly time, reminding the tourists to assemble, and reminding the tourists of countdown of the assembly time and the reminding moving speed from the current position of the secondary UWB tag to the assembly point position. And prompting the tourist to move to the gathering point position at the prompting moving speed, and reaching the gathering point position within the gathering time. The prompt moving speed can be obtained by dividing the distance from the current position to the set point position by the countdown.
When a plurality of tags are positioned by a UWB base station, a plurality of tags may be identified in a conflicting manner, and particularly in a tourist attraction of the present application, the UWB base station may not identify the plurality of tags accurately enough, so that the present application adopts the following method, as shown in fig. 7, specifically including the following steps:
s701, the server determines the frame time slot number of the broadcast frame of the ultra-wideband UWB base station according to the time slot number distribution of the previous receiving frame of the ultra-wideband UWB base station, so that the ultra-wideband UWB base station sends out the broadcast frame.
The time slot number distribution comprises idle time slots, UWB tag signal identification success time slots and UWB tag signal collision time slots.
In the embodiment of the application, the server determines the time slot number distribution of the previous received frame, the server can determine the prior information of the UWB tag of the next received frame through a Bayesian algorithm, the frame time slot number of the broadcast frame of the UWB base station is set according to the estimated number to be detected of the current UWB tag, and the broadcast frame is sent out.
S702, the server determines whether a UWB tag signal collision time slot exists in the frame time slot number of the broadcast frame.
S703, under the condition that the UWB tag signal conflict time slot exists in the frame time slot number of the broadcast frame, the server increases the frame time slot number of the broadcast frame, so that the UWB base station sends out the broadcast frame again until the UWB tag signal conflict time slot does not exist in the frame time slot number of the broadcast frame, and the server receives the positioning data of each UWB tag from each UWB base station.
In the scheme, the multi-tag anti-collision is realized by dynamically adjusting the frame time slot number, the condition that a UWB base station cannot position part of UWB tags is prevented, the accuracy of tourist positioning is ensured, and the protection degree on the personal safety of tourists is improved.
In some locations of a tourist attraction, the transmission of signals between the UWB base station and the UWB tag may be poor, or the user walks out of the area of the tourist attraction, in which case a backup positioning method is needed to assist in positioning the user. Based on this, the present application provides the following methods, specifically including S801-S804:
s801, the server determines the signal intensity and the signal arrival time of at least one UWB base station for acquiring the sub UWB tag according to the positioning data of the UWB tag.
In the embodiment of the application, the UWB base station records the signal intensity and the signal arrival time of the acquired sub UWB tag, the UWB base station selects at least one UWB base station with the sub UWB tag closest to the sub UWB tag, and the server acquires the signal intensity and the signal arrival time of the sub UWB tag acquired by the UWB base station.
S802, the server obtains the positioning information of the second terminal corresponding to the auxiliary UWB tag under the condition that the signal intensity is smaller than a third preset threshold value and the arrival time of the signal is larger than a fourth preset threshold value.
And the positioning information of the second terminal is the geographical position provided by the second terminal.
When the server determines that the signal intensity is smaller than the third preset threshold and the arrival time of the signal is larger than the fourth preset threshold, the server may acquire the positioning information of the second terminal corresponding to the secondary UWB tag. The positioning information of the second terminal is the geographical position provided by the GPS module of the second terminal.
In one embodiment of the present application, the server may send confirmation information to the second terminal corresponding to the secondary UWB tag, where the confirmation information is used to determine whether the user corresponding to the second terminal agrees to provide the geographic location with the GPS module of the second terminal.
S803, the server determines whether the positioning information of the sub UWB tag is matched with the geographical position of the sub UWB tag in the UWB electronic map.
S804, under the condition that the positioning information of the sub UWB tag is not matched with the geographical position of the sub UWB tag in the UWB electronic map, the server generates the UWB electronic map according to the positioning information.
In the embodiment of the application, since the secondary UWB tag may be located in an outdoor open environment and the secondary UWB tag is too far away from the UWB base station, the UWB base station may not accurately locate the secondary UWB tag, and therefore, the visitor may be assisted in locating by using the corresponding second terminal of the visitor. And under the condition that the server determines that the positioning information of the sub UWB tag is not matched with the geographical position of the sub UWB tag in the UWB electronic map, the positioning information given by the second terminal GPS module of the tourist is used as the positioning data of the sub UWB tag, and the UWB electronic map is generated.
Through the scheme, when the position of the tourist cannot be accurately positioned through the UWB technology, the tourist can be positioned by means of the GPS module of the second terminal of the tourist. On the basis of accurate positioning visitor's position through UWB technique, further realized preventing that the visitor from losing, protection visitor's personal safety.
In an actual tourist attraction, tourists usually watch exhibits during visiting, and if no one explains the exhibits, the tourists cannot obtain artistic fumigation pottery during the tourism. Therefore, the present application provides the following method, as shown in fig. 9, specifically including the following steps:
s901, the server determines the preset range of the current position of the UWB tag according to the positioning data of the UWB tag and the preset electronic map of the tourist attraction.
In the embodiment of the present application, the server may set different preset ranges for each tour point, for example, the preset range of "si mi dingding" is a1, and the preset range of "bronze sword" is a 2.
S902, the server acquires tour points of the tourist attractions corresponding to the preset range and acquires scenic spot explanation information corresponding to the tour points.
The scenic spot explanation information is stored in a corresponding database in advance.
The server determines the scenic spot explanation information corresponding to the tour point according to the tour point, for example, the scenic spot explanation information corresponding to the tour point of ' department ' Pending ' is the origin, history, characteristics and the like of the scenic spot explanation information.
S903, the server sends the scenic spot explanation information to a second terminal corresponding to the UWB tag, so that the tourist spot is explained to the user through the second terminal.
The server sends the scenic spot explanation information to a second terminal corresponding to the UWB tag, and the user can watch or listen to the scenic spot explanation information through the second terminal, wherein the scenic spot explanation information can be characters and sound.
By the ultra-wideband-based positioning method, the technical problems that personal safety of tourists in tourist attractions cannot be guaranteed and the tourists are prone to wandering are solved. The tour guide can acquire the UWB electronic map sent by the server through the first terminal, and the tour guide can accurately determine the position of the tourist through the UWB electronic map due to the accurate positioning of the UWB technology, so that the problem that the tourist is lost is solved.
Fig. 10 is a schematic structural diagram of an ultra-wideband-based positioning apparatus provided in an embodiment of the present application, and as shown in fig. 10, the apparatus includes:
the system includes at least one processor, and a memory communicatively coupled to the at least one processor. Wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to:
positioning data for each UWB tag from each UWB base station is received. The positioning data of the UWB tags is used for representing the relative position of each UWB tag and each UWB base station, and the positioning data of each UWB tag comprises a corresponding UWB tag identifier. Wherein, each UWB basic station sets up in the tourist attraction, UWB label and user one-to-one, and the user is guide or visitor. And determining the label group to which each UWB label belongs based on the UWB label identification and the preset corresponding relation. And determining a primary UWB tag and a secondary UWB tag in each tag group. The tag groups correspond to tour groups one by one, the main UWB tag corresponds to tour guides of the tour groups, and the auxiliary UWB tag corresponds to tourists of the tour groups. Based on the positioning data of the UWB tags and the preset electronic map of the tourist attraction, the UWB electronic map is generated and sent to the first terminal corresponding to the main UWB tag. The UWB electronic map comprises geographical position information of the UWB tag in a preset electronic map.
The embodiments in the present application are described in a progressive manner, and the same and similar parts among the embodiments can be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, since it is substantially similar to the method embodiment, the description is relatively simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
The devices and the methods provided by the embodiment of the application are in one-to-one correspondence, so the devices also have beneficial technical effects similar to the corresponding methods.
It should also be noted that 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 an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (10)

1. An ultra-wideband-based positioning method, which is applied to tourist attractions, is characterized by comprising the following steps:
receiving positioning data of each UWB tag from each UWB base station; the positioning data of the UWB tags is used for representing the relative position of each UWB tag and each UWB base station, and the positioning data of each UWB tag comprises a corresponding UWB tag identifier; each UWB base station is arranged in the tourist attraction, the UWB tags correspond to users one by one, and the users are tour guides or tourists;
determining a tag group to which each UWB tag belongs based on each UWB tag identification and a preset corresponding relation; and
determining a primary UWB tag and a secondary UWB tag in each tag group; the tag groups correspond to tour teams one by one, the main UWB tags correspond to tour guides of the tour teams, and the auxiliary UWB tags correspond to tourists of the tour teams;
generating a UWB electronic map and sending the UWB electronic map to a first terminal corresponding to the main UWB tag based on the positioning data of each UWB tag and a preset electronic map of the tourist attraction; wherein, the UWB electronic map comprises the geographical position information of the UWB tag in the preset electronic map.
2. The method of claim 1, further comprising:
determining movement locus information of the sub UWB tag based on the received positioning data of the UWB tag; wherein the movement track information at least includes: moving direction and moving speed;
determining the moving trend of the auxiliary UWB tag according to the preset electronic map and the moving track information of the auxiliary UWB tag;
determining whether the shortest distance between the auxiliary UWB tag and the virtual electronic fence is smaller than a first preset threshold and larger than a second preset threshold or not according to the positioning data of the auxiliary UWB tag; the virtual electronic fence is set by the first terminal according to a preset rule;
under the condition that the shortest distance is smaller than the first preset threshold and larger than the second preset threshold and the movement trend of the auxiliary UWB tag accords with the preset movement trend, taking the auxiliary UWB tag as the UWB tag to be outlier;
generating and sending first prompt information to a second terminal corresponding to the UWB tag to be outlier according to the UWB tag to be outlier; the first prompt message is used for prompting that the tourist corresponding to the UWB tag to be outlier is to be outlier, and the second terminal corresponds to the tourist.
3. The method of claim 2, further comprising:
determining that the sub UWB tag is an outlier UWB tag when the shortest distance between the sub UWB tag and the virtual electronic fence is smaller than the second preset threshold and the sub UWB tag is a UWB tag to be outlier;
and determining the tag group corresponding to the outlier UWB tag, and sending outlier information to the first terminal corresponding to the main UWB tag in the tag group so as to prompt the guide corresponding to the first terminal.
4. The method of claim 1, further comprising:
under the condition of receiving an aggregation request from the first terminal, generating and sending a corresponding aggregation route to each second terminal corresponding to each sub UWB tag in the tag group;
wherein the aggregation request at least comprises an aggregation point position and an aggregation time; the aggregation route is used for indicating a route of the user from the current position of the secondary UWB tag to the aggregation point position;
determining the current moving track and the current moving speed of the sub UWB tag after receiving the set request according to the positioning data of the sub UWB tag;
under the condition that the current moving track is not matched with the corresponding aggregation route, calculating the moving time of the auxiliary UWB tag to the aggregation point position according to the current moving speed according to a preset electronic map;
under the condition that the moving time is longer than the set time, generating second prompt information and sending the second prompt information to the second terminal corresponding to the auxiliary UWB tag;
wherein the second prompt information at least includes a countdown of the aggregation time, and a prompt moving speed from the current position of the secondary UWB tag to the aggregation point position; and the prompt moving speed is obtained according to the countdown and the distance from the current position to the gathering point position.
5. The method of claim 1, wherein generating a UWB electronic map based on the positioning data of each UWB tag and a preset electronic map of the tourist attractions comprises:
determining signal characteristic information of each secondary UWB tag acquired by each UWB base station; wherein the signal characteristic information comprises signal strength and arrival time of a signal;
inputting the signal characteristic information into a pre-trained height recognition model to obtain the height of the secondary UWB tag; wherein the height recognition model is a neural network model;
determining the corresponding floor according to the height of each secondary UWB tag;
determining positioning data of the secondary UWB tag based on the floor where the secondary UWB tag is located;
and generating the UWB electronic map according to the positioning data of the UWB tags and the preset electronic map of the tourist attraction.
6. The method of claim 5, wherein after generating the UWB electronic map according to the positioning data of each UWB tag and the preset electronic map of the tourist attraction, the method further comprises:
according to the UWB electronic map, a tourist positioning map corresponding to the secondary UWB tag is generated;
sending the tourist positioning map corresponding to the secondary UWB tag to a corresponding second terminal so as to acquire feedback information according to the operation of a user on the second terminal; the feedback information is used for indicating whether the floor where the secondary UWB tag is located in the tourist positioning map is accurate or not;
and according to the feedback information, retraining the height recognition model.
7. The method of claim 1, wherein prior to receiving positioning data for each UWB tag from each ultra-wideband UWB base station, the method further comprises:
determining the frame time slot number of a broadcast frame of the ultra-wideband UWB base station according to the time slot number distribution of a previous receiving frame of the ultra-wideband UWB base station so as to enable the ultra-wideband UWB base station to send out the broadcast frame; the time slot number distribution comprises idle time slots, UWB tag signal identification success time slots and UWB tag signal collision time slots;
determining whether a UWB tag signal collision time slot exists in the frame time slot number of the broadcast frame;
and under the condition that UWB tag signal conflict time slots exist in the frame time slot number of the broadcast frame, increasing the frame time slot number of the broadcast frame so as to enable the UWB base station to send out the broadcast frame again until no UWB tag signal conflict time slots exist in the frame time slot number of the broadcast frame, and receiving positioning data of each UWB tag from each UWB base station.
8. The method of claim 1, further comprising:
according to the positioning data of the UWB tags, determining the signal intensity and the signal arrival time of at least one UWB base station for acquiring the secondary UWB tags;
acquiring positioning information of a second terminal corresponding to the secondary UWB tag under the condition that the signal intensity is smaller than a third preset threshold and the arrival time of the signal is larger than a fourth preset threshold; the positioning information of the second terminal is a geographical position provided by the second terminal;
determining whether the positioning information of the sub UWB tag matches the geographical position of the sub UWB tag in the UWB electronic map;
and under the condition that the positioning information of the sub UWB tag is not matched with the geographical position of the sub UWB tag in the UWB electronic map, generating the UWB electronic map according to the positioning information.
9. The method of claim 1, further comprising:
determining a preset range of the current position of the secondary UWB tag according to the positioning data of the UWB tag and a preset electronic map of the tourist attraction;
acquiring tour points of the tourist attractions corresponding to the preset range, and acquiring scenic spot explanation information corresponding to the tour points; the scenic spot explanation information is stored in a corresponding database in advance;
and sending the scenic spot explanation information to a second terminal corresponding to the secondary UWB tag so as to explain the tourist spot to a user through the second terminal.
10. An ultra-wideband based positioning apparatus, characterized in that the apparatus comprises:
at least one processor; and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to:
receiving positioning data of each UWB tag from each UWB base station; the positioning data of the UWB tags is used for representing the relative position of each UWB tag and each UWB base station, and the positioning data of each UWB tag comprises a corresponding UWB tag identifier; each UWB base station is arranged in the tourist attraction, the UWB tags correspond to users one by one, and the users are tour guides or tourists;
determining a tag group to which each UWB tag belongs based on each UWB tag identification and a preset corresponding relation; and
determining a primary UWB tag and a secondary UWB tag in each tag group; the tag groups correspond to tour teams one by one, the main UWB tags correspond to tour guides of the tour teams, and the auxiliary UWB tags correspond to tourists of the tour teams;
generating a UWB electronic map and sending the UWB electronic map to a first terminal corresponding to the main UWB tag based on the positioning data of each UWB tag and a preset electronic map of the tourist attraction; wherein, the UWB electronic map comprises the geographical position information of the UWB tag in the preset electronic map.
CN202110597808.2A 2021-05-31 2021-05-31 Ultra-wideband-based positioning method and device Pending CN113316083A (en)

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CN117793629A (en) * 2024-02-26 2024-03-29 微澜能源(江苏)有限公司 Hydropower station visitor guiding method and device
CN117793629B (en) * 2024-02-26 2024-05-03 微澜能源(江苏)有限公司 Hydropower station visitor guiding method and device

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Application publication date: 20210827