CN113490151A - Method and equipment for positioning park workers - Google Patents
Method and equipment for positioning park workers Download PDFInfo
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Abstract
The application discloses a method and equipment for positioning park workers, wherein the method comprises the following steps: the method comprises the steps that positioning of workers is achieved through a personnel positioning system, and indoor areas and outdoor areas of a garden corresponding to an area model which is established in advance for the garden are determined; determining the area of the positioning terminal in the area model according to the identifier of the positioning terminal and the initial placing position corresponding to the identifier; and selecting a corresponding positioning mode from a plurality of pre-stored positioning modes for positioning according to the area, and replacing the corresponding positioning mode with other positioning modes if the area is changed. Through dividing the garden into indoor area and outdoor area, can select different locate mode to the regional type of difference in the garden, guarantee the stability and the accuracy of location, when the region that the staff was located changes, the locate mode also can carry out synchronous switch, has avoided the condition that the locating signal interrupts to appear.
Description
Technical Field
The application relates to the technical field of positioning, in particular to a method and equipment for positioning park workers.
Background
With the increasing development of social economy, the plant area and the equipment quantity of the industrial park are continuously increased. Because the gardens contain many high-risk equipment or regions, consequently the location to staff in the garden then seems more and more important, if not obtain the position of staff in the garden in real time, then can't confirm whether staff touches some high-risk equipment or gets into when some high-risk regions, cause the emergence of dangerous accident very easily.
The method for positioning the workers in the garden in the prior art comprises a plurality of methods, but scenes in the garden are complex, and the existing positioning mode cannot meet all scenes in the garden, so that the workers can be accurately positioned with stable signals.
Disclosure of Invention
In order to solve the problem, the positioning mode of the working personnel in the current park can not meet all scenes of the park, and the working personnel in the park are difficult to be positioned accurately and stably. The application provides a method and equipment for positioning park workers, comprising the following steps:
in a first aspect, the present application provides a method for locating a park worker, which is to locate the worker through a worker locating system, wherein the worker locating system comprises a locating reference base station erected outdoors, a locating beacon arranged indoors, and a locating terminal carried by the worker, wherein the locating terminal is provided with an indoor locating module and an outdoor locating module, and the method comprises the following steps: determining an area model which is established in advance aiming at a garden, wherein the area model corresponds to an indoor area and an outdoor area of the garden; determining the area of the positioning terminal in the area model according to the identifier of the positioning terminal and the initial placing position corresponding to the identifier; according to the area, selecting a corresponding positioning mode from a plurality of pre-stored positioning modes for positioning, wherein the plurality of positioning modes at least comprise: if the located area is the indoor area, positioning the positioning terminal through communication between the indoor positioning module and the positioning beacon; if the located area is the outdoor area, positioning the positioning terminal through the outdoor positioning module and the correction of the positioning reference base station; and if the area is changed, replacing the corresponding positioning mode with other positioning modes.
In one example, if the located area is the outdoor area, the positioning terminal is positioned through the outdoor positioning module and the correction of the positioning reference base station, specifically including: if the located area is the outdoor area, starting the outdoor positioning module, and determining a first pseudo range between the positioning terminal and a positioning satellite according to communication between the outdoor positioning module and a global navigation satellite system; positioning the positioning terminal according to the first pseudo range; determining a second pseudorange between the positioning reference base station and the positioning satellite according to communication between the positioning reference base station and the positioning satellite; and correcting the positioning according to the second pseudo range and the preset coordinates of the positioning reference base station.
In one example, the people positioning system further comprises a monitoring platform; the method further comprises the following steps: constructing a monitoring display graph according to the area model and the map of the park, and sending the monitoring display graph to the monitoring platform for displaying; and sending the current position of the positioning terminal to the monitoring platform so as to display the motion trail of the positioning terminal through the monitoring platform.
In one example, after sending the current position of the positioning terminal to the monitoring platform to display the motion trail of the positioning terminal through the monitoring platform, the method further includes: acquiring an access prohibition area through the display platform; and if the positioning terminal enters the no entry area, generating an alarm signal, and sending the alarm signal to the positioning terminal and the display platform.
In one example, determining the area of the positioning terminal in the area model by using the identifier of the positioning terminal and the initial placement position corresponding to the identifier specifically includes: and determining the corresponding initial coordinate of the positioning terminal in the area model according to the identifier of the positioning terminal and the initial placing position corresponding to the identifier, and determining the area according to the initial coordinate.
In one example, an inertial navigation module is further arranged in the positioning terminal; after determining the initial coordinates of the positioning terminal in the area model according to the identifier of the positioning terminal and the initial placing position corresponding to the identifier, the method further includes: initializing the inertial navigation module through the initial coordinate, and setting the initial speed of the inertial navigation module to be 0; if the positioning terminal is positioned through the inertial navigation module and the positioning terminal is determined to cross the boundary line, replacing the corresponding positioning mode with other positioning modes, wherein the boundary line at least comprises the position of the appointed door.
In one example, if the positioning terminal is positioned by the inertial navigation module and it is determined that the positioning terminal crosses the boundary line, the method further includes, before replacing the corresponding positioning method with another positioning method: determining that the positioning terminal is located in a range near the boundary line through the positioning mode, wherein a difference value between a first positioning result corresponding to the positioning mode and a second positioning result corresponding to the inertial navigation module is higher than a preset threshold value; and determining the current speed of the positioning terminal through the positioning mode, and correcting the inertial navigation module according to the current speed and the first positioning result.
In one example, before determining a current velocity of the positioning terminal through the positioning manner and correcting the inertial navigation module according to the current velocity and the first positioning result, the method further includes: acquiring the latest correction time point of the inertial navigation module; determining that the difference value between the latest correction time point and the current time point is not less than a preset time length; and acquiring the motion trail of the positioning terminal in the positioning mode, and determining that the positioning terminal does not appear in the vicinity of the boundary line for multiple times within the preset time length according to the motion trail.
In one example, a barometer is further arranged on the positioning terminal; if the located area is the indoor area, positioning the positioning terminal through communication between the indoor positioning module and the positioning beacon, specifically comprising: if the area is the indoor area, the indoor positioning module and the barometer are started; and positioning the positioning terminal through the communication between the indoor positioning module and the positioning beacon and through the air pressure index of the barometer, wherein the air pressure index is used for determining the height value of the positioning terminal.
In one example, the method further comprises: determining the positioning terminal as a specific positioning terminal, wherein the specific positioning terminal is used for marking workers needing important monitoring; determining that the specific positioning terminal tries to send signals to other positioning terminals in a specified range nearby, and receiving feedback results of a plurality of other positioning terminals to the signals; and judging whether the positioning of the specific positioning terminal is accurate or not according to the positioning results respectively corresponding to the other positioning terminals which send the feedback results.
On the other hand, this application provides the equipment of garden staff location, equipment passes through personnel positioning system and realizes staff's location, personnel positioning system including erect at outdoor location reference basic station, set up at indoor location beacon the locating terminal that the staff carried, be provided with indoor orientation module, outdoor orientation module on the locating terminal, equipment 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: determining a region model which is established in advance aiming at a garden, wherein the region model at least comprises an indoor region and an outdoor region; determining the area of the positioning terminal in the area model according to the identifier of the positioning terminal and the initial placing position corresponding to the identifier; according to the area, selecting a corresponding positioning mode from a plurality of pre-stored positioning modes for positioning, wherein the plurality of positioning modes at least comprise: if the located area is the indoor area, positioning the positioning terminal through communication between the indoor positioning module and the positioning beacon; if the located area is the outdoor area, positioning the positioning terminal through the outdoor positioning module and the correction of the positioning reference base station; and if the area is changed, replacing the corresponding positioning mode with other positioning modes.
The method and the equipment for positioning the park workers can bring the following beneficial effects:
through dividing the garden into indoor region and outdoor region, can select different locate mode to the regional type of difference in the garden, guarantee the stability and the accuracy of location, in addition, when the regional change that the staff was located, the locate mode also can carry out synchronous switch, has avoided the condition that the locating signal interrupts to appear, has further promoted the stability and the accuracy of location, has fully ensured the safety of personal property.
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 illustrating a method for locating a campus crew according to an embodiment of the present disclosure;
figure 2 is a schematic diagram of a campus crew locating 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.
It should be noted that, in the embodiment of the present application, a method for locating a campus worker is stored in a corresponding system or server, a user may log in the system or server through a corresponding terminal, where the terminal may be a hardware device with a corresponding function, such as a mobile phone, a tablet computer, and a personal computer, and the terminal may be pre-installed with the system, and may also log in the system or server through APP, a WEB site, and the like, so as to locate the campus worker.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The method for positioning the park workers provided by the embodiment of the application realizes the positioning of the workers through the personnel positioning system, the personnel positioning system can be stored in a corresponding system or a server, and the personnel positioning system comprises: the positioning system comprises a positioning reference base station erected outdoors, a positioning beacon arranged indoors and a positioning terminal carried by a worker, wherein an indoor positioning module and an outdoor positioning module are arranged on the positioning terminal.
As shown in fig. 1, the positioning method specifically includes:
s101: determining a regional model which is established in advance for a garden, wherein the regional model at least comprises an indoor region and an outdoor region.
Specifically, an area model corresponding to the campus is established in advance according to a campus map or each building layout, and the area model can specifically display the corresponding position of the campus in a coordinate manner. In addition, coordinate systems corresponding to the indoor positioning module and the outdoor positioning module arranged in the positioning terminal are respectively deduced to coordinate systems corresponding to the area models, so that the coordinate systems are unified. It should be noted that the coordinate system may include an X-axis, a Y-axis, and a Z-axis to locate the plane position and the spatial position of the garden.
Further, the region model is divided into an indoor region and an outdoor region. The specific operation is as follows: marking a plurality of boundary lines according to a coordinate system corresponding to the area model, wherein each boundary line comprises a plurality of continuous coordinates, and setting a certain direction of the boundary lines as an indoor area and the opposite direction as an outdoor area, or setting an indoor area in a surrounding range of the plurality of boundary lines and an outdoor area outside the surrounding range.
S102: and determining the area of the positioning terminal in the area model according to the identifier of the positioning terminal and the initial placing position corresponding to the identifier.
First, it should be noted that the personnel positioning system described in the present application includes a positioning terminal, and the positioning terminal is carried by a campus worker and is used for determining the position of the campus worker according to the positioning terminal. The positioning middle end can be designed into various forms, including but not limited to: the safety helmet, the mobile phone, the employee card and other hardware devices with corresponding functions, etc. it should be noted that the different forms of the safety terminal cannot affect the protection scope of the present application.
In addition, in this embodiment of the present application, an indoor positioning module is installed in the positioning terminal, and is configured to perform positioning according to a positioning beacon, where the positioning beacon may be installed in an indoor area, and the form of the positioning beacon includes, but is not limited to: bluetooth beacons, iBeacon beacons, Zigbee beacons, Wi-Fi beacons, and the like. The positioning terminal can determine the specific position of the indoor positioning module in the room according to the signal transmission of the indoor positioning module and the positioning beacon. In addition, the positioning terminal is also provided with an outdoor positioning module for positioning according to a Global Navigation Satellite System (GNSS). The positioning terminal may determine its specific location outdoors based on signal transmissions between an outdoor positioning module and a plurality of satellites included in the global satellite navigation system. In addition, a communication module is also installed in the positioning terminal and used for communicating with a system or a server, and the communication mode of the positioning terminal meets the existing communication protocol.
Through this application positioning terminal in install indoor positioning module and outdoor positioning module, can guarantee no matter positioning terminal is in indoor area or outdoor area, can both confirm its accurate position through corresponding mode, avoid because of can't receive satellite signal in indoor area or can't receive the condition appearance that beacon signal and lead to in outdoor area can't receive the location.
Specifically, the positioning terminal has unique identification, and places some fixed position in the garden (for example, the garden entrance), be used for getting into the garden or getting into some regions in garden at the staff, wear according to the regulation, in this application, define fixed position as initial locating position, a plurality of positioning terminal has all been placed in each initial locating position, and initial locating position can increase or reduce according to actual demand, only need when initial locating position appears changing, correspond in the system and set up can.
When the positioning terminal is ready to be used by a worker, the positioning terminal can communicate with the system through the communication module when being started, and sends the unique identifier to the system, and the system can inquire the initial placement position corresponding to the identifier according to the identifier. Further, the system may determine an initial coordinate corresponding to the positioning terminal in the area model according to the identifier and the initial placement position of the positioning terminal, and determine, according to the initial coordinate and in combination with a coordinate system corresponding to the area model, that the area where the positioning terminal is located in the area model is an indoor area or an outdoor area.
S103: according to the area, selecting a corresponding positioning mode from a plurality of pre-stored positioning modes for positioning, wherein the plurality of positioning modes at least comprise: if the located area is the indoor area, positioning the positioning terminal through communication between the indoor positioning module and the positioning beacon; and if the located area is the outdoor area, positioning the indoor terminal through the outdoor positioning module and the correction of the positioning reference base station.
Specifically, the positioning terminal in the present application includes at least two positioning modes: indoor positioning mode and outdoor positioning mode. Wherein, indoor location mode does: positioning the positioning terminal according to the communication between an indoor positioning module arranged in the positioning terminal and the positioning beacon; the outdoor positioning mode is as follows: the positioning terminal is positioned according to the communication between an outdoor positioning module arranged in the positioning terminal and a plurality of satellites contained in a global navigation satellite system.
When the system determines that the current area of the positioning terminal is an indoor area according to the method, the system can send a control signal to the positioning terminal to control the positioning terminal to independently start the indoor positioning module, and acquire a communication signal between the indoor positioning module and a positioning beacon installed in the current indoor area in real time or at regular time to determine the current coordinate of the positioning terminal and realize the positioning of the positioning terminal.
It should be noted that, in the personnel positioning system described in the embodiment of the present application, a positioning reference base station may also be included. The positioning reference base station can continuously detect the satellite navigation signals for a long time, and transmits the detection data to the data center or the cloud server in real time or at regular time through the communication facility, so that the data center or the cloud server carries out correction calculation according to the detected data, and the positioning correction of the positioning terminal is realized. In the embodiments of the present application, various forms of positioning reference base stations may be adopted, including but not limited to: a carrier-Time kinematic (RTK) reference base station, a Real Time Differential (RTD) reference base station. In the embodiment of the present application, the carrier phase differential reference base station is taken as an example for explanation, and it may be disposed in an open position in an outdoor area of a campus to achieve better communication with a positioning satellite.
When the system determines that the current area of the positioning terminal is an outdoor area according to the method, the system can send a control signal to the positioning terminal to control the positioning terminal to independently start the outdoor positioning module, acquire a communication signal between the outdoor positioning module and the global navigation satellite system in real time or at regular time, and determine a first pseudo range between the positioning terminal and a positioning satellite according to the communication signal, wherein the positioning satellite at least comprises three positioning satellites, the corresponding first pseudo range at least comprises three distance data, and the current coordinate of the positioning terminal can be determined through the first pseudo range so as to position the positioning terminal.
Since the pseudorange is an approximate distance between the positioning terminal and the positioning satellite in the satellite positioning process, the current coordinate of the positioning terminal determined according to the first pseudorange is not accurate, and therefore the current coordinate can be corrected through the positioning reference base station.
Specifically, the system may obtain, in real time or at regular time, a communication signal between the positioning reference base station and the positioning satellite, so as to determine a second pseudorange between the positioning reference base station and the positioning satellite according to the communication signal between the positioning reference base station and the positioning satellite.
Further, the system may calculate the second pseudorange and a preset coordinate of the positioning reference base station through a corresponding correction algorithm to obtain a correction value, where the preset coordinate is a correct coordinate determined when the positioning reference base station is constructed, and the coordinate also needs to be synchronously derived into a coordinate system corresponding to the area model.
Furthermore, the system can correct the positioning of the positioning terminal through the correction value, and is favorable for obtaining more accurate current coordinates of the positioning terminal in the outdoor area.
S104: and if the area is changed, replacing the corresponding positioning mode with other positioning modes.
Specifically, the system determines that the current area where the positioning terminal is located changes, for example: when the system detects that the area where the positioning terminal is currently located is changed from an indoor area to an outdoor area, the indoor positioning mode can be changed into an outdoor positioning mode, namely, the outdoor positioning module is started and the indoor positioning module is closed; when the system detects that the area where the positioning terminal is currently located is changed from the outdoor area to the indoor area, the outdoor positioning mode can be changed into the indoor positioning mode, namely, the indoor positioning module is turned on and the outdoor positioning module is turned off.
Because the indoor positioning module and the outdoor positioning module are limited in position, the indoor positioning module and the outdoor positioning module cannot be applied to all ranges of a park, when the positioning terminal enters an indoor area, the communication between the outdoor positioning module and the positioning satellite and the positioning reference base station is correspondingly weakened or even disconnected, and similarly, when the positioning terminal enters an outdoor area, the communication between the indoor positioning module and the positioning beacon is weakened or even disconnected.
However, the two positioning methods for positioning the terminal do not have an absolute boundary of the area, and the signal is not suddenly weakened or disconnected. Therefore, when the area where the positioning terminal is located changes, the currently-used positioning mode does not immediately have the situation of signal attenuation or disconnection, but the area where the positioning terminal is located can be judged to have changed according to the current coordinate of positioning, at this moment, another positioning mode corresponding to the current positioning mode can be started for pre-positioning, and when the positioning signal of the other positioning mode is stable, the former positioning mode can be closed. Through above-mentioned technical scheme, can guarantee that the positioning terminal carries out seamless handover to the locate mode according to the different regions in garden, and can not produce the condition at positioning signal terminal basically, guaranteed that the positioning terminal can both carry out the accurate positioning wherever in the garden.
In an embodiment, if the positioning method is switched only by the above method, there may be a case where a signal is interrupted with a small probability, and therefore, in order to ensure the stability of the positioning signal, the inertial navigation module is introduced in the technical solution described in the present application. The inertial navigation system is a self-service navigation system which does not depend on external information and does not radiate energy to the outside, the working environment of the inertial navigation system comprises the air and the ground, and can be underwater, the basic working principle of the inertial navigation system is based on the Newton's law of mechanics, the acceleration of a carrier in an inertial reference system is measured, the acceleration is integrated with time, and the acceleration is transformed into a navigation coordinate system, so that the information of speed, yaw angle, position and the like in the navigation coordinate system can be obtained.
Specifically, an inertial navigation module is further arranged in the positioning terminal. The inertial navigation module can be started synchronously along with the start of the positioning terminal, and specifically comprises the following steps: and deducing the coordinate system of the inertial navigation module into the coordinate system corresponding to the area model, inputting the initial coordinate of the positioning terminal into the inertial navigation module to initialize the inertial navigation module, and setting the initial speed of the inertial navigation module to be 0.
Further, it is necessary to previously determine boundary lines corresponding to positions where a plurality of designated doors are located in a coordinate system corresponding to the area model. The boundary line corresponds to all doors of the indoor areas of the entering and exiting of the garden, and if the area where the positioning terminal is located is switched, the positioning terminal can determine whether the area where the positioning terminal is located is switched by judging whether the positioning terminal crosses the boundary line or not through any one of the boundary lines. The system can determine the current coordinate of the positioning terminal in the coordinate system corresponding to the area model by acquiring the positioning signal of the inertial navigation module in real time or at regular time, and if the coordinate shows that the positioning terminal crosses the boundary line, the system can determine that the positioning terminal switches the area, and simultaneously replace the corresponding positioning mode with other positioning modes.
Because the inertial navigation module does not depend on external information, is not positioned through external equipment, and the condition that a positioning signal is weakened or interrupted can not occur, whether the positioning terminal switches the area is judged according to the inertial navigation module, and the positioning mode is synchronously switched, so that the positioning mode of the positioning terminal is seamlessly switched according to different areas, the positioning precision is ensured, the positioning stability is further improved, and the condition of positioning interruption caused by untimely switching of the positioning mode is avoided.
In one embodiment, since the positioning signal of the inertial navigation module is obtained by integrating time according to the initial coordinates and the initial velocity, there is a certain instability, and the accuracy of the inertial navigation module is reduced due to short-time high-frequency displacement and vibration. And because the inertial navigation module is integrated in the positioning terminal carried by the park worker, the limb actions of the park worker can generate larger vibration, and the positioning accuracy of the inertial navigation module can be greatly influenced, so that the positioning of the positioning terminal is very unstable and inaccurate only by the inertial navigation module without depending on other positioning modes. In the embodiment of the application, the inertial navigation module can only perform an auxiliary determination function on whether the positioning terminal crosses the boundary line, and due to instability of the inertial navigation module, only the auxiliary determination may cause inaccurate positioning, and if a large error occurs in a positioning signal of the inertial navigation module, switching of a positioning mode of the positioning terminal may be untimely, and a situation of interruption of the positioning signal may also be caused.
Specifically, to solve the above problem, before the positioning terminal is positioned by the inertial navigation module, the positioning terminal is determined to cross the boundary line, and the corresponding positioning mode is replaced by another positioning mode, it may be determined whether the positioning terminal is located in the vicinity of the boundary line by the current positioning mode of the positioning terminal. The value of the vicinity range may be set in advance to indicate that the positioning terminal is very close to the boundary line, wherein the value of the vicinity range may be flexibly set according to the actual situation, and is not specifically limited herein. The specific determination method may be that the coordinate obtained by the current positioning method of the positioning terminal is the coordinate of the midpoint between the distance boundary line and the preset vicinity range.
Because the positioning mode is only close to the boundary line at present and does not leave the current area, the positioning mode currently adopted by the positioning terminal is more accurate. And determining that the positioning terminal is positioned in the vicinity range of the boundary line according to the first positioning result corresponding to the current positioning mode, and acquiring a current second positioning result of the inertial navigation module. Based on that the first positioning result is accurate, if the difference value between the first positioning result and the second positioning result is higher than the preset threshold value, it indicates that a large deviation has occurred in the current positioning of the inertial navigation module, and it cannot assist in determining whether the positioning terminal crosses the boundary line.
Further, at this time, a large deviation occurs in the positioning of the inertial navigation module, the system may determine the current speed of the positioning terminal through the current positioning mode of the positioning terminal, specifically, the system may continuously obtain two coordinates through the current positioning mode within a preset time, determine the current speed of the positioning terminal according to the preset time and the two coordinates, and correct the inertial navigation module according to the current speed and the first positioning result, that is, input the new coordinates and the initial speed to the inertial navigation module to recover the accuracy thereof.
When the system determines that the positioning terminal enters the range near the boundary line, the positioning terminal is indicated to cross the boundary line with high probability, and the inertial navigation module is corrected to have timeliness and can ensure the positioning accuracy of the inertial navigation module to the maximum extent.
It should be further noted that the inertial navigation module in the present application may take effect in the time period when the positioning terminal is fully working, that is, the positioning terminal may be continuously positioned according to the movement of the positioning terminal, which may not only be used in the above technical solution, but also correct the positioning results obtained by multiple positioning modes in the present application, so as to prevent the positioning drift phenomenon from occurring.
In addition, in a general situation, a plurality of (at least three) positioning beacons corresponding to the indoor area need to be set to satisfy communication with the indoor positioning module, so that accuracy of a positioning result is ensured. However, in the application, due to the addition of the inertial navigation module, the indoor area is not required to be provided with too many positioning beacons, only one positioning beacon is required to be arranged to realize the basic communication with the indoor positioning module, and the inertial navigation module can correct the positioning result, so that the accuracy of the positioning result is ensured, and meanwhile, the construction cost of the system is further reduced.
In one embodiment, based on the instability of the inertial navigation module, the system may preset a correction frequency for the inertial navigation module, that is, the inertial navigation module is corrected once every certain time interval, so as to ensure the positioning accuracy of the inertial navigation module to the maximum extent.
Since the correction of the inertial navigation system consumes a certain time, if the positioning terminal enters the range near the boundary line and the inertial navigation module is ready to be corrected, the system just corrects the inertial navigation module according to the correction frequency, and the accuracy of the inertial navigation module can be ensured at this moment, and the correction is not necessary. In addition, if the positioning terminal continuously enters and exits the nearby range of the boundary line for multiple times within a short time interval, the positioning terminal does not cross the boundary line, and at this time, the inertial navigation module is corrected when the positioning terminal enters the nearby range of the boundary line for the first time, so that the positioning accuracy can be ensured, and repeated correction is not needed.
Therefore, to solve the above problem, before the inertial navigation module is corrected, the latest correction time point of the inertial navigation module, that is, the last correction time point, and the current time point may be obtained. If the difference value between the latest correction time point and the current time point is not less than the preset time length, the positioning track of the positioning terminal is obtained in a positioning mode, and the positioning terminal is determined not to appear in the vicinity of the boundary line for multiple times in the preset time length through the motion track, it is indicated that the accuracy of the inertial navigation module cannot be guaranteed at the moment. It should be noted that the preset time duration here may be flexibly set according to an actual situation, a specific numerical value thereof is not specifically limited herein, and the above-mentioned times may also be flexibly set according to an actual situation, and a specific numerical value thereof is not specifically limited herein.
Through the recording of the technical scheme, the accuracy of the inertial navigation module can be ensured, redundant correction on the inertial navigation module is avoided, the positioning rate is improved, and meanwhile the computing resources of the system are saved.
In one embodiment, the indoor area of the campus usually has different floors and is provided with scaffolding or the like, and the height of the worker in the indoor area is also a very important parameter. In the embodiment of the present application, although the height value of the positioning terminal may be determined through the communication between the indoor positioning module and the positioning beacon, the accuracy of the positioning beacon may not meet the actual requirement, and therefore, in order to solve the above problem, the present application sets the barometer on the positioning terminal.
Based on different air pressure indexes of the barometer at different heights, when the system judges that the area where the positioning terminal is located is an indoor area, the indoor positioning module and the barometer can be controlled to be started, the indoor positioning module can be positioned through communication between the indoor positioning module and the positioning beacon, the positioning result at the moment is a space coordinate, and the space coordinate not only contains the position of the positioning terminal, but also contains the height value of the positioning terminal. Meanwhile, the height value of the positioning terminal is further determined by the air pressure index of the barometer and the corresponding combination algorithm by combining the positioning result. Through the above scheme, the height value of the positioning terminal in the indoor area can be ensured to have higher accuracy.
In one embodiment, for some important or special positioning terminals or the specific positioning terminal is used for marking the staff needing important monitoring, the system can also determine the positioning terminal as the specific positioning terminal in a way of determining according to the unique identifier of the positioning terminal. Further, a specific positioning terminal may attempt to transmit a signal to a nearby designated range, and when a plurality of other positioning terminals are present in the nearby designated range, the plurality of other positioning terminals may receive the signal and generate a feedback result identifying their presence in the nearby designated range. It should be noted that, when the number of the other positioning terminals is less than three, the system may perform rough positioning on the specific positioning terminal according to the positioning results corresponding to the other positioning terminals that send the feedback results, at this time, a theoretical position range of the specific positioning terminal is generated, if the specific positioning terminal appears in the theoretical position range, it is indicated that the positioning is accurate, otherwise, it is indicated that the positioning is inaccurate, and it is necessary to perform maintenance or correction.
When the number of the other positioning terminals is greater than or equal to three, the system may perform accurate positioning on the specific positioning terminal according to the positioning results corresponding to the other positioning terminals that send the feedback results, it should be noted that the accurate positioning here is more accurate than the above-mentioned rough positioning, and a theoretical position range may also be generated, which is smaller than the above-mentioned rough positioning range, so as to implement more accurate auxiliary positioning on the specific positioning terminal.
Through the technical scheme, when a terminal needing accurate positioning faces, for example, the terminal can be marked as a specific positioning terminal, and the specific positioning middle end is positioned through other positioning terminals, so that whether the position of the terminal is accurate or not is determined, and a worker can control the position of the specific positioning terminal more accurately.
In one embodiment, the people positioning system described herein further comprises: and the monitoring platform can be set as a hardware device with a display screen. The system constructs a monitoring display graph according to the regional model and the map of the park, and sends the monitoring display graph to the monitoring platform for displaying. The monitoring personnel can watch the monitoring display picture corresponding to the garden through the monitoring platform. The system sends the current position of the positioning terminal to the monitoring platform so as to display the motion trail of the positioning terminal through the monitoring platform.
Further, the system can acquire the no-entry area through the display platform, determine the positioning terminal corresponding to the no-entry area, generate an alarm signal if the positioning signal of the positioning terminal shows that the positioning terminal enters the no-entry area, and send the alarm signal to the positioning terminal and the display platform. By the setting mode, when some positioning terminals enter some forbidden entering areas, alarm signals can be generated, and workers can respond correspondingly in time.
In one embodiment, as shown in fig. 2, the present application further provides a device for locating a worker in a park, where the device locates the worker through a personnel locating system, the personnel locating system includes a locating reference base station erected outdoors, a locating beacon arranged indoors, and a locating terminal carried by the worker, an indoor locating module and an outdoor locating module are arranged on the locating terminal, and the device includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform instructions for:
determining a region model which is established in advance aiming at a garden, wherein the region model at least comprises an indoor region and an outdoor region;
determining the area of the positioning terminal in the area model according to the identifier of the positioning terminal and the initial placing position corresponding to the identifier;
according to the area, selecting a corresponding positioning mode from a plurality of pre-stored positioning modes for positioning, wherein the plurality of positioning modes at least comprise: if the located area is the indoor area, positioning the positioning terminal through communication between the indoor positioning module and the positioning beacon; if the located area is the outdoor area, positioning the positioning terminal through the outdoor positioning module and the correction of the positioning reference base station;
and if the area is changed, replacing the corresponding positioning mode with other positioning modes.
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 device and media embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference may be made to some descriptions of the method embodiments for relevant points.
The device and the medium provided by the embodiment of the application correspond to the method one to one, so the device and the medium also have the similar beneficial technical effects as the corresponding method, and the beneficial technical effects of the method are explained in detail above, so the beneficial technical effects of the device and the medium are not repeated herein.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
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. The utility model provides a method of garden staff location which characterized in that, realizes staff's location through personnel positioning system, personnel positioning system is including erectting at outdoor location reference base station, setting at indoor location beacon, the positioning terminal that the staff carried, be provided with indoor positioning module, outdoor positioning module on the positioning terminal, the method includes:
determining an area model which is established in advance aiming at a garden, wherein the area model corresponds to an indoor area and an outdoor area of the garden;
determining the area of the positioning terminal in the area model according to the identifier of the positioning terminal and the initial placing position corresponding to the identifier;
according to the area, selecting a corresponding positioning mode from a plurality of pre-stored positioning modes for positioning, wherein the plurality of positioning modes at least comprise: if the located area is the indoor area, positioning the positioning terminal through communication between the indoor positioning module and the positioning beacon; if the located area is the outdoor area, positioning the positioning terminal through the outdoor positioning module and the correction of the positioning reference base station;
and if the area is changed, replacing the corresponding positioning mode with other positioning modes.
2. The method according to claim 1, wherein if the area is the outdoor area, the positioning terminal is positioned by the outdoor positioning module and the correction of the positioning reference base station, specifically comprising:
if the located area is the outdoor area, starting the outdoor positioning module, and determining a first pseudo range between the positioning terminal and a positioning satellite according to communication between the outdoor positioning module and a global navigation satellite system;
positioning the positioning terminal according to the first pseudo range;
determining a second pseudorange between the positioning reference base station and the positioning satellite according to communication between the positioning reference base station and the positioning satellite;
and correcting the positioning according to the second pseudo range and the preset coordinates of the positioning reference base station.
3. The park personnel location method of claim 1, wherein the personnel location system further comprises a monitoring platform;
the method further comprises the following steps:
constructing a monitoring display graph according to the area model and the map of the park, and sending the monitoring display graph to the monitoring platform for displaying;
and sending the current position of the positioning terminal to the monitoring platform so as to display the motion trail of the positioning terminal through the monitoring platform.
4. The method of claim 3, wherein after the current position of the positioning terminal is sent to the monitoring platform so that the monitoring platform displays the movement track of the positioning terminal, the method further comprises:
acquiring an access prohibition area through the display platform;
and if the positioning terminal enters the no entry area, generating an alarm signal, and sending the alarm signal to the positioning terminal and the display platform.
5. The method according to claim 1, wherein the determining of the area of the positioning terminal in the area model by the identifier of the positioning terminal and the initial placement position corresponding to the identifier specifically comprises:
and determining the corresponding initial coordinate of the positioning terminal in the area model according to the identifier of the positioning terminal and the initial placing position corresponding to the identifier, and determining the area according to the initial coordinate.
6. The park worker positioning method according to claim 5, wherein an inertial navigation module is further provided in the positioning terminal;
after determining the initial coordinates of the positioning terminal in the area model according to the identifier of the positioning terminal and the initial placing position corresponding to the identifier, the method further includes:
initializing the inertial navigation module through the initial coordinate, and setting the initial speed of the inertial navigation module to be 0;
if the positioning terminal is positioned through the inertial navigation module and the positioning terminal is determined to cross the boundary line, replacing the corresponding positioning mode with other positioning modes, wherein the boundary line at least comprises the position of the appointed door.
7. The method of claim 6, wherein if the positioning terminal is determined to cross the boundary line by the positioning of the positioning terminal by the inertial navigation module, the method further comprises the following step before replacing the corresponding positioning method with another positioning method:
determining that the positioning terminal is located in a range near the boundary line through the positioning mode, wherein a difference value between a first positioning result corresponding to the positioning mode and a second positioning result corresponding to the inertial navigation module is higher than a preset threshold value;
and determining the current speed of the positioning terminal through the positioning mode, and correcting the inertial navigation module according to the current speed and the first positioning result.
8. The method of claim 7, wherein the current velocity of the positioning terminal is determined by the positioning method, and before the inertial navigation module is modified according to the current velocity and the first positioning result, the method further comprises:
acquiring the latest correction time point of the inertial navigation module;
determining that the difference value between the latest correction time point and the current time point is not less than a preset time length;
and acquiring the motion trail of the positioning terminal in the positioning mode, and determining that the positioning terminal does not appear in the vicinity of the boundary line for multiple times within the preset time length according to the motion trail.
9. The park operator positioning method according to claim 1, wherein a barometer is further provided on the positioning terminal;
if the located area is the indoor area, positioning the positioning terminal through communication between the indoor positioning module and the positioning beacon, specifically comprising:
if the area is the indoor area, the indoor positioning module and the barometer are started;
and positioning the positioning terminal through the communication between the indoor positioning module and the positioning beacon and through the air pressure index of the barometer, wherein the air pressure index is used for determining the height value corresponding to the positioning.
10. The utility model provides an equipment of garden staff location, a serial communication port, equipment passes through personnel positioning system and realizes staff's location, personnel positioning system including erect at outdoor location reference basic station, set up at indoor location beacon the positioning terminal that the staff carried, be provided with indoor orientation module, outdoor orientation module on the positioning terminal, equipment includes:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores instructions executable by the at least one processor to cause the at least one processor to perform instructions for:
determining a region model which is established in advance aiming at a garden, wherein the region model at least comprises an indoor region and an outdoor region;
determining the area of the positioning terminal in the area model according to the identifier of the positioning terminal and the initial placing position corresponding to the identifier;
according to the area, selecting a corresponding positioning mode from a plurality of pre-stored positioning modes for positioning, wherein the plurality of positioning modes at least comprise: if the located area is the indoor area, positioning the positioning terminal through communication between the indoor positioning module and the positioning beacon; if the located area is the outdoor area, positioning the positioning terminal through the outdoor positioning module and the correction of the positioning reference base station;
and if the area is changed, replacing the corresponding positioning mode with other positioning modes.
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| CN202110656281.6A CN113490151A (en) | 2021-06-11 | 2021-06-11 | Method and equipment for positioning park workers |
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| CN202110656281.6A CN113490151A (en) | 2021-06-11 | 2021-06-11 | Method and equipment for positioning park workers |
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