CN115060253A - Lost tracing method, system, equipment and computer storage medium - Google Patents
Lost tracing method, system, equipment and computer storage medium Download PDFInfo
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- CN115060253A CN115060253A CN202210611988.XA CN202210611988A CN115060253A CN 115060253 A CN115060253 A CN 115060253A CN 202210611988 A CN202210611988 A CN 202210611988A CN 115060253 A CN115060253 A CN 115060253A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention relates to the technical field of loss prevention, and discloses a method, a system and equipment for tracing loss and a computer storage medium. The method comprises the following steps: when the target object is positioned and detected, first positioning information of the target object is obtained, and whether the target object has an upstairs going or downstairs going behavior is detected according to the first positioning information; when the target object goes upstairs or downstairs, triggering at least two floor positioning terminals arranged in the space in the building to interact with the target object, and calculating the height of the target object according to second positioning information sent by the at least two floor positioning terminals; and correcting the first positioning information by using the second positioning information, and determining the floor where the target object is located currently. According to the invention, the up-and-down behavior of the target object is predicted through the inertia data and the plane position information, the floor positioning terminal interacts with the target object, the height of the target object is calculated according to the second positioning information sent by the floor positioning terminal, the floor where the target object is located currently is corrected, and the indoor accurate positioning is realized.
Description
Technical Field
The invention relates to the technical field of anti-lost, in particular to a lost tracing method, a lost tracing system, lost tracing equipment and a computer storage medium.
Background
At present, products related to the anti-lost type on the market are various, but most of the products are connected with a mobile phone through Bluetooth or all devices are independent, namely a server and a software APP are only suitable for a certain type or a certain type of hardware positioning products, and the universality is not strong. The positioning places of children can be informed to a caregiver in real time in the prior art, but the positioner has a problem that when the children are in a multi-storey building, the GPS positioner loses effect, because the GPS can only position the horizontal position but cannot position the vertical position, if the children are lost in a shopping mall with dozens of stories or even dozens of stories, according to the intelligent watch, the caregiver can only know the positioning address of the children but does not know which floor the children are in the shopping mall, so that each floor must be checked in front, and in case the caregiver finds the children, the children move, so that the accurate positions of the lost children can not be accurately positioned, and the difficulty of finding the children is increased.
Disclosure of Invention
It is an object of the present invention to provide a method, system, device and computer storage medium for missing seek to solve one or more technical problems in the prior art, and at least provide a useful choice or creation condition.
In a first aspect, a method for lost tracing is provided, which includes the following steps:
when the target object is positioned and detected, first positioning information of the target object is obtained, and whether the target object has an upstairs going or downstairs going behavior is detected according to the first positioning information;
when the target object goes upstairs or downstairs, triggering at least two floor positioning terminals arranged in the space in the building to interact with the target object, and calculating the height of the target object according to second positioning information sent by the at least two floor positioning terminals;
correcting the first positioning information by using the second positioning information, and determining the floor where the target object is located currently;
the first positioning information comprises inertial data, floor information and position information of a target object, and the second positioning information comprises interactive signal intensity and a positioning terminal position.
In one embodiment, the detecting whether the target object has an upstairs or downstairs behavior according to the first positioning information specifically includes the following steps:
caching the first positioning information, extracting the motion characteristics of the target object according to the three-axis variable quantity of the inertial data, and integrating the motion characteristics and the motion route of the target object at the corresponding moment to obtain a training sample set;
wherein the motion features comprise inertial data accumulation features, inertial data variance features, and inertial data range features;
training the prediction model by using a training sample set;
and predicting the motion state of the target object at the current moment according to the motion characteristics of the current moment by using the trained prediction model, accumulating the occurrence times of each predicted motion state, dynamically adjusting the up-and-down trend index of the target object according to the occurrence times of the motion state and the in-building layout information, and judging that the target object goes up or down when the up-and-down trend index exceeds a trend threshold.
In one embodiment, the training of the prediction model using the training sample set specifically includes the following steps:
initializing a predicted value of the training sample on each category;
carrying out logic transformation on the predicted values of all the training samples to construct a sample matrix after the logic transformation;
and constructing a regression tree corresponding to each class during each iteration, seeking an optimal segmentation point for each feature of the training sample, stopping splitting after the nodes are split to a set maximum depth, and pruning.
In one embodiment, the dynamically adjusting the stair climbing tendency index of the target object according to the occurrence frequency of the motion state and the in-building layout specifically includes the following steps:
when the motion state of the target object is that the target object moves along a facility close to the upstairs and downstairs or is static in the range of the upstairs and downstairs facility, accumulating the upstairs and downstairs tendency indexes after predicting the motion state of the target object each time; when the motion state of the target object is to travel away from the upstairs and downstairs facility, the upstairs and downstairs tendency index is decreased after the motion state of the target object is predicted each time.
In one embodiment, the calculating the height of the target object according to the second positioning information sent by the at least two floor positioning terminals specifically includes the following steps:
acquiring the signal intensity of interactive signals received by any two floor positioning terminals and/or target objects;
and determining the distance between the floor positioning terminal and the target object according to the signal strength degree of the interactive signal, and determining the height of the target object according to the anchor point position of the floor positioning terminal, the signal strength degree of the interactive signal and the two-dimensional positioning position of the target object.
In one embodiment, the modifying the first positioning information by using the second positioning information to determine the floor where the target object is located specifically includes the following steps:
acquiring the generation time of first positioning information when a target object goes upstairs or downstairs, and correcting the position information of the first positioning information according to the generation time and the interactive signal transceiving time;
and acquiring the generation time of the first positioning information when the behavior of the target object going upstairs or downstairs is finished, and calculating the height of the target object according to the second positioning information when the behavior of going upstairs or downstairs is finished to correct the floor information.
In a second aspect, a lost seek system is provided, comprising:
the first positioning module is used for acquiring first positioning information of the target object when the target object is positioned and detected, and detecting whether the target object has an upstairs going or downstairs going behavior according to the first positioning information;
the second positioning module is used for triggering at least two floor positioning terminals arranged in the space in the building to interact with the target object when the target object goes upstairs or downstairs, and calculating the height of the target object according to second positioning information sent by the at least two floor positioning terminals;
the correction module is used for correcting the first positioning information by using the second positioning information and determining the floor where the target object is located currently;
the first positioning information comprises inertial data, floor information and position information of a target object, and the second positioning information comprises interactive signal intensity and a positioning terminal position.
In a third aspect, a computer device is provided, comprising:
a memory storing a computer program;
a processor implementing the walk-through tracing method according to the first aspect when executing the computer program.
In a fourth aspect, a computer storage medium is provided, on which a computer program is stored, which computer program, when executed by a processor, implements the missed tracking method according to the first aspect.
The invention has the beneficial effects that: whether the target object has the behavior of going upstairs or downstairs is predicted through the inertia data and the plane position information, the target object is interacted with the floor positioning terminal when the behavior of going upstairs or downstairs occurs, the height of the target object is calculated according to second positioning information sent by the floor positioning terminal, then the floor where the target object is located currently is corrected, and indoor accurate positioning is achieved.
Drawings
Fig. 1 is a flowchart of a method for lost tracking according to an embodiment of the present invention.
Fig. 2 is a flowchart of a method for detecting whether a target object has an upstairs or downstairs behavior according to an embodiment.
Fig. 3 is a flowchart of a method for calculating a height of a target object according to an embodiment.
Figure 4 is a schematic illustration of a floor location terminal interacting with a terminal device.
Fig. 5 is a flowchart of a method for determining a floor where a target object is located according to an embodiment.
FIG. 6 is a block diagram illustrating the architecture of a lost seek system, according to one embodiment.
Fig. 7 is an internal structural diagram of a computer device according to an embodiment.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
A method, system, device, and computer storage medium for wandering tracking proposed according to embodiments of the present invention are described below with reference to the accompanying drawings.
According to a first aspect of the invention, a method of missed tracking is provided.
Fig. 1 is a flowchart of a method for lost tracking according to an embodiment of the present invention. As shown in fig. 1, the method for lost tracking includes the following steps:
step S100, when the target object is located and detected, first locating information of the target object is obtained, and whether the target object has an upstairs going or downstairs going behavior is detected according to the first locating information.
Specifically, the execution main body in the embodiment of the present application may be a computer device or a computer device cluster formed by a plurality of computer devices. The computer equipment can be a server or terminal equipment. Therefore, the execution subject in the embodiment of the present application may be a server, or may be a terminal device, or may be formed by the server and the terminal device together. Here, a terminal device to which a target object belongs may be described as an example of an execution subject in the embodiment of the present application.
The target object may refer to any real user, or the target object may also refer to any object that needs to be located, and when the target object is a real user, the terminal device serving as the execution subject in the embodiment of the present application may be a terminal device held by the target object, such as a portable locating device (e.g., a locating watch, a mobile phone, or a portable computer) held by the target object.
When the target object triggers the terminal device to position the position of the target object, the terminal device can perform positioning detection on the target object. For example, the target terminal device may start a positioning function in the terminal device in response to an object operation of the target object, that is, indicate that the target object triggers the terminal device to position the position of the target object.
When the terminal device is performing positioning detection on the target object, the terminal device may obtain the signal parameter set of the target object at the positioning detection time in real time. The positioning detection time is the time when the terminal device performs positioning detection on the target object, and the terminal device can perform positioning detection on the target object in real time, so that the positioning detection time can be the current time, and the current time is the latest real-time.
The terminal device may perform positioning detection on the target object periodically at intervals, so that the terminal device may periodically acquire a signal parameter set of the target object, where the signal parameter set includes a signal parameter for performing positioning detection on the target object. For example, the terminal device may take 1 second as a period, and the terminal device may acquire the signal parameter set of the target object every 1 second, so that each time the terminal device acquires the signal parameter set of the target object may be a positioning detection time, and one signal parameter set may correspond to one positioning detection time. In other words, the terminal device may perform positioning detection on the target object every 1 second at a cycle of 1 second. Since the positioning detection process of the target object at each positioning detection time is the same, the following description will specifically describe the positioning process of the target object at one positioning detection time.
The target object is located indoors, and when the first positioning information of the target object at the positioning detection moment is acquired by the terminal device, whether the target object has a behavior of going upstairs or downstairs is detected according to the first positioning information. For example, when the terminal device detects that the target object is located in a large shopping mall, the terminal device may obtain the inertial data of the target object from an inertial device (an accelerometer and a gyroscope), may obtain the floor information by searching for information of the shopping mall on navigation software, and an initial floor of the target object when the target object first appears in the shopping mall is set as a first floor by default.
The terminal device mainly detects whether the target object has an upstairs or downstairs behavior according to the inertia data of the target object, and specifically, the terminal device judges whether the action state of the target object is walking or staying according to the inertia data of the target object, determines the walking direction and speed of the target object when the target object walks, and the like, and detects whether the target object has the upstairs or downstairs behavior according to the layout in the floor. For example, when the target object is displaced in the escalator and stays while the behavior state of the target object is determined based on the inertial data of the target object, it can be determined that the target object has a behavior of going upstairs or downstairs.
And S200, when the target object goes upstairs or downstairs, triggering at least two floor positioning terminals arranged in the space in the building to interact with the target object, and calculating the height of the target object according to second positioning information sent by the at least two floor positioning terminals.
Specifically, when the terminal device detects that the target object goes upstairs or downstairs, since the terminal device cannot determine whether the target object goes upstairs or downstairs and cannot determine the number of floor switching, the terminal device locates the target object by using the floor locating terminals pre-arranged in the building, and the terminal device calculates the height of the target object according to second locating information sent by at least two floor locating terminals.
The floor positioning terminal is arranged in the building and keeps emitting detection information, detects terminal equipment held by a target object, interacts with the terminal equipment when the terminal equipment in the building is detected, sends an interaction signal to the terminal equipment and receives the interaction signal returned by the terminal equipment, and therefore second positioning information is obtained. And the second positioning information comprises the strength of an interactive signal and the position of a positioning terminal.
When at least two floor positioning terminals complete interaction with the same terminal device and generate second positioning information, the terminal device can combine the layout positions of the two floor positioning terminals and detect the interaction signal intensity of the two second positioning information to construct a signal transceiving model, and calculate the height of a target object. Wherein the two floor positioning terminals are separated as far as possible, and a certain distance is arranged between the two floor positioning terminals.
And step S300, correcting the first positioning information by using the second positioning information, and determining the floor where the target object is located currently.
Specifically, the terminal device updates the floor information of the first positioning information target object according to the height of the target object indicated by the second positioning information to correct the first positioning information.
Fig. 2 is a flowchart of a method for detecting whether a target object has an upstairs or downstairs behavior according to an embodiment. As shown in fig. 2, the method comprises the steps of:
step S110, caching the first positioning information, extracting the motion characteristics of the target object according to the three-axis variable quantity of the inertial data, and integrating the motion characteristics and the motion route of the target object at the corresponding moment to obtain a training sample set.
Wherein the motion characteristics comprise inertial data accumulation characteristics, inertial data variance characteristics and inertial data range characteristics. And correspondingly integrating the inertia data accumulation characteristic, the inertia data variance characteristic, the inertia data range characteristic and the movement route of the target object at the corresponding moment according to the generation moment of the movement characteristic to obtain a training sample set.
For the inertia data accumulation characteristics (such as three-axis acceleration data and three-axis angular momentum), the change amplitude and the change frequency of the three-axis inertia data of the target object in a walking or static state are different, and the process from static to walking is in a gradually violent trend. The present embodiment accumulates, as a feature, changes in the triaxial data of the inertial data without directly using the uniaxial data as a feature.
For the inertia data variance feature, the inertia data variance feature is a variance result of triaxial data of inertia data, when the target object is in a static state, the inertia data variance feature is stable, and when the target object is in a walking state, the dispersion degree of the inertia data variance feature is large.
For the inertial data range characteristic, the inertial data range characteristic is the difference between the maximum value and the minimum value in the cached inertial data range, and the inertial data range characteristic reflects the motion amplitude of the target object.
And step S120, training a prediction model by using the training sample set.
In one embodiment, the training of the prediction model using the training sample set specifically includes the following steps:
initializing a predicted value of the training sample on each category;
carrying out logic transformation on the predicted values of all the training samples to construct a sample matrix after the logic transformation;
and constructing a regression tree corresponding to each class during each iteration, seeking an optimal segmentation point for each feature of the training sample, stopping splitting after the nodes are split to a set maximum depth, and pruning.
Step S130, the trained prediction model is used for predicting the motion state of the target object at the current moment according to the motion characteristics of the current moment, the occurrence times of each predicted motion state are accumulated, the upward and downward trend index of the target object is dynamically adjusted according to the occurrence times of the motion states and the in-building layout information, and the upward and downward trend index exceeds a trend threshold value, so that the target object is judged to go upstairs or downstairs.
In an embodiment, the dynamically adjusting the upward and downward trend index of the target object according to the occurrence frequency of the motion state and the in-building layout specifically includes the following steps:
when the motion state of the target object is that the target object moves along a facility close to the upstairs and downstairs or is static in the range of the upstairs and downstairs facility, accumulating the upstairs and downstairs tendency indexes after predicting the motion state of the target object each time; when the motion state of the target object is to travel away from the upstairs and downstairs facility, the upstairs and downstairs tendency index is decreased after the motion state of the target object is predicted each time.
Fig. 3 is a flowchart of a method for calculating a height of a target object according to an embodiment. As shown in fig. 3, the method comprises the steps of:
and step S210, acquiring the signal intensity of the interactive signals received by any two floor positioning terminals and/or target objects.
Step S220, determining the distance between the floor positioning terminal and the target object according to the signal strength degree of the interactive signal, and determining the height of the target object according to the anchor point position of the floor positioning terminal, the signal strength degree of the interactive signal and the two-dimensional positioning position of the target object.
As shown in fig. 4, two floor location terminals send interaction signals to the terminal device of the target object from different directions and different positions, respectively, and the interaction signals propagate in the air and reach the terminal device by diffraction and/or reflection. The terminal device receives the interactive signals of the floor positioning terminal, analyzes the signal intensity information in the interactive signals and the position information of the terminal device, establishes an analysis model as shown in fig. 4 according to the signal intensity information of the two interactive signals and the position information of the terminal device, and calculates the ground clearance of the terminal device.
Fig. 5 is a flowchart of a method for determining a floor where a target object is located according to an embodiment. As shown in fig. 5, the method comprises the steps of:
and S310, acquiring the generation time of the first positioning information when the target object goes upstairs or downstairs, and correcting the position information of the first positioning information according to the generation time and the interactive signal transceiving time.
And step S320, acquiring the generation time of the first positioning information when the behavior of the target object going upstairs or downstairs is finished, and calculating the height of the target object according to the second positioning information when the behavior of going upstairs or downstairs is finished to correct the floor information.
The missing tracing method provided by the invention predicts whether the target object has the behavior of going upstairs or downstairs or not through the inertia data and the plane position information, interacts with the target object through the floor positioning terminal when the behavior of going upstairs or downstairs occurs, calculates the height of the target object according to the second positioning information sent by the floor positioning terminal, further corrects the floor where the target object is located currently, and realizes accurate indoor positioning.
According to a second aspect of the invention, a lost seek system is provided.
Referring to fig. 6, fig. 6 is a block diagram illustrating a structure of a lost seek system according to an embodiment. As shown in fig. 6, the lost trace system includes:
the first positioning module 610 is configured to, when performing positioning detection on a target object, obtain first positioning information of the target object, and detect whether the target object has an upstairs going or downstairs going behavior according to the first positioning information;
the second positioning module 620 is configured to trigger at least two floor positioning terminals arranged in a space in a building to interact with a target object when the target object goes upstairs or downstairs, and calculate the height of the target object according to second positioning information sent by the at least two floor positioning terminals;
a correcting module 630, configured to correct the first positioning information using the second positioning information, and determine a floor where the target object is located currently;
the first positioning information comprises inertial data, floor information and position information of a target object, and the second positioning information comprises interactive signal intensity and a positioning terminal position.
In one embodiment, the detecting whether the target object has an upstairs or downstairs behavior according to the first positioning information specifically includes the following steps:
caching the first positioning information, extracting the motion characteristics of the target object according to the three-axis variable quantity of the inertial data, and integrating the motion characteristics and the motion route of the target object at the corresponding moment to obtain a training sample set;
wherein the motion features comprise inertial data accumulation features, inertial data variance features, and inertial data range features;
training the prediction model by using a training sample set;
and predicting the motion state of the target object at the current moment according to the motion characteristics of the current moment by using the trained prediction model, accumulating the occurrence times of each predicted motion state, dynamically adjusting the tendency index of the target object going upstairs and downstairs according to the occurrence times of the motion states and layout information in the building, and judging that the target object goes upstairs or downstairs if the tendency index of the target object going upstairs or downstairs exceeds a tendency threshold value.
In one embodiment, the training of the prediction model using the training sample set specifically includes the following steps:
initializing a predicted value of the training sample on each category;
carrying out logic transformation on the predicted values of all the training samples to construct a sample matrix after the logic transformation;
and constructing a regression tree corresponding to each class during each iteration, seeking an optimal segmentation point for each feature of the training sample, stopping splitting after the nodes are split to a set maximum depth, and pruning.
In one embodiment, the dynamically adjusting the stair climbing tendency index of the target object according to the occurrence frequency of the motion state and the in-building layout specifically includes the following steps:
when the motion state of the target object is that the target object moves along a facility close to the upstairs and downstairs or is static in the range of the upstairs and downstairs facility, accumulating the upstairs and downstairs tendency indexes after predicting the motion state of the target object each time; when the motion state of the target object is to travel away from the upstairs and downstairs facility, the upstairs and downstairs tendency index is decreased after the motion state of the target object is predicted each time.
In one embodiment, the calculating the height of the target object according to the second positioning information sent by the at least two floor positioning terminals specifically includes the following steps:
acquiring the signal intensity of interactive signals received by any two floor positioning terminals and/or target objects;
and determining the distance between the floor positioning terminal and the target object according to the signal strength degree of the interactive signal, and determining the height of the target object according to the anchor point position of the floor positioning terminal, the signal strength degree of the interactive signal and the two-dimensional positioning position of the target object.
In one embodiment, the modifying the first positioning information by using the second positioning information to determine the floor where the target object is located specifically includes the following steps:
acquiring the generation time of first positioning information when a target object goes upstairs or downstairs, and correcting the position information of the first positioning information according to the generation time and the interactive signal transceiving time;
and acquiring the generation time of the first positioning information when the behavior of the target object going upstairs or downstairs is finished, and calculating the height of the target object according to the second positioning information when the behavior of going upstairs or downstairs is finished to correct the floor information.
The loss tracking system executes the loss tracking method of the first aspect, and specific limitations on the loss tracking system can be referred to the above limitations on the loss tracking method, which are not described herein again.
The various modules in the loss tracking system described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
According to a third aspect of the invention, a computer device is provided.
Referring to fig. 7, fig. 7 is an internal structure diagram of a computer device according to an embodiment. As shown in fig. 7, the computer device includes a processor, a memory, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The computer program is executed by a processor to implement the method of a wandering trail loss of the first aspect.
The memory and processor elements are electrically connected to each other, directly or indirectly, to enable data transfer or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The processor includes at least one software functional module that may be stored in memory in the form of software or firmware (firmware) or solidified in an Operating System (OS) of the server. The processor is configured to execute the executable modules stored in the memory.
The Memory may be a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an Erasable Read Only Memory (EPROM), an electrically Erasable Read Only Memory (EEPROM), or the like. The memory is used for storing programs and voice data, and the processor executes the programs after receiving the execution instructions.
The processor may be an integrated circuit chip having signal processing capabilities. The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The processor couples various input/output devices to the processor as well as to the memory. In some embodiments, the processor and memory may be implemented in a single chip. In other examples, they may be implemented separately from separate chips.
The peripheral interface couples various input/output devices to the processor as well as to the memory. In some embodiments, the peripheral interface, the processor, and the memory may be implemented in a single chip. In other examples, they may be implemented separately from separate chips.
According to a fourth aspect of the present invention, there is also provided a computer storage medium having a computer program stored therein, the computer storage medium being a magnetic random access memory, a read only memory, a programmable read only memory, an erasable programmable read only memory, an electrically erasable programmable read only memory, a flash memory, a magnetic surface memory, an optical disc, a read only optical disc, or the like; or may be a variety of devices including one or any combination of the above memories, such as a mobile phone, computer, tablet device, personal digital assistant, etc. The computer program when executed by a processor implements the method of wandering loss of the first aspect.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (9)
1. A method for lost tracing, comprising the steps of:
when the target object is positioned and detected, first positioning information of the target object is obtained, and whether the target object has an upstairs going or downstairs going behavior is detected according to the first positioning information;
when the target object goes upstairs or downstairs, at least two floor positioning terminals arranged in the space in the building are triggered to interact with the target object, and the height of the target object is calculated according to second positioning information sent by the at least two floor positioning terminals;
correcting the first positioning information by using the second positioning information, and determining the floor where the target object is located currently;
the first positioning information comprises inertial data, floor information and position information of a target object, and the second positioning information comprises interactive signal intensity and a positioning terminal position.
2. The method according to claim 1, wherein the step of detecting whether the target object has a behavior of going upstairs or downstairs according to the first positioning information comprises the following steps:
caching the first positioning information, extracting the motion characteristics of the target object according to the three-axis variable quantity of the inertial data, and integrating the motion characteristics and the motion route of the target object at the corresponding moment to obtain a training sample set;
wherein the motion features comprise inertial data accumulation features, inertial data variance features, and inertial data range features;
training the prediction model by using a training sample set;
and predicting the motion state of the target object at the current moment according to the motion characteristics of the current moment by using the trained prediction model, accumulating the occurrence times of each predicted motion state, dynamically adjusting the tendency index of the target object going upstairs and downstairs according to the occurrence times of the motion states and layout information in the building, and judging that the target object goes upstairs or downstairs if the tendency index of the target object going upstairs or downstairs exceeds a tendency threshold value.
3. The method of claim 2, wherein the training of the predictive model using the training sample set comprises the steps of:
initializing a predicted value of the training sample on each category;
carrying out logic transformation on the predicted values of all the training samples to construct a sample matrix after the logic transformation;
and constructing a regression tree corresponding to each class during each iteration, seeking an optimal segmentation point for each feature of the training sample, stopping splitting after the nodes are split to a set maximum depth, and pruning.
4. The method according to claim 2, wherein the step of dynamically adjusting the up-down trend index of the target object according to the occurrence frequency of the motion state and the in-building layout comprises the following steps:
when the motion state of the target object is that the target object moves along a facility close to the upstairs and downstairs or is static in the range of the upstairs and downstairs facility, accumulating the upstairs and downstairs tendency indexes after predicting the motion state of the target object each time; when the motion state of the target object is to travel away from the upstairs and downstairs facility, the upstairs and downstairs tendency index is decreased after the motion state of the target object is predicted each time.
5. The method as claimed in claim 1, wherein the step of calculating the height of the target object according to the second positioning information sent by the at least two floor positioning terminals comprises the following steps:
acquiring the signal intensity of interactive signals received by any two floor positioning terminals and/or target objects;
and determining the distance between the floor positioning terminal and the target object according to the signal strength degree of the interactive signal, and determining the height of the target object according to the anchor point position of the floor positioning terminal, the signal strength degree of the interactive signal and the two-dimensional positioning position of the target object.
6. The method as claimed in claim 1, wherein the step of using the second positioning information to modify the first positioning information to determine the current floor of the target object comprises the following steps:
acquiring the generation time of first positioning information when a target object goes upstairs or downstairs, and correcting the position information of the first positioning information according to the generation time and the interactive signal transceiving time;
and acquiring the generation time of the first positioning information when the behavior of the target object going upstairs or downstairs is finished, and calculating the height of the target object according to the second positioning information when the behavior of going upstairs or downstairs is finished to correct the floor information.
7. A lost trace system, comprising:
the first positioning module is used for acquiring first positioning information of the target object when the target object is positioned and detected, and detecting whether the target object has an upstairs going or downstairs going behavior according to the first positioning information;
the second positioning module is used for triggering at least two floor positioning terminals arranged in the space in the building to interact with the target object when the target object goes upstairs or downstairs, and calculating the height of the target object according to second positioning information sent by the at least two floor positioning terminals;
the correction module is used for correcting the first positioning information by using the second positioning information and determining the floor where the target object is located currently;
the first positioning information comprises inertial data, floor information and position information of a target object, and the second positioning information comprises interactive signal intensity and a positioning terminal position.
8. A computer device, comprising:
a memory storing a computer program;
a processor implementing the method of wandering tracing of any of claims 1-6 when executing the computer program.
9. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a method of wandering tracing as claimed in any one of claims 1-6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116437444A (en) * | 2023-06-13 | 2023-07-14 | 中航信移动科技有限公司 | Beacon-based target positioning method, medium and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116437444A (en) * | 2023-06-13 | 2023-07-14 | 中航信移动科技有限公司 | Beacon-based target positioning method, medium and electronic equipment |
| CN116437444B (en) * | 2023-06-13 | 2023-08-25 | 中航信移动科技有限公司 | Beacon-based target positioning method, medium and electronic equipment |
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