CN117308932A - Positioning method, positioning device, positioning apparatus, positioning system, and storage medium - Google Patents

Positioning method, positioning device, positioning apparatus, positioning system, and storage medium Download PDF

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Publication number
CN117308932A
CN117308932A CN202311132874.8A CN202311132874A CN117308932A CN 117308932 A CN117308932 A CN 117308932A CN 202311132874 A CN202311132874 A CN 202311132874A CN 117308932 A CN117308932 A CN 117308932A
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China
Prior art keywords
positioning
intensity
satellite
positioning device
strategy
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CN202311132874.8A
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Chinese (zh)
Inventor
鲁浩然
杜忠齐
姚奇
沈雯羽
刘冬寅
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China Telecom Corp Ltd
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China Telecom Corp Ltd
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Priority to CN202311132874.8A priority Critical patent/CN117308932A/en
Publication of CN117308932A publication Critical patent/CN117308932A/en
Pending legal-status Critical Current

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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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application provides a positioning method, a positioning device, positioning equipment, a positioning system and a storage medium, and belongs to the technical field of positioning. The method includes detecting the strength of satellite positioning signals and the strength of 5G positioning signals; when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are both larger than or equal to the respective corresponding target intensities, executing a satellite positioning strategy and a 5G positioning strategy to jointly determine the current position of the positioning device; and when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are smaller than the respective corresponding target intensities, executing an inertial positioning strategy, and determining the current position of the positioning device together with the electronic tag on the positioning device. The present application aims to generate more accurate positioning results.

Description

Positioning method, positioning device, positioning apparatus, positioning system, and storage medium
Technical Field
The embodiment of the application relates to the technical field of positioning, in particular to a positioning method, a positioning device, positioning equipment, a positioning system and a storage medium.
Background
With the rapid development of satellite navigation position service industry, navigation and positioning services are widely applied in the technical fields of new generation information technology, big data, cloud computing, internet of things, internet of vehicles and the like.
In different places, the difference of the intensity of the positioning signals can cause unstable positioning, and in the coal mining process, for example, the positioning of the coal mine workers in the underground coal mining operation is ensured by including an opencast coal mine, an underground coal mine and coal mine resources combined with the opencast coal mine and the underground coal mine.
However, most of positioning systems for positioning coal mine workers in the prior art cannot well meet positioning requirements, and particularly in complex coal mine environments, a part of workers need to move between an underground mine and an open pit, positioning is particularly complex, and positioning results are inaccurate.
Disclosure of Invention
The embodiment of the application provides a positioning method, a positioning device, positioning equipment, a positioning system and a storage medium, aiming at generating more accurate positioning results.
In a first aspect, an embodiment of the present application provides a positioning method, applied to a positioning device, where the method includes:
detecting the intensity of satellite positioning signals and the intensity of 5G positioning signals;
when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are both larger than or equal to the respective corresponding target intensities, executing a satellite positioning strategy and a 5G positioning strategy to jointly determine the current position of the positioning device;
and when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are smaller than the respective corresponding target intensities, executing an inertial positioning strategy, and determining the current position of the positioning device together with the electronic tag on the positioning device.
Optionally, the method further comprises:
and when the intensity of the satellite positioning signal is larger than or equal to the corresponding target intensity, executing the satellite positioning strategy to determine the current position of the positioning device when the intensity of the 5G positioning signal is smaller than the corresponding target intensity.
Optionally, the method further comprises:
and when the intensity of the 5G positioning signal is larger than or equal to the corresponding target intensity, and the intensity of the satellite positioning signal is smaller than the corresponding target intensity, executing the 5G positioning strategy to determine the current position of the positioning device.
Optionally, executing an inertial positioning strategy to determine a current position of the positioning device together with an electronic tag on the positioning device includes:
executing the inertial positioning strategy, and determining the track length of a detection target person wearing the positioning device;
identifying the position information of the fixedly arranged reader through the electronic tag arranged on the positioning device;
and correcting the starting point position in the inertial positioning strategy according to the position information of the reader, and determining the current position of the positioning device.
Optionally, executing the satellite positioning strategy and the 5G positioning strategy to determine the current position of the positioning device together includes:
unifying a micro-distance measurement equation of satellite positioning and a grid positioning equation of 5G positioning under the same coordinate system to determine an overdetermined equation;
linearizing the overdetermined equation by a taylor series;
obtaining an observation vector, and obtaining a measurement equation according to the observation vector and the linearized overdetermined equation;
and iterating the measurement equation to determine the current position of the positioning device.
In a second aspect, embodiments of the present application provide a positioning device, the device including: controller, satellite positioning module, 5G positioning module, inertial positioning module and electronic tags, wherein:
the controller is used for detecting the intensity of satellite positioning signals of the satellite positioning module and the intensity of 5G positioning signals of the 5G positioning module;
when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are both greater than or equal to the respective corresponding target intensities, the satellite positioning module executes a satellite positioning strategy, and the 5G positioning module executes a 5G positioning strategy to jointly determine the current position of the positioning device;
when the strength of the satellite positioning signal and the strength of the 5G positioning signal are smaller than the corresponding target strength, the inertial positioning module executes an inertial positioning strategy, the electronic tag identifies a reader fixedly arranged at a target positioning place, and corrects the starting point position in the inertial positioning strategy according to the position of the reader to determine the current position of the positioning device.
In a third aspect, an embodiment of the present application provides a positioning device, where the positioning device in the second aspect of the embodiment is disposed on the positioning device;
the positioning equipment comprises a safety helmet and a foot wearing positioning piece, wherein the safety helmet is provided with a controller of the positioning device, a satellite positioning module, a 5G positioning module and an electronic tag; the foot wearing positioning piece is provided with an inertial positioning module of the positioning device.
In a fourth aspect, an embodiment of the present application provides a positioning system, where the system includes a positioning device, a reader, a wireless gateway, a positioning satellite, a 5G base station, and a central control end according to the second aspect of the embodiment, where:
the reader is fixedly arranged in a target positioning place;
the wireless gateway is distributed in the target positioning place and used for carrying out data interaction with the positioning device and sending the current position of the positioning device to the central control end.
Optionally, the system includes a plurality of readers, two readers are in a group, and the interval between two readers in a group of readers is determined by the reading range of the antennas of the readers.
In a fifth aspect, embodiments of the present application provide a computer readable storage medium, where a computer program is stored, where the computer program is executed by a processor to implement the positioning method according to the first aspect of the embodiments.
The beneficial effects are that:
in positioning, the strength of the satellite positioning signal and the strength of the 5G positioning signal are first detected. And when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are both larger than or equal to the respective corresponding target intensity, executing a satellite positioning strategy and a 5G positioning strategy to jointly determine the current position of the positioning device. And when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are smaller than the respective corresponding target intensities, executing an inertial positioning strategy, and determining the current position of the positioning device together with the electronic tag on the positioning device.
By detecting the intensity of the satellite positioning signals and the intensity of the 5G positioning signals, if the satellite positioning signals and the 5G positioning signals are good, the current position of the positioning device can be determined together through a satellite positioning strategy and a 5G positioning strategy, and if the satellite positioning signals and the 5G positioning signals are bad, the current position of the positioning device can be determined together with an electronic tag on the positioning device through an inertial positioning strategy, so that positioning can be performed in various occasions, and a more accurate positioning result can be generated.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments of the present application will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart illustrating steps of a positioning method according to an embodiment of the present application;
FIG. 2 is a schematic diagram of dead reckoning according to an embodiment of the present application;
FIG. 3 is a functional block diagram of a positioning device according to an embodiment of the present disclosure;
FIG. 4 is a block diagram of a positioning device according to an embodiment of the present application;
fig. 5 is a schematic architecture diagram of a positioning system according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
Referring to fig. 1, a flowchart illustrating steps of a positioning method in an embodiment of the present application is shown and applied to a positioning module, where the method specifically may include the following steps:
s101: the strength of the satellite positioning signal and the strength of the 5G positioning signal are detected.
In the implementation process, the positioning module is arranged on a body of a target person with positioning requirements, a controller MCU is arranged in the positioning module, the MCU detects the strength of satellite positioning signals and the strength of 5G positioning signals, and the satellite positioning signals can be positioning signals of Beidou satellites and also can be GPS positioning signals.
The MCU is pre-stored with target strength allowing the satellite positioning signals to be positioned, and also pre-stored with target strength allowing the 5G positioning signals to be positioned.
By way of example, the strengths of the satellite positioning signals and the 5G positioning signals may be divided from weak to strong into five levels, level 1, level 2, level 3, level 4, level 5, where level 1 is the lowest signal strength that allows positioning.
S102: and when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are both larger than or equal to the respective corresponding target intensity, executing a satellite positioning strategy and a 5G positioning strategy to jointly determine the current position of the positioning device.
Specifically, when the intensity of the satellite positioning signal is greater than or equal to the corresponding target intensity and the intensity of the 5G positioning signal is also greater than or equal to the corresponding target intensity, the current position of the positioning device is determined by the satellite positioning strategy and the 5G positioning strategy together, that is, the current position of the target person is positioned.
In a possible embodiment, performing a satellite positioning strategy and a 5G positioning strategy to jointly determine a current position of the positioning device includes:
a1: unifying a micro-distance measurement equation of satellite positioning and a grid positioning equation of 5G positioning under the same coordinate system, and determining an overdetermined equation, wherein the overdetermined equation has the following formula:
wherein,a pseudo-range between the positioning device and the ith satellite; RSSI (received signal strength indicator) J Is the distance between the positioning device and the jth 5G base station; w (w) i ，v j Is an observation error;
a2: linearizing the overdetermined equation by a taylor series;
specifically, after linearization by taylor series expansion, it is obtained:
wherein,
a3: and obtaining an observation vector, and obtaining a measurement equation according to the observation vector and the linearized overdetermined equation.
Assume that
Taking the observation vector asAll other terms in the linearized overdetermined equation are converted into the measurement errors of the pseudo range, and the obtained measurement equation is as follows:
Y(k)＝C(k)X(k)+V(k)
wherein:
a4: and iterating the measurement equation to determine the current position of the positioning device.
When the satellite positioning signal and the 5G positioning signal are good, the current position of the positioning device is determined through the combination of the satellite positioning signal and the 5G positioning signal, and the obtained positioning result is more accurate.
In a possible embodiment, the satellite positioning strategy is executed to determine the current position of the positioning device when the strength of the satellite positioning signal is greater than or equal to the corresponding target strength and the strength of the 5G positioning signal is less than the corresponding target strength.
In another possible implementation, when the strength of the 5G positioning signal is greater than or equal to the corresponding target strength and the strength of the satellite positioning signal is less than the corresponding target strength, the 5G positioning strategy is executed to determine the current position of the positioning device.
In the outdoor environment, the satellite positioning signal and the 5G positioning signal are preferentially selected for positioning, if the signal intensity of the satellite positioning signal and the 5G positioning signal are both greater than or equal to the corresponding target intensity, the current position of the positioning device is jointly determined according to the satellite positioning signal and the 5G positioning signal, and if only the signal intensity of any one is greater than or equal to the corresponding target intensity, the current position of the positioning device is determined by selecting the signal.
S103: and when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are smaller than the respective corresponding target intensities, executing an inertial positioning strategy, and determining the current position of the positioning device together with the electronic tag on the positioning device.
In the specific implementation process, in an indoor or underground mine, satellite positioning signals and 5G positioning signals are weaker than signals of an outdoor or open-air mine, when the MCU detects that the strength of the satellite positioning signals and the strength of the 5G positioning signals are smaller than the corresponding target strength, an inertial positioning strategy is executed, and the current position of the positioning device is determined by utilizing an electronic tag arranged on the positioning device, so that failure in positioning a target person or inaccurate positioning results can be avoided due to the fact that the satellite positioning signals and the 5G positioning signals are weak in the indoor or underground mine scene.
In a possible implementation manner, an inertial positioning module of the positioning device is worn on the foot of the target person, and when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are smaller than the respective corresponding target intensities, the MCU starts the inertial positioning module, and the inertial positioning module executes the inertial positioning strategy to determine the track length of the detection target person wearing the positioning device.
For the target positioning place, a plurality of readers can be arranged at fixed positions, and the readers are used for identifying the electronic tags of the positioning device; the two readers are in a group, and the interval between the two readers in each group of readers is determined by the reading range of the antenna of the reader, so that the two readers can be prevented from simultaneously reading the same electronic mark.
When a target person provided with the positioning device passes through a group of readers, the two readers can continuously acquire information of the electronic tag on the positioning device, and the positioning device can acquire the reader for reading the electronic tag at present and fixed position information of the reader.
And identifying the position information of the fixedly arranged reader through the electronic tag arranged on the positioning device, and correcting the starting point position in the inertial positioning strategy according to the position information of the reader so as to determine the current position of the positioning device.
In one possible implementation, the positioning device may send the position information of the group of readers through the wireless gateway as the coordinate information of the positioning device, and determine the movement direction of the positioning device according to the sequence in which the two readers acquire the electronic tag information; and then, performing inertial positioning strategy positioning according to the inertial positioning module, transmitting a preliminary positioning result of the inertial positioning module to a central control end through a wireless gateway, and correcting positioning information by the central control end according to a reader through which the positioning device passes currently, wherein the reader position is used as a starting point position in the inertial positioning strategy.
Specifically, setting the position of the reader passing by the positioning device each time as the origin of coordinates, and acquiring posture information of the positioning device when the positioning device passes by the reader, wherein the posture information comprises a course angleIn practical implementation, a gyroscope and a magnetic compass can be arranged on the positioning device to acquire a heading angle, and then the heading angle is updated by using a zero angular velocity.
When the inertial positioning strategy is executed, the step length of the target personnel is set as L, the zero-speed updating strategy is utilized to estimate errors and compensate, the step frequency f of the target personnel is obtained, the position divergence speed is reduced, and the step number C=1/f of the target personnel in the period T can be obtained.
Then the track length of the target person can be determined as D according to the track reckoning algorithm K ＝L·C k The current position of the target person or the positioning module can be further determined as follows:
referring to fig. 2, a dead reckoning schematic diagram of an embodiment of the present application is shown, where the position of the k-time positioning module is (x k ，y k ) Course angle of the positioning device at time k isAnd determining the position of the moment k+1 according to the course angle and the track length of the target person from the moment k to the moment k+1.
In this embodiment, different positioning modes are determined according to the strength of the satellite positioning signal and the strength of the 5G positioning signal, if the satellite positioning signal and the 5G positioning signal are good, the current position of the positioning device can be determined together through a satellite positioning strategy and a 5G positioning strategy, and if the satellite positioning signal and the 5G positioning signal are bad, the current position of the positioning device can be determined together with an electronic tag on the positioning device through an inertial positioning strategy, so that positioning can be performed in various occasions, and a more accurate positioning result is generated.
Referring to fig. 3, a functional block diagram of a positioning device according to an embodiment of the present application is shown, as in fig. 2, a positioning device, the device including: controller MCU, satellite positioning module, 5G positioning module, inertial positioning module, electronic tags, wireless signal transmission module, to outer interface module, power management module and storage module, wherein:
the power management module provides working voltage for the positioning device; the external interface module is used for updating or modifying the processing thread in the controller MCU by staff; the storage module stores data in the MCU; the wireless signal transmitting module is used for receiving or transmitting signals when the positioning device performs data interaction with the outside; the satellite positioning module can adopt a Beidou positioning module or a GPS positioning module,
the controller MCU is used for detecting the intensity of satellite positioning signals of the satellite positioning module and the intensity of 5G positioning signals of the 5G positioning module; the MCU is pre-stored with target strength allowing the satellite positioning signals to be positioned, and also pre-stored with target strength allowing the 5G positioning signals to be positioned.
When the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are both greater than or equal to the respective corresponding target intensities, the MCU starts the satellite positioning module to execute a satellite positioning strategy, and starts the 5G positioning module to execute a 5G positioning strategy, so that the current position of the positioning device is determined together.
In a possible implementation manner, when the MCU detects that the strength of the satellite positioning signal is greater than or equal to the corresponding target strength and the strength of the 5G positioning signal is less than the corresponding target strength, the MCU starts the satellite positioning module to execute a satellite positioning strategy, and determines the current position of the positioning device.
In a possible implementation manner, when the MCU detects that the strength of the satellite positioning signal is smaller than the corresponding target strength and the strength of the 5G positioning signal is greater than or equal to the corresponding target strength, the MCU starts the 5G positioning module to execute a 5G positioning strategy, and determines the current position of the positioning device.
When the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are smaller than the corresponding target intensity, the MCU starts the inertial positioning module to execute an inertial positioning strategy, starts the electronic tag to identify a reader fixedly arranged at a target positioning place, corrects the starting point position in the inertial positioning strategy according to the position of the reader, and determines the current position of the positioning device.
Referring to fig. 4, there is shown a structural diagram of a positioning device in an embodiment of the present application, where the positioning device is provided with a positioning device in the embodiment;
the positioning device comprises a safety helmet and a foot wearing positioning piece, wherein a shell 2 is arranged on a helmet body 1 of the safety helmet, a controller of a positioning device, a satellite positioning module, a 5G positioning module, a wireless signal sending module, an external interface module, a power management module and a storage module are arranged in the shell 2, an antenna 3 of the wireless signal sending module penetrates through the shell to extend outwards, an electronic tag 4 of the positioning device is arranged on the outer wall of the shell, the electronic tag 4 is arranged on the outer wall of the shell, and the electronic tag is convenient to identify with a reader in a target positioning place.
In one possible embodiment, the reader may be disposed on a top wall of the target location, and the electronic tag may be disposed on an upper outer wall of the housing, such that the electronic tag and the reader may be mutually identified during movement of a target person wearing the helmet.
The foot wearing positioning piece is provided with an inertial positioning module of the positioning device, and the foot wearing positioning piece is also provided with a power supply piece specially used for supplying power to the inertial positioning module.
In a possible implementation manner, the inertial positioning module can communicate with the MCU through Bluetooth communication.
Referring to fig. 5, an architecture diagram of a positioning system in an embodiment of the present application is shown, where the system includes a positioning module, a reader, a wireless gateway, a positioning satellite, a 5G base station, and a central control end according to the embodiment, where:
the reader is fixedly arranged in a target positioning place; the system comprises a plurality of readers, two readers are in a group, and the interval between two readers in the group of readers is determined by the reading range of the antennas of the readers.
The wireless gateway is distributed in the target positioning place and used for carrying out data interaction with the positioning device and sending the current position of the positioning device to the central control end.
The positioning satellite transmits satellite positioning signals with the positioning device; the 5G base station is used for transmitting 5G positioning signals with the positioning device.
By way of example, the positioning system is applied in a scene comprising an open-air mine and an underground mine, the central control end is arranged in a control room of the mine, a plurality of wireless gateways are distributed in the underground mine, each wireless gateway can be automatically connected with a close positioning device, and a plurality of groups of readers are also arranged in the underground mine.
Target personnel working in open-air mines and underground mines wear positioning equipment, and specifically, the target personnel wear foot wearing positioning pieces on feet with the safety helmet provided by the embodiment.
When a target person works in an open-air mine, the positioning device can detect satellite positioning signals and 5G positioning signals, so that the MCU detects the strength of the satellite positioning signals of the satellite positioning module and the strength of the 5G positioning signals of the 5G positioning module, the detection results are that the strength of the satellite positioning signals and the strength of the 5G positioning signals are generally larger than or equal to the corresponding target strengths respectively, at the moment, the MCU starts the satellite positioning module to execute a satellite positioning strategy, and starts the 5G positioning module to execute the 5G positioning strategy to jointly determine the current position of the positioning device.
If the MCU detects that the intensity of the satellite positioning signal is greater than or equal to the corresponding target intensity, and the intensity of the 5G positioning signal is smaller than the corresponding target intensity, the MCU starts a satellite positioning module to execute a satellite positioning strategy, and the current position of the positioning device is determined.
If the MCU detects that the intensity of the satellite positioning signal is smaller than the corresponding target intensity, and the intensity of the 5G positioning signal is larger than or equal to the corresponding target intensity, the MCU starts a 5G positioning module to execute a 5G positioning strategy, and the current position of the positioning device is determined.
And then the MCU controls the wireless signal sending module to send the current position of the positioning device to the wireless gateway, and the wireless gateway forwards the current position of the positioning device to the central control end, so that accurate positioning of a target person can be determined.
When a target person enters an underground mine from an open-air mine, a satellite positioning signal and a 5G module positioning signal cannot be used in the underground mine and are weak, when the MCU of the positioning device detects that the strength of the satellite positioning signal and the strength of the 5G positioning signal are smaller than the respective corresponding target strength, the MCU starts the inertial positioning module to execute an inertial positioning strategy, starts the electronic tag to identify and fix a reader arranged at the target positioning place, corrects the starting point position in the inertial positioning strategy according to the position of the reader, and determines the current position of the positioning device.
When a target person working in an underground mine moves from the mine to an open-air mine again, the MCU detects that the strength of the satellite positioning signal of the satellite positioning module and the strength of the 5G positioning signal of the 5G positioning module are both greater than or equal to the corresponding target strength, at the moment, the MCU starts the satellite positioning module to execute a satellite positioning strategy, and starts the 5G positioning module to execute a 5G positioning strategy, so that the current position of the positioning device is jointly determined.
The present application also provides a computer readable storage medium having a computer program stored thereon, which when executed by a processor implements the positioning method according to the embodiments.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that embodiments of the present application may be provided as a method, apparatus, or computer program product. Accordingly, the present embodiments may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present application may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, 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.
While preferred embodiments of the present embodiments have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the present application.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The principles and embodiments of the present application are described herein with specific examples, the above examples being provided only to assist in understanding the methods of the present application and their core ideas; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims (10)

1. A positioning method, applied to a positioning device, the method comprising:
detecting the intensity of satellite positioning signals and the intensity of 5G positioning signals;
when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are both larger than or equal to the respective corresponding target intensities, executing a satellite positioning strategy and a 5G positioning strategy to jointly determine the current position of the positioning device;
and when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are smaller than the respective corresponding target intensities, executing an inertial positioning strategy, and determining the current position of the positioning device together with the electronic tag on the positioning device.
2. The method according to claim 1, wherein the method further comprises:
and when the intensity of the satellite positioning signal is larger than or equal to the corresponding target intensity, executing the satellite positioning strategy to determine the current position of the positioning device when the intensity of the 5G positioning signal is smaller than the corresponding target intensity.
3. The method according to claim 1, wherein the method further comprises:
and when the intensity of the 5G positioning signal is larger than or equal to the corresponding target intensity, and the intensity of the satellite positioning signal is smaller than the corresponding target intensity, executing the 5G positioning strategy to determine the current position of the positioning device.
4. The method of claim 1, wherein performing an inertial positioning strategy to determine a current location of the positioning device in conjunction with an electronic tag on the positioning device comprises:
executing the inertial positioning strategy, and determining the track length of a detection target person wearing the positioning device;
identifying the position information of the fixedly arranged reader through the electronic tag arranged on the positioning device;
and correcting the starting point position in the inertial positioning strategy according to the position information of the reader, and determining the current position of the positioning device.
5. The method of claim 1, wherein performing a satellite positioning strategy and a 5G positioning strategy to jointly determine a current location of the positioning device comprises:
unifying a micro-distance measurement equation of satellite positioning and a grid positioning equation of 5G positioning under the same coordinate system to determine an overdetermined equation;
linearizing the overdetermined equation by a taylor series;
obtaining an observation vector, and obtaining a measurement equation according to the observation vector and the linearized overdetermined equation;
and iterating the measurement equation to determine the current position of the positioning device.
6. A positioning device, the device comprising: controller, satellite positioning module, 5G positioning module, inertial positioning module and electronic tags, wherein:
the controller is used for detecting the intensity of satellite positioning signals of the satellite positioning module and the intensity of 5G positioning signals of the 5G positioning module;
when the intensity of the satellite positioning signal and the intensity of the 5G positioning signal are both greater than or equal to the respective corresponding target intensities, the satellite positioning module executes a satellite positioning strategy, and the 5G positioning module executes a 5G positioning strategy to jointly determine the current position of the positioning device;
when the strength of the satellite positioning signal and the strength of the 5G positioning signal are smaller than the corresponding target strength, the inertial positioning module executes an inertial positioning strategy, the electronic tag identifies a reader fixedly arranged at a target positioning place, and corrects the starting point position in the inertial positioning strategy according to the position of the reader to determine the current position of the positioning device.
7. A positioning device, characterized in that the positioning device is provided with the positioning device according to claim 6;
the positioning equipment comprises a safety helmet and a foot wearing positioning piece, wherein the safety helmet is provided with a controller of the positioning device, a satellite positioning module, a 5G positioning module and an electronic tag; the foot wearing positioning piece is provided with an inertial positioning module of the positioning device.
8. A positioning system comprising the positioning device, reader, wireless gateway, positioning satellite, 5G base station, and central control terminal of claim 6, wherein:
the reader is fixedly arranged in a target positioning place;
the wireless gateway is distributed in the target positioning place and used for carrying out data interaction with the positioning device and sending the current position of the positioning device to the central control end.
9. The system of claim 8, wherein a plurality of readers are included in the system, two readers are in a group, and a spacing between two of the readers in a group of readers is determined by a reading range of an antenna of the reader.
10. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program which, when executed by a processor, implements the positioning method according to any of claims 1 to 5.
CN202311132874.8A 2023-09-04 2023-09-04 Positioning method, positioning device, positioning apparatus, positioning system, and storage medium Pending CN117308932A (en)

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