TWI547907B - Positioning system with warning effect and method for using the same - Google Patents

Description

System and method for positioning alarm

The present invention provides a positioning system, and more particularly to a system for generating an alerting action based on a positioning result.

In recent years, positioning technologies have gradually become commonplace in various physical devices and devices with network communication capabilities, such as computers, transportation vehicles, and portable electronic devices. In order to meet the needs of the people, the portable electronic device usually has a positioning function, so that the user can obtain the geographical location information of the portable electronic device through the positioning service, or obtain the geographical information of the other physical device. And use these positioning information for different applications. With the evolution of wireless transmission technology, positioning methods have become diverse, such as: global satellite positioning method, mobile communication network base station positioning method, WiFi hotspot positioning method and RFID sensor positioning method, in which the accuracy of various positioning methods and The coverage is different, and there are corresponding applications.

Location services are often used for tracking specific objects. When a specific object has the capability of network communication, the specific object can define its geographical location, coordinate position or network location through positioning technology, and the data can be provided to the monitor to track the specific object. For example, a wide range of location tracking for aircraft navigation and vessel navigation. Positioning technology can also be applied to vehicle travel or personal movement, such as pedestrian positioning in urban areas, where pedestrian positioning can be monitored for specific people, such as locking the position of a person who is mentally retarded or a child to avoid loss, or monitoring a person with a criminal tendency (or the perpetrator) to avoid being close to a specific area or victim, causing a crime case.

However, the above-mentioned positioning monitoring of the injurer and the victim is more difficult to accurately reflect the reality. This is because the victim and the victim may be in a state of being moved, and the current victimization result may be the position of the victim defined by the previous time point, which is difficult to reflect the actual position of the current victim, and cannot reduce the harm. The probability of people meeting the victim.

Therefore, how to accurately grasp the proximity between different targets and further predict the movement of the target to avoid or facilitate the contact of different targets is an urgent problem to be solved by the present invention.

The main object of the present invention is to provide an ability to interpret the proximity of a different target on the positioning coordinates, and obtain position monitoring of the specific target according to the proximity. In order to achieve the above object, the present invention provides a system for locating an alarm, which is capable of obtaining a plurality of positioning results of a target carrying a communication device, the system comprising: a server having the capability of communicating with the communication device and transmitting A positioning algorithm obtains a positioning result of the plurality of objects carrying the communication device. The server further includes: a processor; a storage unit, wherein the storage unit stores a plurality of algorithms executable by the processor; and an alarm level determination module, which is based on the plurality of carrying the communication device The positioning result of the target determines the proximity between the different objects, and generates a corresponding alarm signal according to the proximity between the different objects. The at least one communication device related to the degree of closeness between the different target objects generates an alarm action according to the alarm signal through at least one user of the communication device to the user of the communication device.

The present invention further provides a method for locating an alarm, which is performed by at least a server and a communication device communicating with the server, wherein the server is provided with a processor and a storage unit, and the storage unit stores a processor for execution by the processor. a plurality of estimation algorithms suitable for positioning communication devices, the server being obtained via a positioning algorithm Having a positioning result of a plurality of objects carrying a communication device, the method comprising: collecting previous positioning results of the plurality of objects and current positioning results of the plurality of objects; selecting from the estimation algorithms a preferred estimation algorithm, which determines an estimated positioning result of the plurality of objects based on at least the previous positioning result of the plurality of objects and the current positioning result of the plurality of objects; The previous positioning result of the plurality of objects, the current positioning result of the plurality of objects, and the correlation between the predicted positioning results of the plurality of objects determine the degree of closeness between the different objects, Corresponding to an alarm signal, wherein at least one communication device related to the degree of closeness between the different objects generates an alarm action according to the alarm signal through at least one user of the communication device to the user of the communication device. .

The present invention further provides a method for locating an alarm, which is performed by at least a server and a communication device communicating with the server, wherein the server is provided with a processor and a storage unit, and the storage unit is stored for execution by the processor. An algorithm, the server obtains a positioning result of a plurality of objects carrying the communication device via a positioning algorithm, the method comprising: collecting previous positioning results of the plurality of objects and current positioning of the plurality of objects a result of estimating a current positioning result of the plurality of objects based on a previous positioning result of the plurality of objects, and respectively, via a plurality of estimation algorithms stored in the storage unit; The plurality of estimated values are closest to the current positioning result of the target, and a preferred estimation algorithm is selected from the estimation algorithms to estimate the predicted positioning result of the target; and according to the target The correlation between the previous positioning result of the object, the current positioning result of the target object, and the estimated positioning result of the target object determines the different target object Between the proximity of which the alarm signal is associated with a system, wherein associated with the proximity of the at least one communication device interface system generates an alarm to the user operation of the communication apparatus according to the alarm signal to the user via a communication device.

10‧‧‧Server

102‧‧‧Alarm level judgment module

104‧‧‧Pre-alarm module

106‧‧‧Best estimation algorithm selection module

108‧‧‧Regression equation and projection point module

110‧‧‧Communication device

C1, C2‧‧‧ targets

R1, R2‧‧‧ positioning error

D‧‧‧Distance between two targets

20-26‧‧‧Steps

220-222‧‧‧Steps

The first figure is a block diagram of a module of a wearable communication device according to an embodiment of the present invention.

The second A to FF diagrams are diagrams showing the distribution of target locations in an embodiment of the present invention.

The third figure is a flow chart of the steps of an embodiment of the present invention.

The fourth figure is a flow chart of the steps further included in step 22 of the third figure.

The exemplary embodiments will be described in detail below with reference to the drawings. However, the embodiments may be embodied in different forms and should not be construed as limiting the invention. The disclosure of the present invention is intended to be illustrative of the invention, and those skilled in the art will be able to understand the invention.

Throughout the specification and claims, the terms have the meanings indicated or implied in the context, and are beyond the meaning of the explicit description. In the same way, the phrase "in an embodiment" is not necessarily referring to the same embodiment, and the term "in another embodiment" is not necessarily used in this context. Different specific embodiments. For example, it is intended that the subject matter of the invention may be construed as a combination of the specific embodiments.

In general, terms may be understood at least in part from the use in context. For example, terms such as "and", "or", or "and/or" may be used in the context of the meaning of the context of the use of such terms. In general, if you use "or" to associate a list, such as A, B, or C, it means here as the inclusive meanings A, B, and C, and the specific meanings A, B, or C. In addition, the phrase "one or more" is used herein to mean any feature, structure, or characteristic of the singular form, or a combination of features, structures or characteristics of the plural. Similarly, terms such as "a" or "the" are used to mean the s In addition, the term "based on" is understood not necessarily to convey a specific set of factors, but may have other causes that may not be described. Sub, which is based at least in part on the context.

The positioning method described in the embodiment of the present invention can estimate the location (such as a geographical location, a coordinate location, or a network location) of one or more communication devices, and the communication device is a general mobile communication device (such as a mobile phone or a tablet computer). And / or wearable communication devices), but can also be other identifiable devices with network communication capabilities, such as servers.

In the following embodiments of the present invention, the calculation of positioning and/or other algorithms are performed by one or more servers, and the server has the capability of network communication, especially having the ability to transmit through the base station and the communication device. The ability to communicate and the ability to perform positioning calculus, and includes a storage unit (e.g., memory) storage algorithm and one or more processors to execute the algorithm. The server calculates the location of the communication device corresponding to the base station based on the information reported by one or more base stations providing the network service. In another embodiment, the positioning algorithm can also be performed by one or more base stations. The base station provides network service providers, for example, can provide network types such as GSM, WiFi, 3G, and/or 4G. In other embodiments of the invention, the calculations may also be performed by a computing device having computing capabilities, the communication device itself having the capability to communicate with one or more servers and including one or more processors to perform the calculations law. The communication device may be a wearable communication device, such as a smart watch with communication capabilities, or an electronic ankle worn by a specific monitoring object. The server may associate the located result with one or more alarm signals and transmit the same to the communication device via the network and present to the user of the communication device in a specific manner, for example, at least through the communication device A user interface reflects the alarm signal, such as a video alarm or a light flashing alarm (step 26 of the third figure).

Referring to the first figure, a block diagram of a module of the server 10 according to an embodiment of the present invention is shown. The server 10 is provided with an alarm level determination module 102, a pre-alarm module 104, a preferred estimation algorithm selection module 106, and a regression equation and projection point module 108. The server 10 itself has the capability of positioning operations, and the module executes a particular algorithm based on the results of the positioning of the server 10. The algorithms executed by each module are described in detail in the subsequent paragraphs.

In the case where network communication is maintained between the server 10 and the communication device 110, the server 10 can receive one or more information provided by the base station, which is associated with one or more base station signals. The distance or orientation of the communication device 110 relative to the base station, and defining the location of the communication device 110 based on the information, completes the positioning of the target. However, the positioning result may cause errors due to many physical factors, such as the movement of the target, the signal blocking or interference between the communication device and the base station, etc., so the positioning result of the target may be a positioning range due to the positioning error. Presented.

Referring to the second A to the second F, there are various cases of the distance distribution of the two objects, wherein the center of each independent circle represents the positioning point of a target, and the circle radii R1, R2 represent the positioning result. The distance error value, which can be an predictable or measurable value, for example, determined by the error of its own algorithm, or by the measurement error of the base station (such as the environment/obstacle affected by the target) ). In another embodiment, the circle radii R1, R2 may be determined by a preset value, which may be adjusted according to the state of the target. For example, the R value may be adjusted according to the target using the positioning method, such as satellite positioning, base station positioning. Wait. The area covered by each independent circular area in the planar area is considered to be the position where the target may appear. The positioning errors R1 and R2 can be taken together for the sake of accuracy when performing the algorithm described later.

The alarm level determination module 102 of the server 10 is configured to execute an alarm level determination algorithm based on the distance D between the two objects, the positioning error values R1 and R2 of the two objects, and a preset alarm distance N. . Let a judgment value, W=D-N, the alarm level of the two objects can be defined by the following algorithm.

According to the second A map to the second F map, the two objects have six distributions according to the distance of the center of the circle. Those with ordinary knowledge in the field should be able to understand that in order to improve the resolution of the target's positioning state, the distance between the centers of the two targets may have more than six distributions; otherwise, less than six. In order to make it easier to understand the spirit of the present invention, the following description will be described in conjunction with the application examples of the victim and the injurer. However, this example is only for the purpose of illustration and is not intended to limit the use of the present invention. Let C1 be the result of the first target (the victim holding the portable communication device), and C2 be the second target (wearing The positioning result of the victim of the electronic pedal with communication capability is defined as a circle inner circle, and the circle radius R1, R2 may correspond to a physical distance, which may be in units of meters or kilometers. The range covered by the circle represents the possible location of the target. In another embodiment, the positioning result of the target may also be defined by other shapes.

Figure 2A, W>(R1+R2), security status. Among them, the value of N can be adjusted according to the moving speed of the injurer. For example, the value can be adjusted according to the moving habits of the injurer (walking, cycling) to determine the accuracy.

Figure B, (R1+R2≧W>[R1+(R2/2)], risk status.

The second C picture, [R1+(R2/2)]≧W>R1, threat state.

The second D picture, R1≧W>[R1-(R2/2)], dangerous state.

Figure 2E, [R1-(R2/2)]≧W>(R1-R2), emergency.

The second F map, (R1-R2) ≧ W ≧ 0, critical state.

The algorithms of the second B to the second F map described above classify the two objects according to how close they are to each other. When the target range of the target starts to contact, it indicates the possibility that the victim has contact with the victim, and the server 10 can generate an alarm signal associated with the state according to the level determined by the algorithm, and is held by the victim. The user interface of the portable communication device presents an alarm, such as a display through color.

The above description is based on the positioning results of only two objects, and those skilled in the art should apply the above embodiments to more than two objects to define different objects without departing from the spirit of the present invention. Corresponding positional relationship.

Referring to the third figure, a flow chart of the steps of the method for locating an alarm according to the present invention includes steps 20 to 28. A detailed description of each step will be described in the subsequent paragraphs.

In step 20, the previous and current positioning results of the target are collected. The positioning result of the communication device sampled by the server 10 every predetermined time (for example, every one minute) can determine the state classification of the two objects via the above algorithm. However, this positioning result may not be able to truly reflect the exact position of the current target, which is determined by the target The speed of movement is determined. For example, the target C2 moves in a fast manner. If the sampling period of the positioning is too long, the positioning result of the target C2 at the time point n may be greatly different from the positioning result of the next time point n+1. If this situation is applied to the above-mentioned examples of the victim and the victim, if the movement speed of the victim reaches a certain level, the position presented by the victim communication device will lag behind the actual position of the victim at a certain point in time, which may cause an alarm. The effect is invalid. In view of this, the embodiment of the present invention may further include a method for predicting the location of the target, and triggering the alarm signal by predicting the motion of the target and its association.

In step 22, the estimation algorithm is selected as a preferred estimation algorithm, and the estimated positioning result of the target is determined according to at least the previous and current positioning results of the target. This step is mainly based on the target positioning result obtained in step 20 to determine the future movement of the target. The pre-alarm module 104 of the server 10 is configured to provide a predictive alarm, which is based on the positioning relevance of the plurality of targets in different timing states (ie, different time points), and defines the target according to the foregoing alarm level determining algorithm. The status is classified to take an alarm.

The prediction alarm is used by the positioning system to collect the positioning data of the target object before a time point n, and predict the position or range of the target object at the next time point n+1 according to the trajectory of the plurality of positioning data. In this way, the positioning results of different targets in different timing states can be obtained.

Referring to the table below, for example, X and Y are respectively two different targets, such as the perpetrator and victim, and n is labeled as the target at a point in time, n-1 and n. The +1 mark is the position of the target at the time points before and after the time point n, for example, before/after one minute. Therefore, Xn and Yn represent the positioning result of the target at time point n, and Xn±1 and Yn±1 represent the upper/next time point result of the target. Therefore, the positioning of the two-phase target in different timing states has at least the comparative aspects listed in the table below.

Specifically, the comparison between Xn and Yn is the result of the positioning system positioning the two objects at the same time point n, which may have six alarm state classifications as in the foregoing embodiment; the comparison of Xn and Yn+1 For the positioning system to compare the known Xn and Yn+1 prediction results, for example, the risk arising from the relationship between the victim's static situation and the victim's next position can be evaluated, which can also have six alarm states. Classification; the comparison between Xn+1 and Yn is that the positioning system compares the predicted result of Xn+1 with the known Yn. For example, it can evaluate the risk of the victim's next position in the case where the victim is stationary. It can also have six alarm status classifications; the comparison between Xn+1 and Yn+1 is that the positioning system predicts the positioning result of the two targets to the next step. For example, both the victim and the injurer can be evaluated. The risk generated by one step also has six alarm state classifications; the comparison between Xn+1 and Yn-1 is that the positioning system performs the next prediction result of one target and the previous known result of another target. Comparison, for example, Proceeds to the next victim predictions with known risk offender back on the result produced by step, which also may have six kinds of alarm status classification.

The timing relationship of the two targets can be set according to requirements, so that the prediction results between the objects are diverse, and the prediction results can be selectively presented to the user of the communication device through the user interface of the communication device, so that In order to monitor the positioning of a specific target, for example, the victim or the police can view and monitor the movement of the victim via the communication device, wherein the result of the victim/victim can be associated with one or more alarm signals, which can correspondingly communicate through the communication. The device presents an alert action that causes the user of the communication device to take action in response to the alert. For example, based on The victim's relative positioning risk at different timings can be assessed by the victim to assess whether it should be stationary or to return to the previous step to minimize the chances of being associated with the victim.

However, in order to obtain the positioning result of the above Xn+1 and/or Yn+1, an embodiment of the present invention further predicts the predicted positioning result Xn+1 of the target by comprehensively determining a better estimation algorithm. And / or Yn+1.

Referring to the fourth figure, step 22 further includes steps 220 to 222. First, in step 220, based on the previous positioning result of the target, the estimated value of the current positioning result of the target is estimated through the estimation algorithm.

The preferred predictive algorithm selection module 106 of the server 10 is arranged to selectively perform a predictive algorithm from a plurality of (at least two) estimated algorithms. It should be noted that the estimation algorithm herein is only used to calculate the positioning result of the next time point of the specific target, as the basis for the foregoing pre-alarm module 104 to perform the pre-alarm. The estimation algorithm is stored in the server 10. The following two algorithms are respectively exemplified for use in an embodiment of the present invention. Of course, in other embodiments of the present invention, there may be other estimation algorithms that obtain better prediction values by more reference clues.

Estimation algorithm (1)

Assuming that the current position of a target is represented as Xn, and the position of the next time point (or next time interval) of the target is represented as Xn+1, the positioning result of the past time point of the target is expressed as [Xn-1 , Xn-2, Xn-3, Xn-4...Xn-m].

The regression equation of the server 10 and the projection point module 108 are converted into a regression equation associated with it according to [Xn, Xn-1, Xn-2, Xn-3, Xn-4...Xn-m], for example Linear regression equation. Since the establishment of the regression equation is a well-known technique, its detailed description has been omitted for the sake of streamlining.

Then, based on the relationship between [Xn, Xn-1, Xn-2, Xn-3, Xn-4...Xn-m] and the regression equation, [Xn, Xn-1, Xn-2, Xn- can be obtained. 3. Xn-4...Xn-m] Projection point positions on the regression equation [Pn, Pn-1, Pn-2, Pn-3, Pn-4...Pn-m], where Pn-1 Can be the forward projection of Xn-1 on the regression equation fruit.

Then, the next time point positioning result of the target object may be Xn+1=Pn+1=[(V1+V2+V3+...+Vm)/m]+Pn, where Vm is the current projection point Pn and the previous m The vector relationship of the projected points. For example, Vm=[(Pn-Pn-m)(Tn-Tn-m)+(Pn-1-Pn-m)(Tn-1-Tn-m)+(Pn-2-Pn-m)(Tn -2-Tn-m)...(Pn-m+1-Pn-m)(Tn-m+1-Tn-m)]/[(Tn-Tn-m)+(Tn-1-Tn- m) +(Tn-2-Tn-m)+...(Tn-m+1-Tn-m)], where Tn...Tm represents the time point corresponding to Pn...Pm, m is an integer .

Estimation algorithm (2)

The vector (V) per unit time (Tn...Tm) between the current position (Xn) and the past position (Xn-1...Xm) of the target at the next point in time. related. For example, Xn+1=(V/m)+Xn, where V=[(Xn-Xn-m)/(Tn-Tn-m)+(Xn-1-Xn-m)/(Tn-1-Tn -m) +...+(Xn-m+1-Xn-m)/(Tn-m+1-Tn-m)], where m is an integer.

In addition to the above algorithm, the prediction result of the positioning result of the object of the present invention (such as Xn+1) may be at least determined by the previous positioning result of the target (such as [Xn, Xn-1, Xn-2, Xn-3, Xn-4...Xn-m]), the projection point on the regression equation associated with the previous positioning result of the target (eg [Pn, Pn-1, Pn-2, Pn-3, Pn -4...Pn-m]) and/or vector information (such as V) per unit time obtained from the previous positioning result of the target.

Step 222: Select a better estimation algorithm to estimate the estimated positioning result Xn+1 of the target according to the estimated value closest to the current positioning result of the target. The preferred estimation algorithm selection module 106 of the server 10 selects a better estimation algorithm based on the estimated value closest to the current target positioning result Xn to determine the next time point positioning result of the target. Xn+1. Specifically, the preferred estimation algorithm selection module 106 first obtains the predicted value Xn′ predicted by the above-mentioned estimation algorithm, that is, according to the known positioning result [Xn-1, Xn-2, Xn-3 Xn-4...Xn-m] obtain X ₁ n' and X ₂ n' from the above two estimation algorithms, respectively. Let D1=|Xn-X ₁ n'| and D2=|Xn-X ₂ n'|, in other words, the distance between the current positioning result of the target and the predicted value. Comparing D1 and D2, if D1 < D2, the accuracy of the estimated algorithm (1) is better; conversely, if D2 < D1, the accuracy of the estimated algorithm (2) is better. The preferred estimation algorithm selection module 106 selects one of the estimation algorithms according to D1 or D2 as a preferred estimation algorithm module to perform the positioning result Xn+1 of the target at the next time point.

The above embodiment of the present invention simply cites the case where there are two estimation algorithms. In other embodiments of the invention, there may be more than two estimation algorithms that may be utilized by the preferred estimation algorithm selection module 106, based on an estimation algorithm that is capable of predicting the closest positioning result to the current target. To determine the future positioning of the target. A person skilled in the art should be able to incorporate a dynamic position estimation algorithm of an existing or schematic object into other embodiments of the present invention, so that the positioning system of the present invention can more accurately predict the next step of the target. position.

Step 24: Determine, according to the previous positioning result of the target, the current positioning result, and the estimated positioning result, the degree of closeness between the different objects, which is associated with the alarm signal. In step 22, after the better estimation algorithm is used to obtain the predicted positioning result Xn+1 of the target object, the proximity between the different target objects in different time states can be analyzed, and according to the proximity degree. Generates an alarm signal associated with its scale.

Step 26: Through the network communication, the server 10 transmits the alarm signal to at least one communication device associated with the proximity degree. According to the alarm signal, at least one user of the communication device generates an alarm action for the user of the communication device.

It can be seen from the above description that the system for positioning alarm of the present invention can obtain target positioning results (such as Xn-m to Xn+1) of different timing states by using a best estimation algorithm, and the system also judges calculation through alarms, etc. The method obtains the closeness between the different targets, which is associated with an alarm level (such as the aforementioned six states). The system can be configured to selectively present a reference alert level to a particular target to facilitate proper movement of the target. For example, only the target X (victim) can be referred to the alert level that can be referred to; only the target Y (injurer) can be referred to. The alarm level; or an alarm level that can be referred to by a third party. Specifically, the system can present the reference alarm level as a message via the target's communication device, as shown in the following table.

The Result(a) to Result(i) shown in the above table are the different target alarm levels for different timing combinations, as shown in the following table.

The reference messages presented in Tables 2 to 5 can be presented through the user's communication device, such as text messages or image representations. With these reference messages, the target can be informed of the risks it faces in different situations in order to take a more appropriate path or direction to determine the next move. Third parties can also use these reference information to monitor the movement of different targets in order to proactively alert specific targets. The above is merely illustrative and is not intended to limit the invention. Those skilled in the art should be able to appropriately present the reference message in a different manner for the user to view.

The embodiment of the present invention shows that the system for locating an alarm provided by the present invention can generate a corresponding level of alarm signal according to the positional relevance of the target (injured person, victim). In addition, the positioning system provided by the present invention with the alarm function can further perform the estimation algorithm to estimate the future movement and position of the target, thereby adopting a mechanism for pre-alarming according to the estimation result, which can be used to avoid Contact between specific targets; vice versa, the means of the present invention can also be used to force a particular target to contact.

Step 22 to step 26

Claims (14)

A positioning alarm system capable of obtaining a plurality of positioning results of a target carrying a communication device, the system comprising: a server having the capability of communicating with the plurality of communication devices, and being carried by a positioning algorithm The server includes: a processor; a storage unit, wherein the storage unit stores a plurality of algorithms executable by the processor; and an alarm The level determining module determines the proximity of the different objects according to the positioning results of the plurality of objects carrying the communication device, and generates a corresponding according to the proximity between the different objects. The alarm signal, wherein the at least one communication device associated with the proximity of the different objects generates an alarm action according to the alarm signal through at least one user of the communication device to the user of the communication device, wherein The positioning result of the target has a positioning error (R1, R2), which defines the positioning result as a positioning range And the proximity between the different objects is at least a positioning error of the different objects, a center distance (D) of the different target positioning ranges, and a pre-determination between the different objects Set the alarm distance (N) to determine. The system for locating an alarm as described in claim 1, wherein the preset alarm distance is increased or decreased according to a target moving speed associated with the proximity. The system for locating an alarm as described in claim 1 wherein the server includes: a pre-alarm module, which determines the proximity between different targets in different timing states according to the positioning results of the different objects having different timing states, and based on the proximity of the different objects according to the different timing states The degree produces a corresponding alarm signal, wherein the target positioning result of the different timing states includes a previous positioning result of each target and a current positioning result of each target. The system for positioning alarms according to claim 3, wherein the server comprises: a preferred estimation algorithm selection module, which is based on at least a previous positioning result of each target and each target current The results are located and a better estimation algorithm is used to determine the estimated positioning result for each target. The system for positioning alarms according to claim 4, wherein the preferred estimation algorithm is selected from one of a plurality of estimation algorithms stored in the storage unit, the preferred estimation algorithm The choice of the method is based on the fact that the estimates of the complex predictive algorithms are closest to the current target of the particular target. A method for locating an alarm is performed by at least a server and a communication device communicating with the server, wherein the server is provided with a processor and a storage unit, and the storage unit stores a plurality of applications for execution by the processor. And a positioning algorithm for positioning the communication device, the server obtaining a positioning result of the plurality of objects carrying the communication device via a positioning algorithm, the method comprising: collecting previous positioning results of the plurality of objects and the And a current positioning result of the plurality of objects; and selecting from the estimation algorithms as a preferred estimation algorithm, based at least on the previous positioning results of the plurality of objects and the plurality of objects The current positioning result determines the estimated positioning result of the plurality of objects; The degree of closeness between the different objects is determined according to the previous positioning result of the plurality of objects, the current positioning result of the plurality of objects, and the estimated positioning result of the plurality of objects. Corresponding to an alarm signal, wherein at least one communication device related to the degree of closeness between the different objects is based on the alarm signal to the user of the communication device through at least one user of the communication device Generate an alert action. The method for locating an alarm according to claim 6 , wherein the one of the estimation algorithms is used as a better estimation algorithm, and the estimated value of the estimation algorithm is The specific target is currently determined by the closest location. The method of locating an alarm as described in claim 6, wherein the previous positioning results of the plurality of objects include corresponding projection point positions on a regression equation associated with each target previous positioning result. The method for locating an alarm according to claim 8 , wherein the estimated positioning result of the plurality of objects is at least related to a previous positioning result of the target and a previous positioning result of the target The projection points on the relevant regression equations and/or the vector information (V) per unit time contained in the previous positioning results of the complex objects. The method for locating an alarm according to claim 6, wherein the degree of closeness between the different objects is a positioning error (R1, R2) of each target, and the different objects The distance between (D) and a predetermined alarm distance (N) between the different targets is determined. A method for locating an alarm, at least by a server and a communication with the server Executed by the device, wherein the server is provided with a processor and a storage unit, the storage unit stores an algorithm executed by the processor, and the server obtains a plurality of targets carrying the communication device via a positioning algorithm a method for locating the object, the method comprising: collecting a previous positioning result of the plurality of objects and a current positioning result of the plurality of objects; and based on the previous positioning results of the plurality of objects, and storing the a plurality of estimation algorithms in the storage unit to estimate an estimate of a current positioning result of the plurality of objects; and based on the plurality of estimated values closest to a current positioning result of the target, A preferred estimation algorithm is selected in the estimation algorithm to estimate the predicted positioning result of the target; and based on the previous positioning result of the target, the current positioning result of the target, and the target Estimating the correlation between the positioning results determines the proximity of the different objects, which is associated with an alarm signal, which is related to the proximity At least a communication device based interface generates an alarm according to the alarm signal through the operation of a user of the communication device to the user communication device. The method of locating an alarm as described in claim 11, wherein the previous positioning result of the plurality of objects includes a corresponding projection point position on a regression equation associated with a previous positioning result of each object. The method for locating an alarm according to claim 12, wherein the estimated positioning result of the plurality of objects is at least related to a previous positioning result of the target and a previous positioning result of the target. The projection points on the relevant regression equations and/or the vector information (V) per unit time contained in the previous positioning results of the complex objects. The method for locating an alarm according to claim 11, wherein the degree of closeness between the different objects is a positioning error (R1, R2) of each object, and the different objects The distance between (D) and a predetermined alarm distance (N) between the different targets is determined.