WO2022033094A1 - 定位基站数据流处理方法、装置、设备及计算机可读介质 - Google Patents

定位基站数据流处理方法、装置、设备及计算机可读介质 Download PDF

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Publication number
WO2022033094A1
WO2022033094A1 PCT/CN2021/093306 CN2021093306W WO2022033094A1 WO 2022033094 A1 WO2022033094 A1 WO 2022033094A1 CN 2021093306 W CN2021093306 W CN 2021093306W WO 2022033094 A1 WO2022033094 A1 WO 2022033094A1
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data packet
target
base station
processed
positioning base
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PCT/CN2021/093306
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English (en)
French (fr)
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刘淼泉
吴杰华
陈高
陈彦宇
马雅奇
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格力电器（武汉）有限公司
珠海格力电器股份有限公司
珠海联云科技有限公司
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Priority to US18/005,135 priority Critical patent/US20230262644A1/en
Publication of WO2022033094A1 publication Critical patent/WO2022033094A1/zh

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/50—Network services
    • H04L67/52—Network services specially adapted for the location of the user terminal
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/22—Parsing or analysis of headers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/24—Querying
    • G06F16/245—Query processing
    • G06F16/2455—Query execution
    • G06F16/24568—Data stream processing; Continuous queries
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/25—Integrating or interfacing systems involving database management systems
    • G06F16/258—Data format conversion from or to a database
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information

Definitions

  • the present disclosure relates to the field of wireless positioning technologies, and in particular, to a method, apparatus, device, and computer-readable medium for processing a data stream of a positioning base station.
  • Ultra Wideband UWB
  • TOA time of arrival
  • TDOA time difference of arrival
  • AOA angle of arrival
  • the TOA algorithm calculates the straight-line distance between the UWB positioning tag and each positioning base station through TOF (time of flight).
  • TOF time of flight
  • the system calculates the coordinate value of the positioning label.
  • the calculation process of the two-dimensional coordinate value of the positioning tag at each time point needs to obtain the straight-line distance between the positioning tag at the current time point and the three positioning base stations distributed in different positions ;
  • the base station data receiving and processing system needs to obtain the distance data of four base stations at each time point.
  • the related art there is a method of adding an inertial measurement element to the measurement object, so as to use a filtering algorithm to solve the data collected by the inertial measurement element to obtain the position information of the positioning tag.
  • the related technology can reduce the interference of signal reception and solve the coordinate value of the positioning tag with high precision, in the process of data transmission, there are still data flow disorder, easy data loss, poor real-time performance, and expansion of the solution system. Poor performance issue.
  • the present disclosure provides a method, apparatus, device, and computer-readable medium for processing a data stream of a positioning base station to solve the above-mentioned technical problems of "disordered data stream sequence and easy data loss".
  • the present disclosure provides a method for processing a data stream of a positioning base station, comprising: in the case of receiving a data packet to be processed, extracting a first identifier carried in the data packet to be processed, and the data packet to be processed is a positioning Sent by the base station, the first identifier is set to indicate the type of the data packet to be processed; the first data packet is filtered out by using the first identifier, and the first data packet is the data packet to be processed that includes the distance information from the positioning base station to the target position; extracting The second identifier carried in the first data packet, the second identifier is set to indicate the time information of the first data packet, and the second identifiers carried in different data packets to be processed sent by the same positioning base station are different; The first data packet is determined as the target data packet in the case that the time information is the target time, and the target time is the time when the positioning base station collects the distance information from the target position.
  • the method further includes: converting the target data packet into a to-be-processed object, and the to-be-processed object Use the data format supported by the preset streaming processing framework for encoding; use the preset streaming processing framework to process at least the target number of objects to be processed to obtain the coordinate value of the target positioning label at the target time, and the location where the target positioning label is located.
  • the position is the target position
  • the target quantity is the minimum number of objects to be processed required to obtain the coordinate value
  • the coordinate value is the coordinates in the preset coordinate system.
  • the positioning base station is an ultra-wideband positioning base station, using a preset streaming processing framework to process at least a target number of objects to be processed, and obtaining the coordinate value of the target positioning tag at the target time includes: obtaining each ultra-wideband positioning station.
  • the distance information from the base station to the target position and the position coordinates of each UWB positioning base station, the position coordinates of the UWB positioning base station are the coordinates in the preset coordinate system, and the number of UWB positioning base stations is at least the target number;
  • the distance information and position coordinates are processed to obtain the coordinate value of the target positioning tag at the target time.
  • determining the first data packet as the target data packet when the time information indicated by the second identifier is the target time includes: extracting a batch count value in the second identifier, and the batch count value is set as Indicates the sending batch of the data packets to be processed.
  • the time information of the data packets to be processed with the same batch count value is the same; the first data packet whose batch count value is the target count value is determined as the target data packet, and the batch count value is the target data packet.
  • the target count value indicates that the time information of the first data packet is the target time.
  • the method further includes: filtering out the second data packet by using the first identifier, and the second data packet is The data packets to be processed that only contain the status information of the positioning base station; the first data packet is imported into the first sub-area, the second data packet is imported into the second sub-area, and the first sub-area and the second sub-area are storage areas in the message middleware; After obtaining the coordinate value of the target positioning label, the target data packet is imported into the third partition, the third partition is a storage area in the message middleware, and the third partition is set to connect the message middleware with the downstream application.
  • the method before extracting the first identifier carried in the to-be-processed data packet in the case of receiving the to-be-processed data packet, the method further includes receiving the to-be-processed data packet from the positioning base station in the following manner: receiving the data sent by the positioning base station Data transmission request; in response to the data transmission request, send confirmation reception information to the positioning base station; in the case of receiving the secondary confirmation information sent by the positioning base station in response to the confirmation reception information, establish a communication connection with the positioning base station, and start to receive the waiting information. Process packets.
  • the present disclosure provides a positioning base station data stream processing device, comprising: a first identifier extraction module configured to extract a first identifier carried in the to-be-processed data packet when the to-be-processed data packet is received , the data packet to be processed is sent by the positioning base station, and the first identifier is set to indicate the type of the data packet to be processed; the data packet type identification module is set to use the first identifier to filter out the first data packet, and the first data packet is The data packet to be processed containing the distance information from the positioning base station to the target position; the second identification extraction module is set to extract the second identification carried in the first data packet, and the second identification is set to indicate the time information of the first data packet , the second identifiers carried in different to-be-processed data packets sent by the same positioning base station are different; the data packet division module is set to determine the first data packet as the target when the time information indicated by the second identifier is the target time Data packet, the target time is
  • the present disclosure provides a computer device, including a memory and a processor, where a computer program that can be run on the processor is stored in the memory, and the processor implements the steps of any one of the methods in the first aspect when the processor executes the computer program .
  • the present disclosure further provides a computer-readable medium having a non-volatile program code executable by a processor, the program code causing the processor to execute any one of the methods in the first aspect.
  • the present disclosure extracts the first identifier carried in the to-be-processed data packet when the to-be-processed data packet is received, the to-be-processed data packet is sent by the positioning base station, and the first identifier is set to indicate the data packet to be processed.
  • the first identification is the data packet to be processed that contains the distance information from the positioning base station to the target position; extract the second identification carried in the first data packet, and the second identification is set
  • the second identifiers carried in different to-be-processed data packets sent by the same positioning base station are different; when the time information indicated by the second identifier is the target time, the first data packet is determined as The target data packet, the target time is the time when the positioning base station collects the distance information between the target position and the target position, which solves the technical problems of disordered data flow sequence and easy data loss”.
  • FIG. 1 is a schematic diagram of a hardware environment of an optional positioning base station data stream processing method provided according to an embodiment of the present disclosure
  • FIG. 2 is a flowchart of an optional positioning base station data stream processing method provided according to an embodiment of the present disclosure
  • FIG. 3 is a block diagram of an optional positioning base station data stream processing apparatus provided according to an embodiment of the present disclosure.
  • UWB Ultra Wideband, ultra-wideband technology
  • UWB positioning system is composed of application layer, service layer, transmission layer and perception layer (positioning base station and positioning label).
  • the communication mode of the backbone network of the transmission layer adopts wired or wireless communication mode.
  • the perception layer mainly includes positioning base stations and positioning labels.
  • the base station and the tag are the core equipment of the positioning system.
  • the tag will broadcast the radio signal carrying the tag ID number according to the time slot. After the positioning base station receives the signal sent by the tag, it will transmit the time stamp of the received signal and the tag ID card number through the backbone network.
  • the service layer completes the positioning of the tag card, and the base station can also receive the instructions issued by the application layer to complete the relevant settings.
  • Indoor positioning base stations and positioning tags are the hardware components of the UWB positioning system.
  • the positioning base stations are distributed on the geometric edge of the scene area and cover the area with signals. The main function of the indoor positioning base station is to detect the data information of the tag and upload it to the server for summary analysis.
  • the positioning tag is attached to the surface of the positioning object. When the tag enters the signal coverage of the base station, it automatically establishes contact with the base station.
  • the positioning label can be made into different attachment schemes according to the needs of the application, such as hanging, pasting and other forms, and the size and shape will also vary according to the positioning object.
  • the transmission layer is also called the backbone communication network (referred to as “backbone network”), which is the data transmission channel between the base station, the service layer and the application layer. The distance between them) is transmitted to the service layer, and the data transmission is carried out by means of wired optical fibers.
  • backbone network the backbone communication network
  • the service layer conducts ranging with the positioning base station covering the area through the tag, and the top layer calculates the tag coordinates through the location of each base station and the tag distance through the TDOA algorithm or the TOA algorithm.
  • the service layer also provides flexible device management and network management functions, as well as various front-end functions and application interfaces.
  • the application layer obtains the specific location of the positioning label through the service layer, displays the location of the label in real time in the form of a one-dimensional, two-dimensional or three-dimensional map, and provides functions such as track playback, personnel information management and calling for help.
  • the related art there is a method in which an inertial measurement element is added to a measurement object, and a filtering algorithm is used to solve the data collected by the inertial measurement element to obtain the position information of the positioning tag.
  • the related technology can reduce the interference of signal reception and solve the coordinate value of the positioning tag with high precision, in the process of data transmission, there are still data flow disorder, easy data loss, poor real-time performance, and expansion of the solution system. Poor performance issue.
  • an embodiment of a method for processing a data stream of a positioning base station is provided.
  • the above-mentioned method for processing a data stream of a positioning base station may be applied to a hardware environment composed of a terminal 101 and a server 103 as shown in FIG. 1 . As shown in FIG. 1 , as shown in FIG. 1 .
  • the server 103 is connected to the terminal 101 through the network, and can be used to provide services for the terminal or a client installed on the terminal, and a database 105 can be set on the server or independently from the server, and is set to provide data for the server 103
  • the above-mentioned networks include but are not limited to: a wide area network, a metropolitan area network or a local area network
  • the terminal 101 includes but is not limited to a PC, a mobile phone, a tablet computer, and the like.
  • a method for processing a data stream of a positioning base station in this embodiment of the present disclosure may be executed by the server 103, or may be executed jointly by the server 103 and the terminal 101. As shown in FIG. 2, the method may include the following steps:
  • Step S202 in the case of receiving the data packet to be processed, extract the first identifier carried in the data packet to be processed, the data packet to be processed is sent by the positioning base station, and the first identifier is set to indicate the data packet to be processed. Types of.
  • the above-mentioned positioning base station may be an ultra-wideband positioning base station
  • the relative distance between the positioning tag and the ultra-wideband positioning base station is calculated in real time by the TOF ranging method
  • the ultra-wideband positioning base station calculates the calculated value including the relative distance value in real time.
  • the data packet is sent to the base station data stream receiving and processing system.
  • the ultra-wideband positioning base station will also generate a data packet containing only base station status information, and also send the data packet to the base station data stream receiving and processing system.
  • the above-mentioned data packets to be processed include two types of data packets, one is a data packet containing the relative distance between the positioning tag and the UWB positioning base station, and the other is a data packet only containing the status information of the positioning base station.
  • the data packet to be processed carries the above-mentioned first identifier, and the above-mentioned first identifier is a type identifier, which can be used to distinguish two types of data packets.
  • Each UWB positioning base station will periodically generate data packets containing data packet type identification command word, base station ID, operating status and other information.
  • the command word field in each data packet can be used as a data packet type identifier.
  • the hexadecimal string format is sent to the base station data stream processing system.
  • each ultra-wideband positioning base station When each ultra-wideband positioning base station communicates with the positioning tag, it will periodically generate a data packet containing the data packet type identification command word, base station ID, tag ID, relative distance value between the base station and the tag, batch count value and other information.
  • the command word field in the packet is a data packet type identifier, and the data packet is sent to the base station data stream processing system in a hexadecimal string format.
  • the format of the data packet containing the relative distance between the positioning tag and the UWB positioning base station may be as shown in Table 1, and the format of the data packet only containing the status information of the positioning base station may be as shown in Table 2:
  • the positioning tag is a hardware component of the UWB positioning system. It can be attached to the surface of the positioning object. When the tag enters the signal coverage of the base station, it automatically establishes contact with the base station.
  • the positioning label can be made into different attachment schemes according to the needs of the application, such as hanging, pasting and other forms, and the size and shape will also vary according to the positioning object. Commonly used positioning labels can be badge-type labels, safety helmet-type labels, tamper-evident bracelets, material positioning labels, etc.
  • Step S204 using the first identifier to filter out a first data packet, where the first data packet is a to-be-processed data packet including distance information from the positioning base station to the target position.
  • the above-mentioned first data packet is a data packet to be processed including the distance information from the UWB positioning base station to the target position, that is, a data packet including the relative distance between the positioning tag and the positioning base station.
  • the first data packet may be a data packet collected by the UWB positioning base station at each time point and including the relative distance between the positioning tag and the positioning base station.
  • the first data packets may be sent by different ultra-wideband positioning base stations, the first data packets received at the same time may be sent at different times, and the time for collecting distance information of different first data packets sent by the same ultra-wideband positioning base station However, due to the transmission delay, the first data packets of different collection times may be received at the same time point.
  • Step S206 extract the second identifier carried in the first data packet, the second identifier is set to indicate the time information of the first data packet, and the second identifiers carried in different data packets to be processed sent by the same positioning base station are different.
  • the above-mentioned second identifier may be a time identifier for collecting distance information, or may be a batch identifier for instructing to send the first data packet, and is set to divide the received first data packets into different In a batch, the first data packets in the same batch have the same or basically the same time for collecting distance information.
  • each UWB positioning base station sends the data packets at each time point to the base station data stream receiving and processing system according to the order in which the data packets are generated.
  • the data packets containing the relative distance value sent by each base station for a specific positioning tag at this time point can be continuously received, but because at each time point, each base station contains the relative distance
  • the generation time of the data packet and the transmission time of the transmission cannot be completely synchronized.
  • the timestamp value of each base station data packet is not equal, there are subtle differences, and there is a transmission delay in network transmission, so
  • a second identifier may be set to orderly merge data packets at various time points.
  • Step S208 in the case that the time information indicated by the second identifier is the target time, the first data packet is determined as the target data packet, and the target time is the time when the positioning base station collects the distance information from the target position.
  • a target data packet for collecting distance information at the target time is selected.
  • the above-mentioned received data packets to be processed may adopt the Apache Flume data collection framework.
  • Apache Flume is a highly available, highly reliable, distributed massive log collection, aggregation and transmission system. Apache Flume supports customizing various data senders in the log system and is set to collect data; at the same time, Apache Flume provides data Simple processing and ability to write to various data recipients.
  • Facebook's Scribe, LogStash, Apache NiFi, Splunk and other tools may also be used to receive the data packets to be processed.
  • the embodiment of the present disclosure provides a method for solving the coordinate value of a positioning tag.
  • the method further includes calculating the coordinate value of the positioning tag as follows:
  • Step 1 Convert the target data packet into an object to be processed, and the object to be processed is encoded in a data format supported by a preset streaming processing framework.
  • the target data packet is a data packet including the distance information from the ultra-wideband positioning base station to the target position, and the time when the distance information is collected is the target time.
  • the above-mentioned preset streaming processing framework may be Apache Flink, the Flink program is mapped to the streaming data stream after execution, and each Flink data stream is input with one or more sources (data, such as message queues or files) system) and ends with one or more sinks (data output such as message queues, file systems or databases, etc.).
  • Flink can perform any number of transformations on streams, which can be orchestrated into directed acyclic dataflow graphs, allowing applications to branch and merge dataflows.
  • the above-mentioned preset streaming processing framework may also be Apache Spark, Gearpump, or the like.
  • Step 2 using the preset streaming processing framework to process at least the target number of objects to be processed, to obtain the coordinate value of the target positioning label at the target time, the position of the target positioning label is the target position, and the target number is the coordinate value to be obtained.
  • the required minimum number of objects to be processed, and the coordinate values are the coordinates in the preset coordinate system.
  • the calculation process of the two-dimensional coordinate value of the positioning tag at each time point needs to obtain the straight-line distance between the positioning tag at the current time point and the three ultra-wideband positioning base stations distributed in different positions;
  • the base station data receiving and processing system needs to obtain the distance data of four ultra-wideband base stations at each time point.
  • the above-mentioned process of at least a target number of objects to be processed by using a preset streaming processing framework, and obtaining the coordinate value of the target positioning tag at the target time may include the following steps:
  • Step 1 obtain the distance information of each ultra-wideband positioning base station to the target position and the position coordinates of each ultra-wideband positioning base station, the position coordinates of the ultra-wideband positioning base station are the coordinates under the preset coordinate system, and the number of ultra-wideband positioning base stations is at least the target. quantity.
  • the position coordinates of each UWB positioning base station In the embodiment of the present disclosure, to obtain the distance information from the UWB positioning base station to the target position through the target data packet, it is also necessary to obtain the position coordinates of each UWB positioning base station. To solve the two-dimensional coordinates of the positioning tag, it is necessary to obtain the position coordinates of at least three UWB positioning base stations in different positions. Position coordinates, the above position coordinates correspond to the coordinates of the two-dimensional coordinate system and the three-dimensional coordinate system respectively.
  • Step 2 using a preset processing method to process the distance information and the position coordinates to obtain the coordinate value of the target positioning tag at the target time.
  • the above-mentioned preset processing manner may be a TOA algorithm, a TDOA algorithm, or the like.
  • An embodiment of the present disclosure provides a method for extracting a target data packet whose time for collecting distance information is a target time.
  • the technical solution of the present disclosure will be further described with reference to the steps shown in FIG. 2 .
  • the step S208 determining the first data packet as the target data packet under the condition that the time information indicated by the second identifier is the target time may include the following steps:
  • Step 1 extract the batch count value in the second identifier, the batch count value is set to represent the sending batch of the data packets to be processed, and the time information of the to-be-processed data packets with the same batch count value is the same.
  • the generation time of the data packet including the relative distance collected by each base station for the target time and the transmission time during transmission cannot be completely synchronized, that is, the time of the data packet of each base station at the target time
  • the stamp values are not equal, there are subtle differences, and there is a transmission delay in network transmission, so you can set the batch count value, which is set to indicate the sending batch of data packets.
  • the time is the same or basically the same.
  • the sending batch of the data packet is determined according to the batch count value carried in the data packet, so as to determine the time at which the data packet collects the distance information, so that the data packets of the same batch can be screened out.
  • Step 2 determining the first data packet with the batch count value as the target count value as the target data packet, and the batch count value as the target count value indicating that the time information of the first data packet is the target time.
  • the time when the coordinate value to be calculated is the target time
  • the batch count value indicating that the time to collect the distance information is the target time
  • the data packet with the target count value is the target data Bag.
  • the embodiment of the present disclosure also provides a method for screening the base station status information data packets and offloading two kinds of data packets.
  • the method further comprises the following steps:
  • Step 1 Use the first identifier to filter out a second data packet, where the second data packet is a to-be-processed data packet that only includes status information of the positioning base station.
  • Step 2 import the first data packet into the first partition, import the second data packet into the second partition, and the first partition and the second partition are storage areas in the message middleware.
  • the above message middleware may be Apache Kafka.
  • Kafka is a high-throughput distributed publish-subscribe messaging system, which can process all the action flow data of consumers in the website.
  • Kafka can import the data packet (ie the first data packet) containing the distance information of the ultra-wideband positioning base station to the target location into the beacon-info topic partition (ie the first partition), and will only contain the data packet of the state information of the ultra-wideband positioning base station (that is, the second data package) is imported into the station-info topic partition (that is, the second partition).
  • the above-mentioned beacon-info topic partition and station-info topic partition are both storage areas in Kafka.
  • the above-mentioned message middleware may also be RabbitMQ of LShift, ActiveMQ of Apache, RocketMQ of Ali, and so on.
  • Step 3 after obtaining the coordinate value of the target positioning label, import the target data packet into the third partition, the third partition is the storage area in the message middleware, and the third partition is set to connect the message middleware with the downstream application.
  • the data packet containing the calculated coordinate value of the tag can be imported into the Apache Kafka message middleware. in the beacon-location-info topic partition.
  • the method before extracting the first identifier carried in the to-be-processed data packet when the to-be-processed data packet is received, the method further includes receiving the to-be-processed data packet from the UWB positioning base station in the following manner:
  • Step 1 Receive a data transmission request sent by the positioning base station.
  • Step 2 in response to the data transmission request, send confirmation reception information to the positioning base station.
  • Step 3 in the case of receiving the secondary acknowledgment information sent by the positioning base station in response to the acknowledgment of the reception information, establish a communication connection with the ultra-wideband positioning base station, and start receiving data packets to be processed.
  • the TCP protocol may be used for communication, so as to receive the data packets to be processed.
  • the above-mentioned base station data stream receiving and processing system may include the above-mentioned data collection framework, message middleware and stream processing framework.
  • the data collection framework is set to collect the real-time data stream sent by the positioning base station, perform data preprocessing and conversion on the received data stream and offload operation, and send the final received and processed result to the downstream data stream receiver.
  • the message middleware is set up to cache the data stream collected by the data collection framework.
  • the stream processing framework is set to extract, convert and calculate the data stream cached in Apache Kafka containing the positioning tag and the relative distance value of the ultra-wideband positioning base station by subscribing to the Apache Kafka message middleware topic. data sequence.
  • the present disclosure can extract the data packets containing the relative distance between the positioning tag and the ultra-wideband positioning base station at the target time point through the type identification and batch identification in the data packet, so that the data will not be confused and the data will be processed according to the corresponding time point (batch). Packet merging solves the problems of out-of-order data and easy data loss, thereby enabling more accurate real-time coordinates to be obtained when solving the coordinate value of the positioning tag.
  • a positioning base station data stream processing apparatus including: a first identification extraction module 301, which is configured to, when receiving a data packet to be processed, Extract the first identification carried in the data packet to be processed, the data packet to be processed is sent by the positioning base station, and the first identification is set to indicate the type of the data packet to be processed; the data packet type identification module 303 is set to use the first identification.
  • the first data packet is screened out, and the first data packet is the data packet to be processed that includes the distance information from the positioning base station to the target position; the second identification extraction module 305 is set to extract the second identification carried in the first data packet.
  • the second identifier is set to indicate the time information of the first data packet, and the second identifier carried in different data packets to be processed sent by the same positioning base station is different; the data packet division module 307 is set to the time information indicated by the second identifier.
  • the first data packet is determined as the target data packet, and the target time is the time when the positioning base station collects the distance information from the target position.
  • the first identification extraction module 301 in this embodiment may be configured to execute step S202 in this embodiment of the present disclosure
  • the data packet type identification module 303 in this embodiment may be configured to execute this embodiment of the present disclosure.
  • the second identity extraction module 305 in this embodiment may be configured to perform step S206 in this embodiment of the present disclosure
  • the data packet division module 307 in this embodiment may be configured to perform in this embodiment of the present disclosure. step S208.
  • the positioning base station data stream processing apparatus further includes: a format conversion module configured to convert the target data packet into an object to be processed, and the object to be processed adopts a data format supported by a preset streaming processing framework. coding; the coordinate value calculation module is set to use the preset streaming processing framework to process at least a target number of objects to be processed to obtain the coordinate value of the target positioning label at the target time, and the position of the target positioning label is the target position , the number of targets is the minimum number of objects to be processed required to obtain the coordinate value, and the coordinate value is the coordinates in the preset coordinate system.
  • the positioning base station includes an ultra-wideband positioning base station
  • the coordinate value calculation module is further configured to: obtain the distance information from each ultra-wideband positioning base station to the target position and the position coordinates of each ultra-wideband positioning base station.
  • the position coordinates of the positioning base station are the coordinates in the preset coordinate system, and the number of ultra-wideband positioning base stations is at least the number of targets; the distance information and the position coordinates are processed by the preset processing method, and the coordinate value of the target positioning tag at the target time is obtained. .
  • the positioning base station data stream processing apparatus further includes: a batch count value extraction module configured to extract the batch count value in the second identifier, and the batch count value is set to represent the data packets to be processed The time information of the data packets to be processed with the same batch count value is the same; the data packet merging module is set to determine the first data packet whose batch count value is the target count value as the target data packet, and the batch The count value of the target count value indicates that the time information of the first data packet is the target time.
  • a batch count value extraction module configured to extract the batch count value in the second identifier, and the batch count value is set to represent the data packets to be processed The time information of the data packets to be processed with the same batch count value is the same
  • the data packet merging module is set to determine the first data packet whose batch count value is the target count value as the target data packet, and the batch The count value of the target count value indicates that the time information of the first data packet is the target time.
  • the positioning base station data stream processing apparatus further includes: a second data packet extraction module configured to filter out a second data packet by using the first identifier, and the second data packet only contains the status information of the positioning base station The data packet to be processed; the data packet separation module is set to import the first data packet into the first subregion, and import the second data packet into the second subregion, and the first subregion and the second subregion are storage areas in the message middleware; The upstream and downstream docking module is set to import the target data packet into the third partition after obtaining the coordinate value of the target positioning label, the third partition is the storage area in the message middleware, and the third partition is set as the message middleware and the third partition. downstream applications are connected.
  • a second data packet extraction module configured to filter out a second data packet by using the first identifier, and the second data packet only contains the status information of the positioning base station The data packet to be processed
  • the data packet separation module is set to import the first data packet into the first subregion, and import the second data packet into the second subregion, and
  • the positioning base station data stream processing apparatus further includes: a receiving request module, configured to receive a data transmission request sent by the positioning base station; a response request module, configured to respond to the data transmission request and send an acknowledgement to the positioning base station Receive information; the connection establishment module is configured to establish a communication connection with the positioning base station and start to receive the data packets to be processed when receiving the secondary confirmation information sent by the positioning base station in response to the confirmation of reception information.
  • a computer device including a memory and a processor, wherein the memory stores a computer program that can be executed on the processor, and the processor executes the computer program implement the above steps.
  • the memory and processor in the above computer equipment communicate through a communication bus and a communication interface.
  • the communication bus may be a Peripheral Component Interconnect (PCI for short) bus or an Extended Industry Standard Architecture (EISA for short) bus or the like.
  • PCI Peripheral Component Interconnect
  • EISA Extended Industry Standard Architecture
  • the communication bus can be divided into an address bus, a data bus, a control bus, and the like.
  • the memory may include random access memory (Random Access Memory, RAM for short), or may include non-volatile memory (non-volatile memory), such as at least one disk memory.
  • RAM Random Access Memory
  • non-volatile memory such as at least one disk memory.
  • the memory may also be at least one storage device located away from the aforementioned processor.
  • the above-mentioned processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, referred to as CPU), a network processor (Network Processor, referred to as NP), etc.; may also be a digital signal processor (Digital Signal Processing, referred to as DSP) , Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • CPU Central Processing Unit
  • NP Network Processor
  • DSP Digital Signal Processing
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • a computer-readable medium having non-volatile program code executable by a processor.
  • a computer-readable medium is configured to store program code configured to perform the following steps for the processor:
  • Step S202 in the case of receiving the data packet to be processed, extract the first identifier carried in the data packet to be processed, the data packet to be processed is sent by the positioning base station, and the first identifier is set to indicate the data packet to be processed. Types of.
  • Step S204 using the first identifier to filter out a first data packet, where the first data packet is a to-be-processed data packet including distance information from the positioning base station to the target position.
  • Step S206 extract the second identifier carried in the first data packet, the second identifier is set to indicate the time information of the first data packet, and the second identifiers carried in different data packets to be processed sent by the same positioning base station are different.
  • Step S208 in the case that the time information indicated by the second identifier is the target time, the first data packet is determined as the target data packet, and the target time is the time when the positioning base station collects the distance information from the target position.
  • the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof.
  • the processing unit can be implemented in one or more Application Specific Integrated Circuits (ASIC), Digital Signal Processing (DSP), Digital Signal Processing Device (DSP Device, DSPD), programmable Programmable Logic Device (PLD), Field-Programmable Gate Array (FPGA), general purpose processor, controller, microcontroller, microprocessor, configured to perform the functions described in this disclosure other electronic units or combinations thereof.
  • ASIC Application Specific Integrated Circuits
  • DSP Digital Signal Processing
  • DSP Device Digital Signal Processing Device
  • PLD programmable Programmable Logic Device
  • FPGA Field-Programmable Gate Array
  • controller microcontroller, microprocessor, configured to perform the functions described in this disclosure other electronic units or combinations thereof.
  • the techniques described herein may be implemented by means of units that perform the functions described herein.
  • Software codes may be stored in memory and executed by a processor.
  • the memory can be implemented in the processor or external to the processor.
  • the disclosed apparatus and method may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative.
  • the division of the modules is only a logical function division. In actual implementation, there may be other division methods.
  • multiple modules or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium.
  • the technical solutions of the embodiments of the present disclosure are essentially, or the parts that contribute to the prior art or the parts of the technical solutions can be embodied in the form of software products, and the computer software products are stored in a storage medium , including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present disclosure.
  • the aforementioned storage medium includes: a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, and other media that can store program codes.
  • relational terms such as “first” and “second” are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply these Any such actual relationship or sequence exists between entities or operations.
  • the terms “comprising”, “comprising” or any other variation thereof are intended to encompass non-exclusive inclusion such that a process, method, article or device comprising a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus.
  • an element qualified by the phrase “comprising a" does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

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Abstract

本公开涉及一种定位基站数据流处理方法、装置、设备及计算机可读介质。该方法包括：在接收到待处理数据包的情况下，提取所述待处理数据包中携带的第一标识，待处理数据包为定位基站发送的，第一标识被设置为指示待处理数据包的类型；利用第一标识筛选出第一数据包，第一数据包为包含定位基站至目标位置的距离信息的待处理数据包；提取第一数据包中携带的第二标识，同一个定位基站发送的不同待处理数据包中携带的第二标识不同；在第二标识指示的时间信息为目标时间的情况下将第一数据包确定为目标数据包，目标时间为定位基站采集与目标位置之间的距离信息的时间。本公开解决了数据流顺序混乱、数据易丢失的技术问题。

Description

定位基站数据流处理方法、装置、设备及计算机可读介质
本公开要求于2020年08月14日提交中国专利局、申请号为202010819164.2、发明名称为“定位基站数据流处理方法、装置、设备及计算机可读介质”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及无线定位技术领域，尤其涉及一种定位基站数据流处理方法、装置、设备及计算机可读介质。
背景技术
随着无线载波通信技术传输速率高、空间容量大、低成本、低功耗等特点逐渐被挖掘，其越来越广泛地应用于基站、雷达等设备，其中超宽带(Ultra Wideband，UWB)又具有更好的性能，更高的精度，尤其更适合于短距离室内定位。当前比较成熟的UWB定位算法有TOA(到达时间)、TDOA(到达时间差)、AOA(到达角度)等。TOA算法通过TOF(飞行时间)计算出UWB定位标签与各个定位基站的直线距离，定位基站以数据流的方式将每时每刻计算产生的与各个定位标签的直线距离数据发送给基站数据接收处理系统进行定位标签坐标值的解算。针对TOA定位算法中的定位标签坐标的解算，定位标签在每个时间点的二维坐标值的解算过程需要获取到当前时间点定位标签与分布在不同位置的三个定位基站的直线距离；而对于定位标签在每个时间点的三维坐标值的解算，基站数据接收处理系统在每个时间点需要获取到四个基站的距离数据。随着定位业务需求的增长，定位标签和定位基站的数量将随着增大，数据传输过程中数据流顺序混乱、筛选困难且实时性差的问题也逐渐暴露出来。
目前，相关技术中，有采用对测量对象添加惯性测量元件，从而使用滤波算法对惯性测量元件采集的数据解算得到定位标签的位置信息的方法。相关技术虽然能够减少信号收到的干扰，较高精度的解算到定位标签的坐标值，但是在数据传输的过程中，仍然存在数据流顺序混乱、数据易丢失、实时性差、解算系统扩展性能差的问题。
针对上述的问题，目前尚未提出有效的解决方案。
发明内容
本公开提供了一种定位基站数据流处理方法、装置、设备及计算机可读介质，以解决上述“数据流顺序混乱、数据易丢失”的技术问题。
第一方面，本公开提供了一种定位基站数据流处理方法，包括：在接收到待处理数据包的情况下，提取所述待处理数据包中携带的第一标识，待处理数据包为定位基站发送的，第一标识被设置为指示待处理数据包的类型；利用第一标识筛选出第一数据包，第一数据包为包含定位基站至目标位置的距离信息的待处理数据包；提取第一数据包中携带的第二标识，第二标识被设置为指示第一数据包的时间信息，同一个定位基站发送的不同待处理数据包中携带的第二标识不同；在第二标识指示的时间信息为目标时间的情况下将第一数据包确定为目标数据包，目标时间为定位基站采集与目标位置之间的距离信息的时间。
在一些实施方式中，在第二标识指示的时间信息为目标时间的情况下将第一数据包确定为目标数据包之后，该方法还包括：将目标数据包转换为待处理对象，待处理对象采用预设流式处理框架所支持的数据格式进行编码；利用预设流式处理框架对至少目标数量个待处理对象进行处理，得到目标定位标签在目标时间时的坐标值，目标定位标签所在的位置为目标位置，目标数量为要得到坐标值所需的待处理 对象的最小数量，坐标值为预设坐标系下的坐标。
在一些实施方式中，定位基站为超宽带定位基站，利用预设流式处理框架对至少目标数量个待处理对象进行处理，得到目标定位标签在目标时间时的坐标值包括：获取各个超宽带定位基站至目标位置的距离信息和各个超宽带定位基站的位置坐标，超宽带定位基站的位置坐标为预设坐标系下的坐标，超宽带定位基站的数量至少为目标数量；利用预设处理方式对距离信息和位置坐标进行处理，得到目标定位标签在目标时间时的坐标值。
在一些实施方式中，在第二标识指示的时间信息为目标时间的情况下将第一数据包确定为目标数据包包括：提取第二标识中的批次计数值，批次计数值被设置为表示待处理数据包的发送批次，批次计数值相同的待处理数据包的时间信息相同；将批次计数值为目标计数值的第一数据包确定为目标数据包，批次计数值为目标计数值表示第一数据包的时间信息为目标时间。
在一些实施方式中，在接收到待处理数据包的情况下提取待处理数据包中携带的第一标识之后，该方法还包括：利用第一标识筛选出第二数据包，第二数据包为只包含定位基站的状态信息的待处理数据包；将第一数据包导入第一分区，将第二数据包导入第二分区，第一分区、第二分区为消息中间件中的存储区域；在得到目标定位标签的坐标值之后，将目标数据包导入第三分区，第三分区为消息中间件中的存储区域，第三分区被设置为为消息中间件与下游应用相连接。
在一些实施方式中，在接收到待处理数据包的情况下提取待处理数据包中携带的第一标识之前，该方法还包括按照如下方式从定位基站接收待处理数据包：接收定位基站发送的数据传输请求；响应数据传输请求，向定位基站发送确认接收信息；在接收到定位基站发送的响应确认接收信息的二次确认信息的情况下，建立与定位基站之间的 通信连接，开始接收待处理数据包。
第二方面，本公开提供了一种定位基站数据流处理装置，包括：第一标识提取模块，被设置为在接收到待处理数据包的情况下，提取待处理数据包中携带的第一标识，待处理数据包为定位基站发送的，第一标识被设置为指示待处理数据包的类型；数据包类型识别模块，被设置为利用第一标识筛选出第一数据包，第一数据包为包含定位基站至目标位置的距离信息的待处理数据包；第二标识提取模块，被设置为提取第一数据包中携带的第二标识，第二标识被设置为指示第一数据包的时间信息，同一个定位基站发送的不同待处理数据包中携带的第二标识不同；数据包划分模块，被设置为在第二标识指示的时间信息为目标时间的情况下将第一数据包确定为目标数据包，目标时间为定位基站采集与目标位置之间的距离信息的时间。
第三方面，本公开提供了一种计算机设备，包括存储器、处理器，存储器中存储有可在处理器上运行的计算机程序，处理器执行计算机程序时实现上述第一方面任一项方法的步骤。
第四方面，本公开还提供了一种具有处理器可执行的非易失的程序代码的计算机可读介质，程序代码使处理器执行上述第一方面任一方法。
本公开实施例提供的上述技术方案与相关技术相比具有如下优点：
本公开通过在接收到待处理数据包的情况下，提取所述待处理数据包中携带的第一标识，待处理数据包为定位基站发送的，第一标识被设置为指示待处理数据包的类型；利用第一标识筛选出第一数据包，第一数据包为包含定位基站至目标位置的距离信息的待处理数据包；提取第一数据包中携带的第二标识，第二标识被设置为指示第一数据包的时间信息，同一个定位基站发送的不同待处理数据包中携带的第二标识不同；在第二标识指示的时间信息为目标时间的情况下将第一 数据包确定为目标数据包，目标时间为定位基站采集与目标位置之间的距离信息的时间，解决了数据流顺序混乱、数据易丢失”的技术问题。
附图说明
此处的附图被并入说明书中并构成本说明书的一部分，示出了符合本公开的实施例，并与说明书一起用于解释本公开的原理。
为了更清楚地说明本公开实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，对于本领域普通技术人员而言，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为根据本公开实施例提供的一种可选的定位基站数据流处理方法硬件环境示意图；
图2为根据本公开实施例提供的一种可选的定位基站数据流处理方法流程图；
图3为根据本公开实施例提供的一种可选的定位基站数据流处理装置框图。
具体实施方式
为使本公开实施例的目的、技术方案和优点更加清楚，下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本公开的一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本公开保护的范围。
在后续的描述中，使用用于表示元件的诸如“模块”、“部件”或“单元”的后缀仅为了有利于本公开的说明，其本身并没有特定的意义。因此，“模块”与“部件”可以混合地使用。
首先，在对本公开实施例进行描述的过程中出现的部分名词或者术语适用于如下解释：
UWB，就是Ultra Wideband，超宽带技术，是一种使用1GHz以上频率带宽的无线载波通信技术。它不采用正弦载波，而是利用纳秒级的非正弦波窄脉冲传输数据。UWB定位系统由应用层、服务层、传输层和感知层(定位基站和定位标签)构成，传输层主干网通信方式采用有线或无线的通信方式。
感知层主要包括定位基站和定位标签。基站和标签是定位系统的核心设备，标签会按时隙广播携带有标签ID号的无线电信号，定位基站接收到标签发送的信号后，将接收到信号的时间戳和标签ID卡号通过主干网传输给服务层，完成对标签卡的定位，基站也可以接收到应用层下发的指令，完成相关的设置。室内定位基站、定位标签是UWB定位系统的硬件组成部分。定位基站分布于场景区域的几何边缘，并对该区域进行信号覆盖。室内定位基站主要功能就是探测标签的数据信息并上传至服务器进行汇总分析。定位标签附着于定位对象的表面，当标签进入基站的信号覆盖范围内，即自动与基站建立联系。定位标签可根据应用得需求制定不同的附着方案，如悬挂、粘贴等形式，大小和外形也会根据定位对象的不同而有所不同。
传输层也称主干通信网(简称“主干网”)，是基站与服务层、应用层之间的数据传输通道，向下将应用层相关指令传输给基站，向上将定位原始数据(标签与基站之间距离)传输给服务层，采用有线光纤方式进行数据传输。
服务层通过标签与覆盖该区域的定位基站进行测距，顶层通过各 基站的位置和标签距离，通过TDOA算法或者TOA算法解算出标签坐标。除此之外，服务层还提供了灵活的设备管理和网络管理功能，以及各项前端功能和应用接口。
应用层通过服务层获取定位标签的具体位置，以一维、二维或三维地图的形式实时显示标签的位置，并提供轨迹回放，人员信息管理和呼叫求救等功能。
相关技术中，有采用对测量对象添加惯性测量元件，从而使用滤波算法对惯性测量元件采集的数据解算得到定位标签的位置信息的方法。相关技术虽然能够减少信号收到的干扰，较高精度的解算到定位标签的坐标值，但是在数据传输的过程中，仍然存在数据流顺序混乱、数据易丢失、实时性差、解算系统扩展性能差的问题。
为了解决背景技术中提及的问题，根据本公开实施例的一方面，提供了一种定位基站数据流处理方法的实施例。
可选地，在本公开实施例中，上述定位基站数据流处理方法可以应用于如图1所示的由终端101和服务器103所构成的硬件环境中。如图1所示，服务器103通过网络与终端101进行连接，可用于为终端或终端上安装的客户端提供服务，可在服务器上或独立于服务器设置数据库105，被设置为为服务器103提供数据存储服务，上述网络包括但不限于：广域网、城域网或局域网，终端101包括但不限于PC、手机、平板电脑等。
本公开实施例中的一种定位基站数据流处理方法可以由服务器103来执行，还可以是由服务器103和终端101共同执行，如图2所示，该方法可以包括以下步骤：
步骤S202，在接收到待处理数据包的情况下，提取所述待处理数据包中携带的第一标识，待处理数据包为定位基站发送的，第一标识被设置为指示待处理数据包的类型。
本公开实施例中，上述定位基站可以是超宽带定位基站，定位标签与超宽带定位基站通过TOF测距法实时计算出两者的相对距离，超宽带定位基站实时将计算的包含相对距离值的数据包发送给基站数据流接收处理系统，此外，超宽带定位基站同时也会生成仅包含基站状态信息的数据包，并将此数据包也发送给基站数据流接收处理系统。
因此，上述待处理数据包包括两种类型的数据包，一种是包含定位标签与超宽带定位基站相对距离的数据包，另一种是只包含定位基站状态信息的数据包。待处理数据包中携带上述第一标识，上述第一标识为类型标识，可以用于区分两种类型的数据包。
每个超宽带定位基站会定时产生包含数据包类型标识命令字、基站ID、运行状态等信息的数据包，每个数据包中的命令字字段可以作为数据包类型标识，该数据包以十六进制的字符串格式发送给基站数据流处理系统。
每个超宽带定位基站与定位标签通讯时，会定时产生包含数据包类型标识命令字、基站ID、标签ID、基站与标签的相对距离值、批次计数值等信息的数据包，每个数据包中的命令字字段为数据包类型标识，该数据包以十六进制的字符串格式发送给基站数据流处理系统。
在一些实施方式中，包含定位标签与超宽带定位基站相对距离的数据包的格式可以如表1所示，只包含定位基站状态信息的数据包的格式可以如表2所示：
表1
Figure PCTCN2021093306-appb-000001
Figure PCTCN2021093306-appb-000002
表2
Figure PCTCN2021093306-appb-000003
定位标签是UWB定位系统的硬件组成部分，可以附着于定位对象的表面，当标签进入基站的信号覆盖范围内，即自动与基站建立联系。定位标签可根据应用得需求制定不同的附着方案，如悬挂、粘贴等形式，大小和外形也会根据定位对象的不同而有所不同。常用的定位标签可以是工牌型标签、安全帽型标签、防拆型手环、物资定位标签等。
步骤S204，利用第一标识筛选出第一数据包，第一数据包为包含定位基站至目标位置的距离信息的待处理数据包。
本公开实施例中，上述第一数据包为包含超宽带定位基站至目标位置的距离信息的待处理数据包，即包含定位标签与定位基站相对距离的数据包。该第一数据包可以是超宽带定位基站在各个时间点采集的包含定位标签与定位基站相对距离的数据包。第一数据包可以是不同的超宽带定位基站发送的，同一次接收到的第一数据包可以是不同时间发送的，同一座超宽带定位基站发送的不同第一数据包其采集距 离信息的时间不同，而由于传输延时，不同采集时间的第一数据包可能在同一个时间点被接收。
步骤S206，提取第一数据包中携带的第二标识，第二标识被设置为指示第一数据包的时间信息，同一个定位基站发送的不同待处理数据包中携带的第二标识不同。
本公开实施例中，上述第二标识可以是采集距离信息的时间标识，还可以是指示发送该第一数据包的批次标识，被设置为将接收到的第一数据包分别划分到不同的批次中，同一个批次中的第一数据包其采集距离信息的时间相同或基本一致。
在数据包传输的过程中，每个超宽带定位基站按照数据包生成的先后顺序将各个时间点的数据包发送给基站数据流接收处理系统，在理想情况下，基站数据流接收处理系统在每个时间点上能够连续接收到该时间点上针对特定定位标签的每个基站发送的包含相对距离值的数据包，但由于在每个时间点上，每个基站对于该时间点包含相对距离的数据包的生成时间和发送时的发送时间不可能做到完全同步，在该时间点上每个基站数据包的时间戳值并不相等，存在细微差别，并且网络传输存在传输延时现象，因此本公开实施例中，可以设置第二标识将各个时间点的数据包进行有序归并。
步骤S208，在第二标识指示的时间信息为目标时间的情况下将第一数据包确定为目标数据包，目标时间为定位基站采集与目标位置之间的距离信息的时间。
本公开实施例中，为了解算定位标签在特定时间下的坐标值，需要获得多个在该特定时间进行距离信息采集的数据包，因此可以在众多获取到的多个上述第一数据包之后根据第二标识挑选出在目标时间采集距离信息的目标数据包。
本公开实施例中，上述接收待处理数据包可以采用Apache Flume 数据收集框架。Apache Flume是一个高可用、高可靠、分布式的海量日志采集、聚合和传输系统，Apache Flume支持在日志系统中定制各类数据发送方，被设置为收集数据；同时，Apache Flume提供对数据进行简单处理，并写到各种数据接受方的能力。
在一些实施方式中，接收待处理数据包还可以采用Facebook的Scribe、LogStash、Apache NiFi、Splunk等工具。
采用本公开的技术方案，通过设置类型标识和批次标识有序地筛选出在特定时间点采集距离信息的全部数据包，解决了数据流顺序混乱、数据易丢失的问题。
本公开实施例提供一种解算定位标签坐标值的方法。在一些实施方式中，在第二标识指示的时间信息为目标时间的情况下将第一数据包确定为目标数据包之后，该方法还包括按照如下方式解算定位标签的坐标值：
步骤1，将目标数据包转换为待处理对象，待处理对象采用预设流式处理框架所支持的数据格式进行编码。
本公开实施例中，目标数据包为采集距离信息的时间为目标时间的包含超宽带定位基站至目标位置的距离信息的数据包。
本公开实施例中，上述预设流式处理框架可以是Apache Flink，Flink程序在执行后被映射到流数据流，每个Flink数据流以一个或多个源(数据输入，例如消息队列或文件系统)开始，并以一个或多个接收器(数据输出，如消息队列、文件系统或数据库等)结束。Flink可以对流执行任意数量的变换，这些流可以被编排为有向无环数据流图，允许应用程序分支和合并数据流。
按照Flink数据流格式要求，将目标数据包转为POJO(Plain Ordinary Java Object)简单的JAVA对象，可以是JavaBean。
在一些实施方式中，上述预设流式处理框架还可以是Apache Spark、Gearpump等。
步骤2，利用预设流式处理框架对至少目标数量个待处理对象进行处理，得到目标定位标签在目标时间时的坐标值，目标定位标签所在的位置为目标位置，目标数量为要得到坐标值所需的待处理对象的最小数量，坐标值为预设坐标系下的坐标。
本公开实施例中，定位标签在每个时间点的二维坐标值的解算过程需要获取到当前时间点定位标签与分布在不同位置的三个超宽带定位基站的直线距离；而对于定位标签在每个时间点的三维坐标值的解算，基站数据接收处理系统在每个时间点需要获取到四个超宽带基站的距离数据。
在一些实施方式中，上述利用预设流式处理框架对至少目标数量个待处理对象进行处理，得到目标定位标签在目标时间时的坐标值可以包括以下步骤：
步骤1，获取各个超宽带定位基站至目标位置的距离信息和各个超宽带定位基站的位置坐标，超宽带定位基站的位置坐标为预设坐标系下的坐标，超宽带定位基站的数量至少为目标数量。
本公开实施例中，通过目标数据包获取到超宽带定位基站至目标位置的距离信息，还需要获取各个超宽带定位基站所在的位置坐标。若要解算定位标签的二维坐标，需要获取至少三个不同位置的超宽带定位基站的位置坐标，若要解算定位标签的三维坐标，需要获取至少四个不同位置的超宽带定位基站的位置坐标，上述位置坐标分别对应二维坐标系、三维坐标系的坐标。
步骤2，利用预设处理方式对距离信息和位置坐标进行处理，得到目标定位标签在目标时间时的坐标值。
上述预设处理方式可以是TOA算法、TDOA算法等。
本公开实施例提供一种提取采集距离信息的时间为目标时间的目标数据包的方法，结合图2所示的步骤，对本公开技术方案作进一步说明。
在一些实施方式中，步骤S208在第二标识指示的时间信息为目标时间的情况下将第一数据包确定为目标数据包可以包括以下步骤：
步骤1，提取第二标识中的批次计数值，批次计数值被设置为表示待处理数据包的发送批次，批次计数值相同的待处理数据包的时间信息相同。
本公开实施例中，由于每个基站对于目标时间采集的包含相对距离的数据包的生成时间和发送时的发送时间不可能做到完全同步，即在该目标时间上每个基站数据包的时间戳值并不相等，存在细微差别，且网络传输存在传输延时的现象，因此可以设置批次计数值，被设置为指示数据包的发送批次，相同批次的数据包表示采集距离信息的时间相同或基本一致。按照数据包中携带的批次计数值确定该数据包的发送批次，即可以确定该数据包采集距离信息的时间，如此一来即可以将同一个批次的数据包筛选出来。
步骤2，将批次计数值为目标计数值的第一数据包确定为目标数据包，批次计数值为目标计数值表示第一数据包的时间信息为目标时间。
本公开实施例中，所要解算坐标值的时间为目标时间，指示采集距离信息的时间为该目标时间的批次计数值即为目标计数值，具有该目标计数值的数据包即为目标数据包。
本公开实施例还提供一种筛选基站状态信息数据包并对两种数据包分流的方法。
在一些实施方式中，在接收到待处理数据包的情况下提取待处理 数据包中携带的第一标识之后，该方法还包括以下步骤：
步骤1，利用第一标识筛选出第二数据包，第二数据包为只包含定位基站的状态信息的待处理数据包。
步骤2，将第一数据包导入第一分区，将第二数据包导入第二分区，第一分区、第二分区为消息中间件中的存储区域。
本公开实施例中，上述消息中间件可以是Apache Kafka。Kafka是一种高吞吐量的分布式发布订阅消息系统，它可以处理消费者在网站中的所有动作流数据。Kafka可以将包含超宽带定位基站至目标位置的距离信息的数据包(即第一数据包)导入beacon-info主题分区(即第一分区)，将只包含超宽带定位基站的状态信息的数据包(即第二数据包)导入station-info主题分区(即第二分区)，上述beacon-info主题分区、station-info主题分区都是Kafka中的存储区域。
在一些实施方式中，上述消息中间件还可以是LShift的RabbitMQ、Apache的ActiveMQ、阿里的RocketMQ等。
步骤3，在得到目标定位标签的坐标值之后，将目标数据包导入第三分区，第三分区为消息中间件中的存储区域，第三分区被设置为为消息中间件与下游应用相连接。
本公开实施例中，解算得到定位标签的坐标值之后，为了下游应用能够使用定位标签的坐标值和数据包，可以将包含有解算后标签坐标值的数据包导入Apache Kafka消息中间件的beacon-location-info主题分区中。
在一些实施方式中，在接收到待处理数据包的情况下提取待处理数据包中携带的第一标识之前，该方法还包括按照如下方式从超宽带定位基站接收待处理数据包：
步骤1，接收定位基站发送的数据传输请求。
步骤2，响应数据传输请求，向定位基站发送确认接收信息。
步骤3，在接收到定位基站发送的响应确认接收信息的二次确认信息的情况下，建立与超宽带定位基站之间的通信连接，开始接收待处理数据包。
本公开实施例中，可以以TCP协议进行通讯，从而接收待处理数据包。
在一些实施方式中，上述基站数据流接收处理系统可以包括上述数据收集框架、消息中间件及流式处理框架。数据收集框架作为日志采集子系统，被设置为收集定位基站发送的实时数据流，对接收的数据流进行数据预处理转换并分流操作，并将最终接收处理结果发往下游数据流接收端。消息中间件被设置为缓存数据收集框架采集的数据流。流式处理框架作为流式处理子系统，被设置为通过订阅Apache Kafka消息中间件主题，以数据流的方式提取、转换并计算Apache Kafka中缓存的包含定位标签和超宽带定位基站相对距离值的数据序列。
本公开通过数据包中的类型标识和批次标识能够提取到目标时间点包含定位标签与超宽带定位基站相对距离的数据包，使得数据不会混乱且按照相应的时间点(批次)进行数据包归并，解决了数据乱序和数据易丢失的问题，进而能够使得对定位标签坐标值解算时获得更准确的实时坐标。
根据本公开实施例的又一方面，如图3所示，提供了一种定位基站数据流处理装置，包括：第一标识提取模块301，被设置为在接收到待处理数据包的情况下，提取待处理数据包中携带的第一标识，待处理数据包为定位基站发送的，第一标识被设置为指示待处理数据包的类型；数据包类型识别模块303，被设置为利用第一标识筛选出第一数据包，第一数据包为包含定位基站至目标位置的距离信息的待处理数 据包；第二标识提取模块305，被设置为提取第一数据包中携带的第二标识，第二标识被设置为指示第一数据包的时间信息，同一个定位基站发送的不同待处理数据包中携带的第二标识不同；数据包划分模块307，被设置为在第二标识指示的时间信息为目标时间的情况下将第一数据包确定为目标数据包，目标时间为定位基站采集与目标位置之间的距离信息的时间。
需要说明的是，该实施例中的第一标识提取模块301可以被设置为执行本公开实施例中的步骤S202，该实施例中的数据包类型识别模块303可以被设置为执行本公开实施例中的步骤S204，该实施例中的第二标识提取模块305可以被设置为执行本公开实施例中的步骤S206，该实施例中的数据包划分模块307可以被设置为执行本公开实施例中的步骤S208。
此处需要说明的是，上述模块与对应的步骤所实现的示例和应用场景相同，但不限于上述实施例所公开的内容。需要说明的是，上述模块作为装置的一部分可以运行在如图1所示的硬件环境中，可以通过软件实现，也可以通过硬件实现。
在一些实施方式中，该定位基站数据流处理装置，还包括：格式转换模块，被设置为将目标数据包转换为待处理对象，待处理对象采用预设流式处理框架所支持的数据格式进行编码；坐标值解算模块，被设置为利用预设流式处理框架对至少目标数量个待处理对象进行处理，得到目标定位标签在目标时间时的坐标值，目标定位标签所在的位置为目标位置，目标数量为要得到坐标值所需的待处理对象的最小数量，坐标值为预设坐标系下的坐标。
在一些实施方式中，定位基站包括超宽带定位基站，该坐标值解算模块，还被设置为：获取各个超宽带定位基站至目标位置的距离信息和各个超宽带定位基站的位置坐标，超宽带定位基站的位置坐标为 预设坐标系下的坐标，超宽带定位基站的数量至少为目标数量；利用预设处理方式对距离信息和位置坐标进行处理，得到目标定位标签在目标时间时的坐标值。
在一些实施方式中，该定位基站数据流处理装置，还包括：批次计数值提取模块，被设置为提取第二标识中的批次计数值，批次计数值被设置为表示待处理数据包的发送批次，批次计数值相同的待处理数据包的时间信息相同；数据包归并模块，被设置为将批次计数值为目标计数值的第一数据包确定为目标数据包，批次计数值为目标计数值表示第一数据包的时间信息为目标时间。
在一些实施方式中，该定位基站数据流处理装置，还包括：第二数据包提取模块，被设置为利用第一标识筛选出第二数据包，第二数据包为只包含定位基站的状态信息的待处理数据包；数据包分离模块，被设置为将第一数据包导入第一分区，将第二数据包导入第二分区，第一分区、第二分区为消息中间件中的存储区域；上下游对接模块，被设置为在得到目标定位标签的坐标值之后，将目标数据包导入第三分区，第三分区为消息中间件中的存储区域，第三分区被设置为为消息中间件与下游应用相连接。
在一些实施方式中，该定位基站数据流处理装置，还包括：接收请求模块，被设置为接收定位基站发送的数据传输请求；响应请求模块，被设置为响应数据传输请求，向定位基站发送确认接收信息；连接建立模块，被设置为在接收到定位基站发送的响应确认接收信息的二次确认信息的情况下，建立与定位基站之间的通信连接，开始接收待处理数据包。
根据本公开实施例的又一方面还提供了一种计算机设备，包括存储器、处理器，所述存储器中存储有可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述步骤。
上述计算机设备中的存储器、处理器通过通信总线和通信接口进行通信。所述通信总线可以是外设部件互连标准(Peripheral Component Interconnect，简称PCI)总线或扩展工业标准结构(Extended Industry Standard Architecture，简称EISA)总线等。该通信总线可以分为地址总线、数据总线、控制总线等。
存储器可以包括随机存取存储器(Random Access Memory，简称RAM)，也可以包括非易失性存储器(non-volatile memory)，例如至少一个磁盘存储器。可选的，存储器还可以是至少一个位于远离前述处理器的存储装置。
上述的处理器可以是通用处理器，包括中央处理器(Central Processing Unit，简称CPU)、网络处理器(Network Processor，简称NP)等；还可以是数字信号处理器(Digital Signal Processing，简称DSP)、专用集成电路(Application Specific Integrated Circuit，简称ASIC)、现场可编程门阵列(Field-Programmable Gate Array，简称FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。
根据本公开实施例的又一方面还提供了一种具有处理器可执行的非易失的程序代码的计算机可读介质。
可选地，在本公开实施例中，计算机可读介质被设置为存储被设置为所述处理器执行以下步骤的程序代码：
步骤S202，在接收到待处理数据包的情况下，提取所述待处理数据包中携带的第一标识，待处理数据包为定位基站发送的，第一标识被设置为指示待处理数据包的类型。
步骤S204，利用第一标识筛选出第一数据包，第一数据包为包含定位基站至目标位置的距离信息的待处理数据包。
步骤S206，提取第一数据包中携带的第二标识，第二标识被设置为指示第一数据包的时间信息，同一个定位基站发送的不同待处理数 据包中携带的第二标识不同。
步骤S208，在第二标识指示的时间信息为目标时间的情况下将第一数据包确定为目标数据包，目标时间为定位基站采集与目标位置之间的距离信息的时间。
在一些实施方式中，本实施例中的具体示例可以参考上述实施例中所描述的示例，本实施例在此不再赘述。
本公开实施例在具体实现时，可以参阅上述各个实施例，具有相应的技术效果。
可以理解的是，本文描述的这些实施例可以用硬件、软件、固件、中间件、微码或其组合来实现。对于硬件实现，处理单元可以实现在一个或多个专用集成电路(Application Specific Integrated Circuits，ASIC)、数字信号处理器(Digital Signal Processing，DSP)、数字信号处理设备(DSP Device，DSPD)、可编程逻辑设备(Programmable Logic Device，PLD)、现场可编程门阵列(Field-Programmable Gate Array，FPGA)、通用处理器、控制器、微控制器、微处理器、被设置为执行本公开所述功能的其它电子单元或其组合中。
对于软件实现，可通过执行本文所述功能的单元来实现本文所述的技术。软件代码可存储在存储器中并通过处理器执行。存储器可以在处理器中或在处理器外部实现。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本公开的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本公开所提供的实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述模块的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个模块或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本公开各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本公开各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。 需要说明的是，在本文中，诸如“第一”和“第二”等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
以上所述仅是本公开的具体实施方式，使本领域技术人员能够理解或实现本公开。对这些实施例的多种修改对本领域的技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本公开的精神或范围的情况下，在其它实施例中实现。因此，本公开将不会被限制于本文所示的这些实施例，而是要符合与本文所申请的原理和新颖特点相一致的最宽的范围。

Claims (10)

  1. 一种定位基站数据处理方法，包括：
    在接收到待处理数据包的情况下，提取所述待处理数据包中携带的第一标识，其中，所述待处理数据包为定位基站发送的，所述第一标识被设置为指示所述待处理数据包的类型；
    利用所述第一标识筛选出第一数据包，其中，所述第一数据包为包含所述定位基站至目标位置的距离信息的所述待处理数据包；
    提取所述第一数据包中携带的第二标识，其中，所述第二标识被设置为指示所述第一数据包的时间信息，同一个所述定位基站发送的不同所述待处理数据包中携带的所述第二标识不同；
    在所述第二标识指示的所述时间信息为目标时间的情况下将所述第一数据包确定为目标数据包，其中，所述目标时间为所述定位基站采集与所述目标位置之间的所述距离信息的时间。
  2. 根据权利要求1所述的方法，其中，在所述第二标识指示的所述时间信息为目标时间的情况下将所述第一数据包确定为目标数据包之后，所述方法还包括：
    将所述目标数据包转换为待处理对象，其中，所述待处理对象采用预设流式处理框架所支持的数据格式进行编码；
    利用所述预设流式处理框架对至少目标数量个所述待处理对象进行处理，得到目标定位标签在所述目标时间时的坐标值，其中，所述目标定位标签所在的位置为所述目标位置，所述目标数量为要得到所述坐标值所需的所述待处理对象的最小数量，所述坐标值为预设坐标系下的坐标。
  3. 根据权利要求2所述的方法，其中，所述定位基站包括超宽带定位基站，利用所述预设流式处理框架对至少目标数量个所述待处理 对象进行处理，得到目标定位标签在所述目标时间时的坐标值包括：
    获取各个所述超宽带定位基站至所述目标位置的所述距离信息和各个所述超宽带定位基站的位置坐标，其中，所述超宽带定位基站的所述位置坐标为所述预设坐标系下的坐标，所述超宽带定位基站的数量至少为所述目标数量；
    利用预设处理方式对所述距离信息和所述位置坐标进行处理，得到所述目标定位标签在所述目标时间时的坐标值。
  4. 根据权利要求1至3任一所述的方法，其中，在所述第二标识指示的所述时间信息为目标时间的情况下将所述第一数据包确定为目标数据包包括：
    提取所述第二标识中的批次计数值，其中，所述批次计数值被设置为表示所述待处理数据包的发送批次，所述批次计数值相同的所述待处理数据包的所述时间信息相同；
    将所述批次计数值为目标计数值的所述第一数据包确定为所述目标数据包，其中，所述批次计数值为所述目标计数值表示所述第一数据包的所述时间信息为所述目标时间。
  5. 根据权利要求2所述的方法，其中，在接收到待处理数据包的情况下提取所述待处理数据包中携带的第一标识之后，所述方法还包括：
    利用所述第一标识筛选出第二数据包，其中，所述第二数据包为只包含所述定位基站的状态信息的所述待处理数据包；
    将所述第一数据包导入第一分区，将所述第二数据包导入第二分区，其中，所述第一分区、所述第二分区为消息中间件中的存储区域；
    在得到所述目标定位标签的所述坐标值之后，将所述目标数据包导入第三分区，其中，所述第三分区为所述消息中间件中的存储区域， 所述第三分区被设置为为所述消息中间件与下游应用相连接。
  6. 根据权利要求1所述的方法，其中，在接收到待处理数据包的情况下提取所述待处理数据包中携带的第一标识之前，所述方法还包括按照如下方式从所述定位基站接收所述待处理数据包：
    接收所述定位基站发送的数据传输请求；
    响应所述数据传输请求，向所述定位基站发送确认接收信息；
    在接收到所述定位基站发送的响应所述确认接收信息的二次确认信息的情况下，建立与所述定位基站之间的通信连接，开始接收所述待处理数据包。
  7. 一种定位基站数据流处理装置，包括：
    第一标识提取模块，被设置为在接收到待处理数据包的情况下，提取所述待处理数据包中携带的第一标识，其中，所述待处理数据包为定位基站发送的，所述第一标识被设置为指示所述待处理数据包的类型；
    数据包类型识别模块，被设置为利用所述第一标识筛选出第一数据包，其中，所述第一数据包为包含所述定位基站至目标位置的距离信息的所述待处理数据包；
    第二标识提取模块，被设置为提取所述第一数据包中携带的第二标识，其中，所述第二标识被设置为指示所述第一数据包的时间信息，同一个所述定位基站发送的不同所述待处理数据包中携带的所述第二标识不同；
    数据包划分模块，被设置为在所述第二标识指示的所述时间信息为目标时间的情况下将所述第一数据包确定为目标数据包，其中，所述目标时间为所述定位基站采集与所述目标位置之间的所述距离信息的时间。
  8. 根据权利要求7所述的装置，其中，所述装置还包括：
    格式转换模块，被设置为将所述目标数据包转换为待处理对象，其中，所述待处理对象采用预设流式处理框架所支持的数据格式进行编码；
    坐标值解算模块，用于利用所述预设流式处理框架对至少目标数量个所述待处理对象进行处理，得到目标定位标签在所述目标时间时的坐标值，其中，所述目标定位标签所在的位置为所述目标位置，所述目标数量为要得到所述坐标值所需的所述待处理对象的最小数量，所述坐标值为预设坐标系下的坐标。
  9. 一种计算机设备，包括存储器、处理器，所述存储器中存储有可在所述处理器上运行的计算机程序，所述处理器执行所述计算机程序时实现上述权利要求1至7任一项所述的方法的步骤。
  10. 一种具有处理器可执行的非易失的程序代码的计算机可读介质，所述程序代码使所述处理器执行所述权利要求1至7任一所述方法。
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