A positioning and tracking method, device, equipment and medium

Abstract

The present application discloses a positioning and tracking method, device, equipment and medium, belonging to the field of positioning technology. The method includes: when the movement trajectories of multiple target objects need to be positioned and tracked, determining their movement positions at the next moment according to the movement positions of the multiple target objects and the DR algorithm to obtain a set of target positions; determining the distances between every two of the multiple target objects to obtain a set of target distances, and determining the target position relationships between the multiple target objects according to the MDS algorithm and the set of target distances; performing rotation and translation on the movement positions of the corresponding target objects in the target position relationships according to the movement positions of the respective target objects in the set of target positions to determine the actual movement positions of the multiple target objects at the next moment. Because this method can correct the positions of target objects in real time during the movement process, the accuracy of predicting the movement trajectories of target objects can be significantly improved through this method.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning, and particularly relates to a positioning and tracking method, device, equipment and medium. Background Art

[0002] In existing base-station-free positioning and tracking algorithms, generally the DR (Dead Reckoning) algorithm is used to track and position a target object. That is, based on the current position, movement speed and forward direction of the target object, the movement position of the target object at the next moment is predicted, and thus the movement trajectory of the target object is positioned and tracked. However, when using the DR algorithm to position and track the target object, the positioning prediction result of the target object cannot be corrected, which causes the positioning error of the target object to continuously accumulate with the increase of the movement duration, and further causes a large error between the predicted movement position and the actual movement position of the target object. At present, there is no relatively effective solution to this technical problem. Summary of the Invention

[0003] In view of this, the purpose of the present invention is to provide a positioning and tracking method, device, equipment and medium to further improve the accuracy when positioning and tracking a target object. The specific scheme is as follows:

[0004] A positioning and tracking method includes:

[0005] When the movement trajectories of multiple target objects need to be positioned and tracked, the movement positions of the multiple target objects at the next moment are determined according to the movement positions of the multiple target objects at the current moment and the DR algorithm, and a target position set is obtained;

[0006] The distance between every two target objects among the multiple target objects is determined to obtain a target distance set, and the target position relationship among the multiple target objects is determined according to the MDS algorithm and the target distance set;

[0007] The movement positions of the corresponding target objects in the target position relationship are rotated and translated according to the movement positions of the respective target objects in the target position set to determine the actual movement positions of the multiple target objects at the next moment.

[0008] Preferably, the multiple target objects include a moving target object and a stationary target object.

[0009] Preferably, the process of determining the movement positions of the multiple target objects at the next moment according to the movement positions of the multiple target objects at the current moment and the DR algorithm includes:

[0010] Use the IMU to determine the motion poses and accelerations of multiple target objects, and determine the motion positions of the multiple target objects at the next moment according to the motion positions of the multiple target objects at the current moment and the DR algorithm.

[0011] Preferably, the process of rotating and translating the motion positions of the corresponding target objects in the target position relationship according to the motion positions of the target objects in the target position set includes:

[0012] Determine the relative position center of all target objects in the target position relationship to obtain a first position, and determine the relative position center of all target objects in the target position set to obtain a second position;

[0013] Obtain the target translation amount between the first position and the second position;

[0014] Translate the positions of the respective target objects in the target position relationship according to the target translation amount to obtain a translated target position relationship;

[0015] Obtain the position change amounts of the respective target objects in the translated target position relationship and the target position relationship to obtain a target variable;

[0016] Perform singular value decomposition on the target variable to obtain a target rotation amount;

[0017] Rotate the respective target objects in the translated target position relationship according to the target rotation amount.

[0018] Preferably, the process of determining the distances between every two of the multiple target objects to obtain a target distance set includes:

[0019] Use UWB to determine the distances between every two of the multiple target objects to obtain the target distance set.

[0020] Preferably, it further includes:

[0021] If there is an identification object with a known actual motion position among the multiple target objects, then determine the motion positions of the multiple target objects at the next moment according to the UWB, the actual motion position of the identification object, and the DR algorithm to obtain a corrected position set;

[0022] Correspondingly, the process of rotating and translating the motion positions of the corresponding target objects in the target position relationship according to the motion positions of the target objects in the target position set includes:

[0023] Rotate and translate the motion positions of the corresponding target objects in the target position relationship according to the motion positions of the target objects in the corrected position set.

[0024] Preferably, after the process of performing rotation and translation on the movement positions of the corresponding target objects in the target position relationship according to the movement positions of each target object in the target position set, the method further includes:

[0025] Determining the actual movement positions of multiple target objects as the movement positions of the multiple target objects at the current moment, and continuing to execute the step of determining the movement positions of the multiple target objects at the next moment according to the movement positions of the multiple target objects at the current moment and the DR algorithm.

[0026] Correspondingly, the present invention also discloses a positioning and tracking device, including:

[0027] A position prediction module, configured to, when positioning and tracking the movement trajectories of multiple target objects, determine the movement positions of the multiple target objects at the next moment according to the movement positions of the multiple target objects at the current moment and the DR algorithm, so as to obtain a target position set;

[0028] A relationship calculation module, configured to determine the distances between every two target objects among the multiple target objects to obtain a target distance set, and determine the target position relationship between the multiple target objects according to the MDS algorithm and the target distance set;

[0029] A position translation module, configured to perform rotation and translation on the movement positions of the corresponding target objects in the target position relationship according to the movement positions of each target object in the target position set, so as to determine the actual movement positions of the multiple target objects at the next moment.

[0030] Correspondingly, the present invention also discloses a positioning and tracking device, including:

[0031] A memory, configured to store a computer program;

[0032] A processor, configured to implement the steps of a positioning and tracking method as disclosed above when executing the computer program.

[0033] Correspondingly, the present invention also discloses a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of a positioning and tracking method as disclosed above are implemented.

[0034] It can be seen that in the present invention, when it is necessary to locate and track the movement trajectories of multiple target objects, first, the movement positions of the multiple target objects at the current moment and the DR algorithm are used to determine the movement positions of the multiple target objects at the next moment, obtaining a set of target positions; then, the distances between every two of the multiple target objects are determined, obtaining a set of target distances, and the target position relationship between the multiple target objects is determined according to the MDS algorithm and the set of target distances; finally, the movement positions of the corresponding target objects in the target position relationship are rotated and translated according to the movement positions of the respective target objects in the set of target positions, so as to obtain the actual movement positions of the multiple target objects at the next moment. Compared with the prior art, since this method can correct the movement positions of the target objects in real time during the movement process, therefore, through this method, the accuracy of predicting the movement trajectory of the target objects can be significantly improved. Correspondingly, a positioning and tracking device, equipment and medium provided by the present invention also have the above beneficial effects. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0036] Figure 1 It is a flowchart of a positioning and tracking method provided by an embodiment of the present invention;

[0037] Figure 2 It is a schematic diagram when rotating and translating the movement positions of the respective target objects in the target position relationship;

[0038] Figure 3 It is a schematic diagram when tracking the movement trajectories of multiple target objects;

[0039] Figure 4 It is a schematic diagram when simulating the movement trajectories of 5 target objects within 20 minutes provided by an embodiment of the present invention;

[0040] Figure 5 It is a cumulative distribution function error schematic diagram when respectively using the DR algorithm and the MDS+DR algorithm to perform positioning and tracking on target objects 1 to 5 from 0 to 5 minutes;

[0041] Figure 6 It is a cumulative distribution function error schematic diagram when respectively using the DR algorithm and the MDS+DR algorithm to perform positioning and tracking on target objects 1 to 5 from 5 to 10 minutes;

[0042] Figure 7 Schematic diagrams of the cumulative distribution function errors when using the DR algorithm and the MDS+DR algorithm respectively to perform positioning and tracking on target objects 1 to 5 for 10 to 15 minutes;

[0043] Figure 8 Schematic diagrams of the cumulative distribution function errors when using the DR algorithm and the MDS+DR algorithm respectively to perform positioning and tracking on target objects 1 to 5 for 15 to 20 minutes;

[0044] Figure 9 Schematic diagrams of the cumulative distribution function errors when using the DR algorithm and the MDS+DR algorithm respectively to perform positioning and tracking on target objects 1, 4, and 5 for 10 to 15 minutes when the actual movement positions of target objects 2 and 3 at the 10th minute are unknown;

[0045] Figure 10 Schematic diagrams of the cumulative distribution function errors when using the DR algorithm and the MDS+DR algorithm respectively to perform positioning and tracking on target objects 1, 4, and 5 for 10 to 15 minutes when the actual movement positions of target objects 2 and 3 at the 10th minute are known;

[0046] Figure 11 Schematic diagrams of the cumulative distribution function errors when using the DR algorithm and the MDS+DR algorithm respectively to perform positioning and tracking on target objects 1, 4, and 5 for 15 to 20 minutes when the actual movement positions of target objects 2 and 3 at the 10th minute are unknown;

[0047] Figure 12 Schematic diagrams of the cumulative distribution function errors when using the DR algorithm and the MDS+DR algorithm respectively to perform positioning and tracking on target objects 1, 4, and 5 for 15 to 20 minutes when the actual movement positions of target objects 2 and 3 at the 10th minute are known;

[0048] Figure 13 Structural diagram of a positioning and tracking device provided by an embodiment of the present invention;

[0049] Figure 14 Structural diagram of a positioning and tracking device provided by an embodiment of the present invention. Detailed implementation manners

[0050] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] Please refer to Figure 1 , Figure 1 which is a flowchart of a positioning and tracking method provided by an embodiment of the present invention. The method includes:

[0052] Step S11: When the movement trajectories of multiple target objects need to be positioned and tracked, determine the movement positions of the multiple target objects at the next moment according to the movement positions of the multiple target objects at the current moment and the DR algorithm, and obtain a target position set;

[0053] Step S12: Determine the distance between every two target objects among the multiple target objects to obtain a target distance set, and determine the target position relationship between the multiple target objects according to the MDS algorithm and the target distance set;

[0054] Step S13: Rotate and translate the movement positions of the corresponding target objects in the target position relationship according to the movement positions of the respective target objects in the target position set to determine the actual movement positions of the multiple target objects at the next moment.

[0055] In this embodiment, a new positioning and tracking method is provided. Using this method to position and track multiple target objects can significantly improve the accuracy when positioning and tracking target objects.

[0056] Specifically, when the movement trajectories of multiple target objects need to be positioned and tracked, first, determine the movement positions of the multiple target objects at the next moment according to the movement positions of the multiple target objects at the current moment and the DR algorithm, and obtain a target position set of the multiple target objects at the next moment. It can be understood that since the DR algorithm is a traditional base - station - less tracking and navigation algorithm, according to the movement positions of the multiple target objects at the current moment, as well as their corresponding movement speeds and movement directions, the movement positions of the multiple target objects at the next moment can be inferred, that is, a target position set of the multiple target objects at the next moment is obtained.

[0057] After using the DR algorithm to infer the set of target positions of multiple target objects at the next moment, it is necessary to determine the distance between every two target objects among the multiple target objects to obtain a set of target distances. In the actual operation process, ranging technologies such as lasers, WiFi (Wireless Network Communication Technology), or Bluetooth can be used to measure the distance between every two target objects among the multiple target objects.

[0058] After determining the distance between every two target objects among the multiple target objects to obtain a set of target distances, the target position relationship between the multiple target objects can be determined according to the MDS (Multidimensional Scaling) algorithm and the set of target distances. Since the MDS algorithm is a visualization method that can display high-dimensional multivariate data in a low-dimensional space, and when using the MDS algorithm to display the relative position relationship between multiple target objects in a low-dimensional space, there will be no distortion phenomenon. Therefore, in this embodiment, the target position relationship between the multiple target objects is determined according to the MDS algorithm and the set of target distances.

[0059] After that, by rotating and translating the movement positions of the corresponding target objects in the target position relationship according to the movement positions of the respective target objects in the set of target positions, the MDS algorithm can be used to perform real-time correction on the movement positions of the multiple target objects during the movement process, and the cumulative error generated when using the DR algorithm to locate and track the multiple target objects in the prior art can be avoided. Thus, the accuracy of predicting the movement trajectories of the multiple target objects can be significantly improved.

[0060] It can be seen that in this embodiment, when it is necessary to locate and track the movement trajectories of multiple target objects, first, the movement positions of the multiple target objects at the next moment are determined according to the movement positions of the multiple target objects at the current moment and the DR algorithm to obtain a set of target positions; then, the distance between every two target objects among the multiple target objects is determined to obtain a set of target distances, and the target position relationship between the multiple target objects is determined according to the MDS algorithm and the set of target distances; finally, the movement positions of the corresponding target objects in the target position relationship are rotated and translated according to the movement positions of the respective target objects in the set of target positions, so as to obtain the actual movement positions of the multiple target objects at the next moment. Compared with the prior art, since this method can perform real-time correction on the movement positions of the target objects during the movement process, the accuracy of predicting the movement trajectories of the target objects can be significantly improved through this method.

[0061] Based on the above embodiment, this embodiment further explains and optimizes the technical solution. As a preferred implementation manner, the multiple target objects include moving target objects and stationary target objects.

[0062] In this embodiment, when positioning and tracking the movement trajectories of multiple target objects, these target objects can be either moving target objects or stationary target objects. That is to say, when positioning and tracking the movement trajectories of multiple target objects, any one of these target objects can be in a moving state throughout the process or can be intermittently in a moving state.

[0063] Obviously, through the technical solution provided in this embodiment, the application scope of the positioning and tracking method provided in this application in real life can be greatly broadened.

[0064] Based on the above embodiment, this embodiment further explains and optimizes the technical solution. As a preferred implementation manner, the above step: the process of rotating and translating the movement positions of the corresponding target objects in the target position relationship according to the movement positions of the respective target objects in the target position set includes:

[0065] Use the IMU to determine the movement pose and acceleration of multiple target objects, and determine the movement positions of multiple target objects at the next moment according to the movement positions of multiple target objects at the current moment and the DR algorithm.

[0066] It can be understood that when using the DR algorithm to infer and calculate the movement positions of multiple target objects at the next moment, it is also necessary to know the movement pose and acceleration of multiple target objects. And the IMU (Inertial Measurement Unit) is a relatively common device for measuring the three-axis attitude angle and acceleration of an object. Therefore, in this embodiment, when using the DR algorithm to infer the movement positions of multiple target objects at the next moment, first, use the IMU to measure the movement pose and acceleration of multiple target objects, and then, based on the DR algorithm, and according to the movement positions, movement poses and accelerations of multiple target objects at the current moment, determine the movement positions of multiple target objects at the next moment.

[0067] Obviously, through the technical solution provided in this embodiment, the universality of the positioning and tracking method provided in this application in practical applications can be relatively improved.

[0068] Based on the above embodiment, this embodiment further explains and optimizes the technical solution. As a preferred implementation manner, the above step: the process of rotating and translating the movement positions of the corresponding target objects in the target position relationship according to the movement positions of the respective target objects in the target position set includes:

[0069] Determine the relative position center of all target objects in the target position relationship to obtain a first position, and determine the relative position center of all target objects in the target position set to obtain a second position;

[0070] Obtain the target translation amount between the first position and the second position;

[0071] Translate the positions of the respective target objects in the target position relationship according to the target translation amount to obtain the translated target position relationship;

[0072] Obtain the position change amounts of the respective target objects in the translated target position relationship and the target position relationship to obtain the target variable;

[0073] Perform singular value decomposition on the target variable to obtain the target rotation amount;

[0074] Rotate the respective target objects in the translated target position relationship according to the target rotation amount.

[0075] In this embodiment, when rotating and translating the moving positions of the respective target objects in the target position relationship, it is first necessary to determine the relative position center of all the target objects in the target position relationship to obtain the first position, and determine the relative position center of all the target objects in the target position set to obtain the second position; then, obtain the target translation amount between the first position and the second position, and translate the positions of the respective target objects in the target position relationship according to the target translation amount to obtain the translated target position relationship. It can be imagined that when the positions of the respective target objects in the target position relationship are translated according to the target translation amount to obtain the translated target position relationship, the positions corresponding to the respective target objects in the translated target position relationship will coincide with the positions corresponding to the respective target objects in the target position set. After that, obtain the position change amounts of the respective target objects in the translated target position relationship and the target position relationship to obtain the target variable, and perform singular value decomposition on the target variable to obtain the target rotation amount; finally, rotate the respective target objects in the translated target position relationship according to the target rotation amount.

[0076] Please refer to Figure 2 , Figure 2 For a schematic diagram when rotating and translating the moving positions of the respective target objects in the target position relationship. In Figure 2 , MDS represents determining the target position relationship between multiple target objects using the MDS algorithm, DR represents predicting the moving positions of multiple target objects at the next moment using the DR algorithm, and DR-MDS represents predicting the actual moving positions of multiple target objects at the next moment using the MDS algorithm and the DR algorithm.

[0077] Based on the above embodiments, this embodiment further describes and optimizes the technical solution. As a preferred implementation manner, the above step: the process of determining the distance between each two of the multiple target objects to obtain the target distance set includes:

[0078] Using UWB to determine the distance between every two of multiple target objects, a set of target distances is obtained.

[0079] Since the UWB (Ultra Wide Band) positioning technology uses intermittent pulses to transmit and receive data, it can greatly reduce the energy consumption required by communication devices. Moreover, the positioning accuracy of the UWB positioning technology can reach within 10 centimeters. Therefore, when using UWB to determine the distance between every two of multiple target objects, the relative position distances between the target objects can be made more accurate and reliable, and thus the accuracy of positioning and tracking multiple target objects can be further improved.

[0080] As a preferred implementation, the above positioning and tracking method further includes:

[0081] If there is an identification object with a known actual movement position among the multiple target objects, then based on UWB, the actual movement position of the identification object, and the DR algorithm, determine the movement positions of the multiple target objects at the next moment, and obtain a set of corrected positions;

[0082] Correspondingly, the process of performing rotation and translation on the movement positions of the corresponding target objects in the target position relationship according to the movement positions of the target objects in the target position set includes:

[0083] Performing rotation and translation on the movement positions of the corresponding target objects in the target position relationship according to the movement positions of the target objects in the set of corrected positions.

[0084] It can be understood that when positioning and tracking the movement trajectories of multiple target objects, some target objects may pass by fixed known landmark buildings or local positioning systems during the movement process. In this case, some target objects can accurately obtain their actual movement positions during the movement process. When this situation occurs, the actual movement positions of the target objects during the movement process can be used to correct the movement positions of other target objects.

[0085] That is, when there is an identification object with a known actual movement position among the multiple target objects, the movement position of the identification object at the next moment can be accurately inferred based on the actual movement position of the identification object and the DR algorithm. Moreover, the distance between the identification object and other target objects can be accurately measured using UWB. In this way, using UWB, the actual movement position of the identification object, and the DR algorithm, the movement positions of the multiple target objects at the next moment can be accurately calculated, and thus a set of corrected positions of the multiple target objects can be obtained.

[0086] After that, based on the MDS algorithm and the set of calibrated positions, the target position relationships between multiple target objects can be determined. At this time, by performing rotation and translation on the movement positions of the corresponding target objects in the target position relationships according to the movement positions of each target object in the set of calibrated positions, the actual movement positions of the multiple target objects at the next moment can be calculated more accurately.

[0087] As a preferred implementation manner, after the above step: performing rotation and translation on the movement positions of the corresponding target objects in the target position relationships according to the movement positions of each target object in the set of target positions to determine the actual movement positions of the multiple target objects at the next moment, the method further includes:

[0088] Determining the actual movement positions of the multiple target objects as the movement positions of the multiple target objects at the current moment, and continuing to execute the step of determining the movement positions of the multiple target objects at the next moment according to the movement positions of the multiple target objects at the current moment and the DR algorithm.

[0089] It can be understood that since the positioning and tracking of target objects is a process of continuously positioning and observing the actual movement positions of target objects, in order to accurately and reliably obtain the movement trajectories of each target object. After determining the actual movement positions of the multiple target objects at the next moment according to the above method, the actual movement positions of the multiple target objects at this moment can also be determined as the movement positions of the multiple target objects at the current moment, and the step of determining the movement positions of the multiple target objects at the next moment according to the movement positions of the multiple target objects at the current moment and the DR algorithm is continued.

[0090] Please refer to Figure 3 , Figure 3 for a schematic diagram when tracking the movement trajectories of multiple target objects. When it is necessary to perform positioning and tracking on the movement trajectories of multiple target objects, first, the IMU is used to determine the movement poses and accelerations of the multiple target objects. After that, the DR prediction module will predict the movement positions of these target objects at the next moment according to the movement positions, movement directions, and accelerations of the multiple target objects at the current moment. At the same time, the UWB technology is used to measure the distances between every two target objects among the multiple target objects to obtain a set of target distances, and the target position relationships between the multiple target objects are determined according to the MDS algorithm and the set of target distances; then, by performing rotation and translation on the movement positions of the corresponding target objects in the target position relationships according to the movement positions of each target object in the set of target positions, the actual movement positions of the multiple target objects at the next moment in this round of positioning and tracking process can be output.

[0091] Afterwards, the actual motion positions predicted by multiple target objects will be transmitted back to the DR prediction module. Moreover, the DR prediction module will determine the actual motion positions predicted by multiple target objects as the motion positions of multiple target objects at the current moment, and continue to predict the motion positions of multiple target objects at the next moment, thereby accurately locating the actual motion trajectories of multiple target objects.

[0092] It can be seen that through the technical solution provided in this embodiment, the motion trajectories of multiple target objects can be tracked and located more accurately and reliably.

[0093] Based on the technical content disclosed in the foregoing embodiments, this embodiment details the prediction accuracy of the above positioning and tracking method through specific experimental results. To determine whether the positioning and tracking method provided in this application can accurately predict the motion trajectories of target objects, the motion trajectories of multiple target objects within a period of time can be obtained in advance. Please refer to Figure 4 , Figure 4 which is a schematic diagram when simulating the motion trajectories of 5 target objects within 20 minutes provided in an embodiment of the present invention. In Figure 4 , node1, node2, node3, node4, and node5 respectively represent target object 1, target object 2, target object 3, target object 4, and target object 5. Among them, the average walking speed of each target object is 1 m / s.

[0094] To visually observe the accuracy when using the positioning and tracking method provided in this application to locate and track the motion trajectories of multiple target objects, in this embodiment, the positioning and tracking method provided in this application is called the MDS+DR algorithm, and the method of using the DR algorithm to locate and track multiple target objects in the prior art is called the DR algorithm. In this embodiment, in order to more clearly observe the error changes when locating and tracking multiple target objects at different times, the motion trajectories of multiple target objects within 20 minutes are divided into four segments and plotted sequentially, and are displayed and described through the CDF (Cumulative Distribution Function).

[0095] Please refer to Figures 5 to 8 , Figure 5 which is a schematic diagram of the cumulative distribution function error when using the DR algorithm and the MDS+DR algorithm to locate and track target objects 1 to 5 from 0 to 5 minutes; Figure 6 which is a schematic diagram of the cumulative distribution function error when using the DR algorithm and the MDS+DR algorithm to locate and track target objects 1 to 5 from 5 to 10 minutes; Figure 7Schematic diagram of the cumulative distribution function error when using the DR algorithm and the MDS+DR algorithm respectively to locate and track target objects 1 to 5 for 10 to 15 minutes; Figure 8 Schematic diagram of the cumulative distribution function error when using the DR algorithm and the MDS+DR algorithm respectively to locate and track target objects 1 to 5 for 15 to 20 minutes. From Figures 5 to 8 It can be seen that the cumulative distribution function error when using the MDS+DR algorithm to locate and track 5 target objects is about two times lower than that when using the DR algorithm to locate and track 5 target objects. Moreover, within 20 minutes, the total error when locating and tracking 5 target objects is controlled at about 500 mm. This fully shows that the MDS+DR algorithm can accurately locate and track the movement trajectories of 5 target objects.

[0096] If some of the target objects from target object 1 to target object 5 obtain their actual movement positions during the movement process, then the target objects with known actual positions can be used to reduce the overall positioning error of these 5 target objects. Assume that target object 2 and target object 3 obtain their actual movement positions through a third party at the 10th minute. In this case, the actual movement positions of target object 2 and target object 3 at the 10th minute can be used to replace the predicted movement positions of target object 2 and target object 3 at the 10th minute obtained by using the DR algorithm, and the movement positions of target object 1, target object 4, and target object 5 can be corrected and modified according to the actual movement positions of target object 2 and target object 3 at the 10th minute.

[0097] Please refer to Figures 9 to 12 , Figure 9 Schematic diagram of the cumulative distribution function error when using the DR algorithm and the MDS+DR algorithm respectively to locate and track target objects 1, target object 4, and target object 5 for 10 to 15 minutes when the actual movement positions of target object 2 and target object 3 at the 10th minute are unknown; Figure 10 Schematic diagram of the cumulative distribution function error when using the DR algorithm and the MDS+DR algorithm respectively to locate and track target objects 1, target object 4, and target object 5 for 10 to 15 minutes when the actual movement positions of target object 2 and target object 3 at the 10th minute are known; Figure 11 Schematic diagram of the cumulative distribution function error when using the DR algorithm and the MDS+DR algorithm respectively to locate and track target objects 1, target object 4, and target object 5 for 15 to 20 minutes when the actual movement positions of target object 2 and target object 3 at the 10th minute are unknown; Figure 12Schematic diagram of the cumulative distribution function error when using the DR algorithm and the MDS+DR algorithm to locate and track target objects 1, 4, and 5 from the 15th to the 20th minute, given the actual movement positions of target objects 2 and 3 at the 10th minute.

[0098] From Figures 9 to 12 It can be seen that although only the actual movement positions of target objects 2 and 3 at the 10th minute are provided, the positioning errors of target objects 1, 4, and 5 will also decrease accordingly. That is, the cumulative distribution error of target objects 1, 4, and 5 from the 10th to the 15th minute will decrease from 244.88 mm to 173.96 mm, and the cumulative distribution error of target objects 1, 4, and 5 from the 15th to the 20th minute will decrease from 334.53 mm to 310.89 mm. Thus, it can be seen that when the actual movement positions of some of the multiple target objects at a certain moment during the movement process are known, the MDS+DR algorithm provided by the present application can also automatically correct the movement positions of other target objects, thereby achieving a technical effect of group benefit.

[0099] Please refer to Figure 13 , Figure 13 which is a structural diagram of a positioning and tracking device provided by an embodiment of the present invention. The device includes:

[0100] A position prediction module 21, configured to, when locating and tracking the movement trajectories of multiple target objects, determine the movement positions of the multiple target objects at the next moment according to the movement positions of the multiple target objects at the current moment and the DR algorithm, and obtain a target position set;

[0101] A relationship calculation module 22, configured to determine the distances between every two of the multiple target objects to obtain a target distance set, and determine the target position relationship between the multiple target objects according to the MDS algorithm and the target distance set;

[0102] A position translation module 23, configured to perform rotation and translation on the movement positions of the corresponding target objects in the target position relationship according to the movement positions of the respective target objects in the target position set, so as to determine the actual movement positions of the multiple target objects at the next moment.

[0103] A positioning and tracking device provided by an embodiment of the present invention has the beneficial effects of a positioning and tracking method disclosed above.

[0104] Please refer to Figure 14 , Figure 14 which is a structural diagram of a positioning and tracking device provided by an embodiment of the present invention. The device includes:

[0105] A memory 31 for storing a computer program;

[0106] A processor 32 for implementing the steps of a positioning and tracking method as disclosed above when executing the computer program.

[0107] A positioning and tracking device provided by an embodiment of the present invention has the beneficial effects of a positioning and tracking method as disclosed above.

[0108] Correspondingly, an embodiment of the present invention also discloses a computer-readable storage medium. A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it implements the steps of a positioning and tracking method as disclosed above.

[0109] A computer-readable storage medium provided by an embodiment of the present invention has the beneficial effects of a positioning and tracking method as disclosed above.

[0110] In this specification, the various embodiments are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description of the method part.

[0111] Finally, it should be noted that in this article, 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 any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0112] The above has introduced in detail a positioning and tracking method, device, equipment and medium provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. A positioning and tracking method, characterized in that, Including: When it is necessary to locate and track the movement trajectories of multiple target objects, the movement positions of the multiple target objects at the current moment and the dead reckoning algorithm are used to determine the movement positions of the multiple target objects at the next moment, obtaining a set of target positions; Determine the distance between every two target objects among the multiple target objects, obtaining a set of target distances, and determine the target position relationship among the multiple target objects according to the multidimensional scaling algorithm and the set of target distances; Perform rotation and translation on the movement positions of the corresponding target objects in the target position relationship according to the movement positions of the respective target objects in the set of target positions, so as to determine the actual movement positions of the multiple target objects at the next moment; Among them, the process of performing rotation and translation on the movement positions of the corresponding target objects in the target position relationship according to the movement positions of the respective target objects in the set of target positions includes: Determine the relative position center of all the target objects in the target position relationship, obtaining a first position, and determine the relative position center of all the target objects in the set of target positions, obtaining a second position; Obtain the target translation amount between the first position and the second position; Translate the positions of the respective target objects in the target position relationship according to the target translation amount, obtaining a translated target position relationship; Obtain the position change amounts of the translated target position relationship and the respective target objects in the target position relationship, obtaining a target variable; Perform singular value decomposition on the target variable, obtaining a target rotation amount; Rotate the respective target objects in the translated target position relationship according to the target rotation amount.

2. The positioning and tracking method according to claim 1, wherein The multiple target objects include moving target objects and stationary target objects.

3. The positioning and tracking method according to claim 1, characterized in that, The process of determining the movement positions of the multiple target objects at the next moment according to the movement positions of the multiple target objects at the current moment and the dead reckoning algorithm includes: Use an IMU to determine the movement poses and accelerations of the multiple target objects, and determine the movement positions of the multiple target objects at the next moment according to the movement positions of the multiple target objects at the current moment and the dead reckoning algorithm.

4. A positioning and tracking method according to any one of claims 1 to 3, characterized in that The process of determining the distance between every two target objects among the multiple target objects, obtaining a set of target distances includes: Use UWB to determine the distance between every two target objects among the multiple target objects, obtaining the set of target distances.

5. A positioning and tracking method according to claim 4, characterized in that Also including: If there is an identification object with a known actual movement position among the multiple target objects, then determine the movement positions of the multiple target objects at the next moment according to the UWB, the actual movement position of the identification object, and the dead reckoning algorithm, obtaining a set of corrected positions; Correspondingly, the process of performing rotation and translation on the movement positions of the corresponding target objects in the target position relationship according to the movement positions of the respective target objects in the set of target positions includes: Perform rotation and translation on the movement positions of the corresponding target objects in the target position relationship according to the movement positions of the respective target objects in the set of corrected positions.

6. A positioning and tracking method according to claim 5, characterized in that, After the process of rotating and translating the moving positions of the corresponding target objects in the target position relationship according to the moving positions of each target object in the target position set to determine the actual moving positions of multiple target objects at the next moment, the method further includes: Determining the actual moving positions of multiple target objects as the moving positions of multiple target objects at the current moment, and continuing to execute the step of determining the moving positions of multiple target objects at the next moment according to the moving positions of multiple target objects at the current moment and the dead reckoning algorithm.

7. A positioning and tracking device, characterized in that, It includes: A position prediction module, configured to, when positioning and tracking the movement trajectories of multiple target objects, determine the moving positions of multiple target objects at the next moment according to the moving positions of multiple target objects at the current moment and the dead reckoning algorithm, so as to obtain a target position set; A relationship calculation module, configured to determine the distances between every two target objects among multiple target objects to obtain a target distance set, and determine the target position relationship between multiple target objects according to the multidimensional scaling algorithm and the target distance set; A position translation module, configured to rotate and translate the moving positions of the corresponding target objects in the target position relationship according to the moving positions of each target object in the target position set, so as to determine the actual moving positions of multiple target objects at the next moment; Wherein, the position translation module is specifically configured to: Determine the relative position center of all target objects in the target position relationship to obtain a first position, and determine the relative position center of all target objects in the target position set to obtain a second position; Obtain the target translation amount between the first position and the second position; Translate the positions of each target object in the target position relationship according to the target translation amount to obtain a translated target position relationship; Obtain the position change amounts of the translated target position relationship and the positions of each target object in the target position relationship to obtain a target variable; Perform singular value decomposition on the target variable to obtain a target rotation amount; Rotate each target object in the translated target position relationship according to the target rotation amount.

8. A positioning and tracking device, characterized in that, It includes: A memory, configured to store a computer program; A processor, configured to implement the steps of a positioning and tracking method according to any one of claims 1 to 6 when executing the computer program.

9. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of a positioning and tracking method according to any one of claims 1 to 6 are implemented.

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