A positioning and tracking method, device, equipment and storage medium

Abstract

The present invention discloses a positioning and tracking method, device, equipment and storage medium. The method includes: determining the positions of the tracked terminal at at least three different times according to the acceleration information and angular velocity information of the tracked terminal; determining the distances between the positions at at least three different times and the tracking terminal, and determining the position of the tracking terminal according to the positions and distances at at least three different times; and performing positioning and tracking on the tracked terminal according to the position of the tracking terminal and the position of the tracked terminal. The technical solution of the embodiments of the present invention can ensure the accuracy of positioning and tracking while reducing the cost of positioning and tracking.

Description

Technical Field

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

[0002] With the continuous integration of communication, navigation and computer technologies globally, various sensors, such as acceleration sensors and gyroscopes, are embedded in more and more communication, security and consumer mobile terminals. How to use these sensors to position and track mobile terminals has become a hot topic.

[0003] During the tracking process, there are relatively high requirements for positioning accuracy. In the prior art, a three-point positioning method is commonly used to position mobile terminals. Specifically, three base stations pre-deployed at different positions send wireless signals to the mobile terminal to achieve mobile terminal positioning.

[0004] This method requires ensuring the time synchronization of the three base stations, and the positions of the three base stations are fixed. If the environment needs to be changed, the base stations need to be redeployed, resulting in relatively large expenses in terms of base station installation and deployment, energy consumption and equipment costs. How to achieve accurate tracking while saving costs has received extensive attention from scientific and technological workers. Summary of the Invention

[0005] The present invention provides a positioning and tracking method, device, equipment and storage medium, which can ensure the accuracy of positioning and tracking while saving costs compared with the existing method of using three base stations to achieve positioning and tracking.

[0006] According to one aspect of the present invention, there is provided a positioning and tracking method, characterized by comprising:

[0007] Determine the positions of the tracked terminal at at least three different times according to the acceleration information and angular velocity information of the tracked terminal;

[0008] Determine the distances between the positions at the at least three different times and the tracking terminal, and determine the position of the tracking terminal according to the positions at the at least three different times and the distances;

[0009] Perform positioning and tracking on the tracked terminal according to the position of the tracking terminal and the position of the tracked terminal.

[0010] According to another aspect of the present invention, there is provided a positioning and tracking device, characterized by comprising:

[0011] A tracked position determination module, configured to determine the positions of the tracked terminal at at least three different times according to the acceleration information and angular velocity information of the tracked terminal;

[0012] A tracking position determination module, configured to determine the distances between the positions at the at least three different times and the tracking terminal, and determine the position of the tracking terminal according to the positions at the at least three different times and the distances;

[0013] A positioning and tracking module, configured to perform positioning and tracking on the tracked terminal according to the position of the tracking terminal and the position of the tracked terminal.

[0014] According to another aspect of the present invention, there is provided an electronic device, including:

[0015] At least one processor; and

[0016] A memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the positioning and tracking method according to any embodiment of the present invention.

[0018] According to another aspect of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the positioning and tracking method according to any embodiment of the present invention when executed.

[0019] The technical solution of the embodiment of the present invention determines the positions of the tracked terminal at at least three different times through the acceleration information and angular velocity information of the tracked terminal, and determines the position of the tracking terminal according to the positions at the three different times and the distances between each position and the tracking terminal. Finally, according to the position of the tracking terminal and the position of the tracked terminal, positioning and tracking are performed on the tracked terminal, without the need to pre-deploy three or more tracking terminals, which can reduce the positioning and tracking cost while ensuring the tracking accuracy.

[0020] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0022] Figure 1aIt is a flowchart of a positioning and tracking method provided according to Embodiment 1 of the present invention;

[0023] Figure 1b It is a schematic diagram for determining the position of a tracking terminal provided according to Embodiment 1 of the present invention;

[0024] Figure 2a It is a flowchart of a positioning and tracking method provided according to Embodiment 2 of the present invention;

[0025] Figure 2b It is a flowchart for determining a relative angle provided according to Embodiment 2 of the present invention;

[0026] Figure 2c It is a schematic diagram of composite acceleration and composite angular velocity provided according to Embodiment 2 of the present invention;

[0027] Figure 2d It is a schematic diagram for determining the position of a tracked terminal provided according to Embodiment 2 of the present invention;

[0028] Figure 3a It is a flowchart of a positioning and tracking method provided according to Embodiment 3 of the present invention;

[0029] Figure 3b It is a schematic diagram of a bilateral two-way ranging method provided according to Embodiment 3 of the present invention;

[0030] Figure 3c It is a signaling diagram of a bilateral two-way ranging method provided according to Embodiment 3 of the present invention;

[0031] Figure 3d It is a scenario diagram of a tracking and positioning method provided according to Embodiment 3 of the present invention;

[0032] Figure 4 It is a schematic structural diagram of a positioning and tracking device provided according to Embodiment 4 of the present invention;

[0033] Figure 5 It is a schematic structural diagram of an electronic device for implementing the positioning and tracking method of the embodiments of the present invention. Detailed implementation manners

[0034] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] It should be noted that the terms "first", "second", etc. in the specification, claims and above-mentioned drawings of the present invention are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily limit to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0036] Embodiment 1

[0037] Figure 1a The figure below is a flowchart of a positioning and tracking method provided for Embodiment 1 of the present invention. This embodiment is applicable to the situation of positioning and tracking a tracked terminal by a tracking terminal. This method can be executed by a positioning and tracking device, which can be implemented in the form of hardware and / or software, and can be configured in various general computing devices. As Figure 1a shown, the method includes:

[0038] S110. Determine the positions of the tracked terminal at at least three different times according to the acceleration information and angular velocity information of the tracked terminal.

[0039] The tracked terminal is a terminal device that needs to be positioned and tracked and is in a moving state. The tracked terminal needs to be equipped with inertial sensors such as an accelerometer, a gyroscope, and a magnetometer. Exemplarily, the tracked terminal is a mobile phone, a tablet computer, or a smart watch carried by the tracked object. By dynamically tracking the tracked terminal, information such as the relative angle and relative distance between the tracked object and the tracking terminal can be sensed.

[0040] The acceleration information can be the basic acceleration data directly measured by the accelerometer, or the composite acceleration data obtained by combining the basic acceleration data measured by the accelerometer and the basic angular velocity data measured by the gyroscope.

[0041] Similarly, the angular velocity information can be the basic angular velocity data directly measured by the gyroscope, or the composite angular velocity data obtained by fusing the basic acceleration data measured by the accelerometer and the basic angular velocity data measured by the gyroscope.

[0042] In an embodiment of the present invention, first, the tracked terminal needs to obtain the acceleration information and angular velocity information of the tracked terminal through the equipped inertial sensors, and then determine the positions of the tracked terminal at at least three different times based on the angular velocity information and acceleration information. Specifically, the relative angle and relative distance between the position of the tracked terminal at the current acquisition time and the position at the previous acquisition time can be determined according to the acceleration information and angular velocity information collected by the inertial sensors of the tracked terminal. Further, based on the position at the previous acquisition time, and the above relative angle and relative distance, the position at the current acquisition time is determined. At different acquisition times, the above operations are repeatedly executed until the tracked terminal obtains the positions at at least three different times.

[0043] In a specific example, the tracked terminal starts to move at time t1, and the coordinates at time t1 are defined as (x1, y1), which are the initial coordinates. Then, according to the acceleration information and angular velocity information collected by the inertial sensors of the tracked terminal, the relative angle and relative distance between the position of the tracked terminal at the second acquisition time t2 and the position at time t1 are determined. Based on the coordinates (x1, y1) at time t1, and the relative angle and relative distance between time t2 and time t1, the coordinates at time t2 are determined as (x2, y2). Similarly, continue to determine the relative angle and relative distance between the position of the tracked terminal at the third acquisition time t3 and the position at time t2 according to the acceleration information and angular velocity information collected by the sensors of the tracked terminal, and based on the coordinates (x2, y2) at time t2, and the relative angle and relative distance between time t3 and time t2, the coordinates at time t3 are determined as (x3, y3).

[0044] S120. Determine the distances between the positions at at least three different times and the tracking terminal, and determine the position of the tracking terminal according to the positions and distances at at least three different times.

[0045] In an embodiment of the present invention, at the above at least three different times, the distances between the tracked terminal and the tracking terminal at at least three different times are determined by the single-point ranging method. Further, according to the positions at at least three different times and the distances between the tracked terminal and the tracking terminal at at least three different times, the position of the tracking terminal is determined by the three-point positioning method.

[0046] In a specific example, at three different times, the time of flight of the signal emitted by the tracking terminal to the tracked terminal is measured by the bilateral two-way ranging time-of-flight calculation method, and then, according to the time of flight, the distances from the tracked terminal to the tracking terminal at three different times are calculated. Further, circles are drawn with the positions of the tracked terminal at three different times as the centers and the distances to the tracking terminal as the radii. Finally, the position where the three circles intersect is the position of the tracking terminal. As Figure 1bAs shown in the figure, the coordinates of the tracked terminal at time t1 are (x1, y1), the distance from the tracking terminal is d1, the coordinates at time t2 are (x2, y2), and the distance from the tracking terminal is d2. The coordinates at time t3 are (x3, y3), and the distance from the tracking terminal is d3. Further, draw a circle with (x1, y1) as the center and d1 as the radius, draw a circle with (x2, y2) as the center and d2 as the radius, and draw a circle with (x3, y3) as the center and d3 as the radius. The intersection of the three circles is the position of the tracking terminal, and the coordinates of the tracking terminal are calculated by the following formula:

[0047]

[0048]

[0049]

[0050] By solving the above equations, the coordinates (x, y) of the tracking terminal can be obtained. At this time, based on the coordinates of the tracking terminal, the angle and distance information of the tracked terminal relative to the tracking terminal at any moment can be determined.

[0051] S130. Locate and track the tracked terminal according to the position of the tracking terminal and the position of the tracked terminal.

[0052] In the embodiment of the present invention, after determining the position of the tracking terminal, only by obtaining the position of the tracked terminal at any moment according to the above ranging method, the distance, angle and other information of the tracked terminal relative to the tracking terminal at this moment can be obtained, so as to realize the positioning and tracking of the tracked terminal.

[0053] The technical solution of the embodiment of the present invention determines the positions of the tracked terminal at at least three different moments through the acceleration information and angular velocity information of the tracked terminal, determines the position of the tracking terminal according to the positions at three different moments and the distances between each position and the tracking terminal, and finally locates and tracks the tracked terminal according to the position of the tracking terminal and the position of the tracked terminal, without the need to pre-deploy at least three tracking terminals, which can reduce the positioning and tracking cost while ensuring the tracking accuracy.

[0054] Embodiment 2

[0055] Figure 2a It is a flowchart of a positioning and tracking method provided by the second embodiment of the present invention. This embodiment is further refined on the basis of the above embodiment, and provides specific steps for determining the positions of the tracked terminal at at least three different moments according to the acceleration information and angular velocity information of the tracked terminal. As Figure 2a shown, the method includes:

[0056] S210. Determine the relative angle and relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the acceleration information and angular velocity information of the tracked terminal.

[0057] In the embodiment of the present invention, first, the acceleration information and angular velocity information collected by the inertial sensors embedded in the tracked terminal are obtained, and then, according to the acceleration information and angular velocity information, the relative angle and relative distance between the position of the tracked terminal at the current moment and the position at the previous moment are determined.

[0058] Among them, the inertial sensors can be divided into basic physical sensors and composite sensors. Specifically, the basic physical sensors can be accelerometers, gyroscopes, magnetometers, etc.; the composite sensors can be acceleration sensors that integrate accelerometers and gyroscopes, angular velocity sensors that integrate accelerometers and gyroscopes, and rotation vector sensors that integrate accelerometers, magnetometers, and gyroscopes.

[0059] Optionally, the acceleration information includes the basic acceleration data collected by the basic acceleration sensors in the tracked terminal and the composite acceleration data collected by the composite acceleration sensors; the angular velocity information includes the basic angular velocity data collected by the basic angular velocity sensors in the tracked terminal and the composite angular velocity data collected by the composite angular velocity sensors.

[0060] Determining the relative angle and relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the acceleration information and angular velocity information of the tracked terminal includes:

[0061] Determine the relative angle between the position of the tracked terminal at the current moment and the position at the previous moment according to the basic acceleration data and basic angular velocity data;

[0062] Determine the relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the composite acceleration data and composite angular velocity data.

[0063] In this optional embodiment, the acceleration information includes the basic acceleration data collected by the basic acceleration sensors in the tracked terminal and the composite acceleration data collected by the composite acceleration sensors; the angular velocity information includes the basic angular velocity data collected by the basic angular velocity sensors in the tracked terminal and the composite angular velocity data collected by the composite angular velocity sensors.

[0064] Among them, the basic acceleration sensor can be understood as an accelerometer, and the basic acceleration data is the data directly output by the accelerometer; the basic angular velocity sensor can be understood as a gyroscope, and the basic angular velocity data is the data directly output by the gyroscope. The composite acceleration sensor can be understood as an acceleration sensor obtained by fusing an accelerometer and a gyroscope, and the composite acceleration data is the acceleration data obtained by fusing the data collected by the accelerometer and the data collected by the gyroscope; the composite angular velocity sensor can be understood as an angular velocity sensor obtained by fusing an accelerometer and a gyroscope, and the composite angular velocity data is the angular velocity data obtained by fusing the data collected by the accelerometer and the data collected by the gyroscope.

[0065] In this optional embodiment, a specific method for determining the relative angle and relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the acceleration information and angular velocity information of the tracked terminal is further provided: according to the basic acceleration data and the basic angular velocity data, the relative angle between the position of the tracked terminal at the current moment and the position at the previous moment is determined. Further, according to the composite acceleration data and the composite angular velocity data, the relative position between the position of the tracked terminal at the current moment and the position at the previous moment is determined.

[0066] The gyroscope can provide the instantaneous angle change amount. As time goes by, there is a long-term integration error. The error of the accelerometer is small over time, but since its acquisition is a process quantity, the acquired data is easily affected by external interference. Therefore, by combining the data directly output by the gyroscope and the accelerometer of the tracked terminal to determine the relative angle between the position of the tracked terminal at the current moment and the position at the previous moment, the accuracy of the relative angle calculation can be improved.

[0067] Exemplarily, using low-pass filtering, the basic acceleration data collected by the accelerometer is multiplied by a relatively small weight coefficient to weaken the influence of local data anomalies on the overall collected data. Then, using high-pass filtering, the basic angular data collected by the gyroscope is multiplied by a relatively large weight coefficient to weaken the influence of the drift generated by integrating the data collected by the gyroscope over time. Finally, the high-pass filtering result and the low-pass filtering result are added together to obtain the relative angle between the position of the tracked terminal at the current moment and the position at the previous moment.

[0068] Optionally, determining the relative angle between the position of the tracked terminal at the current moment and the position at the previous moment according to the basic acceleration data and the basic angular velocity data includes:

[0069] Performing low-pass filtering on the basic acceleration data to obtain a low-pass filtering result;

[0070] Integrating the basic angular velocity data in the time dimension and performing high-pass filtering on the integration result to obtain a high-pass filtering result;

[0071] Determine the relative angle between the position of the tracked terminal at the current moment and its position at the previous moment according to the high-pass filtering result and the low-pass filtering result.

[0072] In this optional embodiment, a specific method for determining the relative angle between the position of the tracked terminal at the current moment and its position at the previous moment according to the basic acceleration data and the basic angular velocity data is provided: as Figure 2b shown, first perform low-pass filtering on the basic acceleration data collected by the basic acceleration sensor to obtain the low-pass filtering result. At the same time, perform numerical integration on the basic angular velocity data collected by the basic angular velocity sensor in the time dimension, and perform high-pass filtering on the integration result to obtain the high-pass filtering result. Finally, add the low-pass filtering result and the high-pass filtering result to obtain the relative angle between the position of the tracked terminal at the current moment and its position at the previous moment.

[0073] Specifically, use low-pass filtering to multiply the basic acceleration data by a small weight coefficient to weaken the influence of local data anomalies on the overall collected data. At the same time, use high-pass filtering to multiply the basic angular velocity data by a large weight coefficient to weaken the influence of the drift generated by integrating the basic angular velocity data in time. Finally, sum the low-pass filtering result and the high-pass filtering result. Among them, the weight coefficients in the above low-pass filtering and high-pass filtering processes are the filtering coefficients. Since integration in the time dimension is involved in the filtering process, a time constant needs to be determined when determining the weighted filtering coefficient. Specifically, the differential equation of the first-order system is as follows:

[0074]

[0075] where X(t) is the system output, u(t) is the system input, t is the time domain, and c is a constant.

[0076] Perform Laplace transform on the above differential equation to obtain the transfer function of the first-order system as follows:

[0077]

[0078] where s is the unknown in the Laplace complex frequency domain.

[0079] Solve through the above transfer function for the unit step input to obtain X(τ) = 1 - e -cτ . If the time constant is then the response is That is to say, the time required for the response caused by the input step change to reach 63.2% of the stable value is the time constant τ.

[0080] Furthermore, according to the time constant, the filtering weight coefficient can be determined Finally, the filtering weight coefficient is used for filtering, and the low-pass filtering result and the high-pass filtering result are summed to obtain the relative angle as follows:

[0081] angle = β × (angle′ + gyro × dt) + (1 - β) × A

[0082] where β is the filtering weight coefficient, angle′ is the feedback angle, gyro is the basic angular velocity collected by the basic angular velocity sensor, and A is the basic acceleration data collected by the basic accelerometer.

[0083] Optionally, according to the composite acceleration data and the composite angular velocity data, determining the relative distance between the position of the tracked terminal at the current moment and the position at the previous moment includes:

[0084] Collecting the rotation vector of the tracked terminal through the rotation vector sensor of the tracked terminal;

[0085] According to the rotation vector, converting the composite acceleration data from the terminal coordinate system to the inertial coordinate system to obtain the inertial acceleration data;

[0086] Determining the relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the inertial acceleration data and the composite angular velocity data.

[0087] In this optional embodiment, a specific method for determining the relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the composite acceleration data and the composite angular velocity data is provided: collecting the rotation vector of the tracked terminal through the rotation vector sensor of the tracked terminal. Specifically, the rotation vector sensor is a composite sensor composed of an accelerometer, a gyroscope, and a magnetometer. The rotation vector sensor can collect the direction of the tracked device relative to the northeast celestial coordinate system, and each measurement returns three rotation vectors along the X, Y, and Z axes and the cosine component of the rotation vector.

[0088] As Figure 2c shown, the composite acceleration sensor collects the acceleration data a = (a x , a y , a z ) in the three directions of the X, Y, and Z axes, and the composite angular velocity sensor collects the angular velocity data ω = (ω x , ω y , ω z ) in the three directions of the X, Y, and Z axes.

[0089] Further, according to the rotation vector, converting the composite acceleration data from the terminal coordinate system to the inertial coordinate system to obtain the inertial acceleration data a′ = (a′ x , a′ y, a' z ). Finally, multiply the inertial acceleration data by the cosine of the angular velocity and perform double integration to obtain the relative distance between the position of the tracked terminal at the current moment and the position at the previous moment as follows:

[0090]

[0091] where a' is the inertial acceleration data, ω is the composite angular velocity data, and v 0 is the initial velocity.

[0092] S220. Determine the position of the tracked terminal at the current moment based on the position, relative angle, and relative distance of the tracked terminal at the previous moment.

[0093] In the embodiments of the present invention, based on the position of the tracked terminal at the previous moment, as well as the relative angle and relative distance between the positions at the current moment and the previous moment, perform geometric solution to obtain the position of the tracked terminal at the current moment.

[0094] In a specific example, as Figure 2d shown, the position of the tracked terminal at the first acquisition moment is (x1, y1), that is, the initial position is (x1, y1). Through the calculation method in S220, the relative distance between the second acquisition moment and the first acquisition moment is calculated as s1, and the relative angle is a. According to the relative angle, relative position, and initial position, perform geometric solution in the following manner to obtain the coordinates (x2, y2) at the second acquisition moment as follows:

[0095] x 2 = x 1 + s 1 sin a

[0096] y 2 = y 1 + s 1 cos a

[0097] S230. Return to execute the operation of determining the relative angle and relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the acceleration information and angular velocity information of the tracked terminal until the positions of the tracked terminal at at least three different moments are obtained.

[0098] In the embodiments of the present invention, after obtaining the position of the tracked terminal at a certain moment according to the above steps, based on the position at this moment, repeat the above operation to obtain the position at the next moment until the positions of the tracked terminal at at least three different moments are obtained.

[0099] In a specific example, after calculating the position at the second acquisition moment, the relative distance s2 and relative angle between the third acquisition moment and the second acquisition moment of the tracked terminal can be further calculated. Then, based on the relative position, relative angle, and the coordinates of the second acquisition moment, the coordinates (x3, y3) of the third acquisition moment can be obtained.

[0100] S240. Determine the distances between the positions at at least three different moments and the tracking terminal, and determine the position of the tracking terminal based on the positions at at least three different moments and the distances.

[0101] S250. Perform positioning and tracking on the tracked terminal based on the position of the tracking terminal and the position of the tracked terminal.

[0102] In the technical solution of the embodiment of the present invention, based on the acceleration information and angular velocity information of the tracked terminal, the relative angle and relative distance between the position of the tracked terminal at the current moment and the position at the previous moment are determined, and based on the position, relative angle, and relative distance of the tracked terminal at the previous moment, the position of the tracked terminal at the current moment is determined. The above operations are repeatedly executed until the positions of the tracked terminal at at least three different moments are obtained. Finally, the distances between the positions at at least three different moments and the tracking terminal are determined, and based on the positions and distances at at least three different moments, the position of the tracking terminal is determined. Based on the position of the tracking terminal and the position of the tracked terminal, positioning and tracking of the tracked terminal are performed. The movement path of the tracked terminal can be obtained through a ranging algorithm, and based on the data composed of at least three points in the path, the positional relationship between the tracked terminal and the tracking terminal can be obtained, realizing low-cost positioning and tracking.

[0103] Embodiment III

[0104] Figure 3a FIG. is a flowchart of a positioning and tracking determination method provided in Embodiment III of the present invention. This embodiment is further refined on the basis of the above embodiment, providing specific steps for determining the distances between the positions at at least three different moments and the tracking terminal, and collective steps for performing positioning and tracking on the tracked terminal based on the position of the tracking terminal and the position of the tracked terminal. As Figure 3a shown, the method includes:

[0105] S310. Determine the positions of the tracked terminal at at least three different moments based on the acceleration information and angular velocity information of the tracked terminal.

[0106] S320. Based on the ultra-wideband (UWB) signal, adopt the two-way ranging method to determine the distances between the positions at at least three different moments and the tracking terminal.

[0107] In the embodiments of the present invention, based on Ultra Wide Band (UWB), the distances between the positions at at least three different times and the tracking terminal are determined by means of bilateral two-way ranging. Specifically, at each position where the tracked terminal is located at a certain moment, the UWB signal scanning function is enabled to perform UWB signal scanning. After receiving the UWB broadcast sent by the tracking terminal, the ranging mode is enabled, and the ranging principle is as Figure 3b shown. The tracking terminal sends a UWB signal to the tracked terminal, and the signal reaches the tracked terminal after a flight time 1. After receiving the UWB signal, the tracked terminal starts timing, and after reaching the interval 1 duration, it sends a UWB signal to the tracking terminal, and the signal reaches the tracking terminal after a flight time 2. Further, after receiving the UWB signal, the tracking terminal starts timing, and after reaching the interval 2 duration, it sends a UWB signal to the tracked terminal again, and the UWB signal this time carries the period 1 from the time when the tracking terminal sends the UWB signal to the time when it receives the UWB signal fed back by the tracked terminal, as well as the above-mentioned interval 2. This signal reaches the tracked terminal after a flight time 3. During the signal sending and receiving process, the tracked terminal also records the period 2 from the time when it sends the UWB signal to the time when it receives the UWB signal fed back by the tracking terminal. Finally, the tracked terminal can calculate the flight time of the UWB signal between the tracking terminal and the tracked terminal through the interval 1, period 2 recorded by itself, as well as the period 1 and interval 2 sent by the tracking terminal, using the following formula:

[0108]

[0109] Finally, the distance between the tracking terminal and the tracked terminal can be calculated based on the above flight time:

[0110] d = T 飞行时间 × V 光

[0111] where V 光 is the speed of light.

[0112] In a specific example, the method for determining the distances between the positions at at least three different times and the tracking terminal is as Figure 3c shown. First, the tracked terminal enables the UWB signal scanning mode to perform UWB signal scanning. After scanning the UWB broadcast sent by the tracking terminal according to the set period, it parses the UWB signal to obtain the device information of the tracking terminal. For example, the identity identifier of the tracked terminal, and then requests the secret key with the current tracking terminal from the server through the device information. After obtaining the secret key, the tracked terminal enables the ranging mode, and the specific ranging process is as Figure 3b shown, which will not be elaborated here. Finally, the tracked terminal obtains the encrypted data packet fed back by the tracking terminal, and the encrypted data packet includes ranging data (that is Figure 3bThe tracking terminal sends an encrypted data packet to the tracked terminal. The tracked terminal can only read the ranging data in the encrypted data packet after obtaining the secret key matching the tracking terminal from the server. This can enhance the security of ranging and prevent ranging data from being captured in the air, causing data leakage.

[0113] S330: Determine the location of the tracking terminal according to the locations and distances at at least three different moments.

[0114] S340: Determine whether the relative distance between the tracking terminal and the tracked terminal is within a set range according to the location of the tracking terminal and the location of the tracked terminal.

[0115] In an embodiment of the present invention, a specific application scenario of positioning tracking is provided, specifically, Figure 3d As shown, after the tracked terminal turns on the ranging mode and completes the ranging, a threshold acquisition request is sent to the server, wherein the threshold acquisition request needs to include the device information of the tracking terminal and the device information of the tracking terminal. The server determines the corresponding threshold based on the device information of the tracking terminal and the device information of the backup tracking terminal, and feeds back the threshold to the backup tracking terminal. The tracked terminal determines whether the relative distance between the two reaches the above threshold based on its own position at each moment and the position of the tracking terminal. Exemplarily, the threshold fed back by the server includes a relative distance of 2 meters. If the relative distance between the two is less than or equal to 2 meters, it is determined to be within the set range.

[0116] S350: When the relative distance reaches within the set range, a control instruction is sent to the tracking terminal to instruct the tracking terminal to perform a corresponding control operation.

[0117] When the relative distance between the tracked terminal and the tracking terminal reaches a set range, the tracked terminal can send a control instruction to the tracking terminal to instruct the tracking terminal to perform a corresponding control operation.

[0118] In a specific example, the tracked terminal is a mobile phone carried by the user, and the tracking terminal is a venue access control device. When the relative distance between the mobile phone and the access control device is determined to be less than 2 meters through the above-mentioned ranging method, the mobile phone can send an unlocking command to the access control device to instruct the access control device to perform an unlocking operation, thereby realizing contactless tracking of the device and improving the convenience of entering and exiting the venue.

[0119] In the technical solution of the embodiment of the present invention, first, according to the acceleration information and angular velocity information of the tracked terminal, the positions of the tracked terminal at at least three different times are determined, and based on the UWB signal, the two-way ranging method is adopted to determine the distances between the positions at at least three different times and the tracking terminal. Furthermore, according to the positions and distances at at least three different times, the position of the tracking terminal is determined. Further, according to the position of the tracking terminal and the position of the tracked terminal, it is determined whether the relative distance between the tracking terminal and the tracked terminal reaches the set range. When the relative distance reaches the set range, a control instruction is sent to the tracking terminal to instruct the tracking terminal to perform corresponding control operations, which can realize the positioning and tracking of a single tracking terminal and reduce the hardware cost of positioning and tracking.

[0120] Embodiment 4

[0121] Figure 4 It is a schematic structural diagram of a positioning and tracking device provided in Embodiment 4 of the present invention. As Figure 4 shown, the device includes:

[0122] The tracked position determination module 410 is configured to determine the positions of the tracked terminal at at least three different times according to the acceleration information and angular velocity information of the tracked terminal;

[0123] The tracking position determination module 420 is configured to determine the distances between the positions at the at least three different times and the tracking terminal, and determine the position of the tracking terminal according to the positions at the at least three different times and the distances;

[0124] The positioning and tracking module 430 is configured to perform positioning and tracking on the tracked terminal according to the position of the tracking terminal and the position of the tracked terminal.

[0125] In the technical solution of the embodiment of the present invention, the positions of the tracked terminal at at least three different times are determined through the acceleration information and angular velocity information of the tracked terminal, and the position of the tracking terminal is determined according to the positions at three different times and the distances between each position and the tracking terminal. Finally, according to the position of the tracking terminal and the position of the tracked terminal, the tracked terminal is positioned and tracked, and it is not necessary to pre-deploy at least three tracking terminals, which can reduce the positioning and tracking cost while ensuring the tracking accuracy.

[0126] Optionally, the tracked position determination module 410 includes:

[0127] The relative position determination unit is configured to determine the relative angle and relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the acceleration information and angular velocity information of the tracked terminal;

[0128] A current position determination unit, configured to determine the current position of the tracked terminal according to the position of the tracked terminal at the previous moment, the relative angle, and the relative distance;

[0129] A tracked position determination unit, configured to return and execute an operation of determining the relative angle and the relative distance between the current position and the previous position of the tracked terminal according to the acceleration information and the angular velocity information of the tracked terminal until the positions of the tracked terminal at at least three different moments are obtained.

[0130] Optionally, the acceleration information includes the basic acceleration data collected by a basic acceleration sensor in the tracked terminal and the composite acceleration data collected by a composite acceleration sensor; the angular velocity information includes the basic angular velocity data collected by a basic angular velocity sensor in the tracked terminal and the composite angular velocity data collected by a composite angular velocity sensor;

[0131] The relative position determination unit includes:

[0132] A relative angle determination subunit, configured to determine the relative angle between the current position and the previous position of the tracked terminal according to the basic acceleration data and the basic angular velocity data;

[0133] A relative distance determination subunit, configured to determine the relative distance between the current position and the previous position of the tracked terminal according to the composite acceleration data and the composite angular velocity data.

[0134] Optionally, the relative angle determination subunit is specifically configured to:

[0135] Perform low-pass filtering on the basic acceleration data to obtain a low-pass filtering result;

[0136] Integrate the basic angular velocity data in the time dimension and perform high-pass filtering on the integration result to obtain a high-pass filtering result;

[0137] Determine the relative angle between the current position and the previous position of the tracked terminal according to the high-pass filtering result and the low-pass filtering result.

[0138] Optionally, the relative distance determination subunit is specifically configured to:

[0139] Collect the rotation vector of the tracked terminal through a rotation vector sensor of the tracked terminal;

[0140] According to the rotation vector, convert the composite acceleration data from the terminal coordinate system to the inertial coordinate system to obtain inertial acceleration data;

[0141] Determine the relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the inertial acceleration data and the composite angular velocity data.

[0142] Optionally, the tracking position determination module 420 is specifically configured to:

[0143] Based on the ultra-wideband (UWB) signal, use the two-way ranging method to determine the distances between the positions at the at least three different moments and the tracking terminal.

[0144] Optionally, the positioning and tracking module 430 is specifically configured to:

[0145] Determine whether the relative distance between the tracking terminal and the tracked terminal reaches within a set range according to the position of the tracking terminal and the position of the tracked terminal;

[0146] When the relative distance reaches within the set range, send a control instruction to the tracking terminal to instruct the tracking terminal to perform corresponding control operations.

[0147] The positioning and tracking device provided by the embodiments of the present invention can execute the positioning and tracking method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0148] Embodiment Five

[0149] Figure 5 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0150] As Figure 5As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0151] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0152] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the positioning and tracking method.

[0153] In some embodiments, the positioning and tracking method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the positioning and tracking method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the positioning and tracking method in any other appropriate manner (e.g., by means of firmware).

[0154] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0155] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0156] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0157] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0158] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0159] The computing system can include a client and a server. The client and the server are generally far from each other and usually interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0160] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is made herein.

[0161] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A positioning and tracking method, characterized in that, it includes: Determine the positions of the tracked terminal at at least three different times according to the acceleration information and angular velocity information of the tracked terminal; Determine the distances between the positions at the at least three different times and the tracking terminal, and determine the position of the tracking terminal by a three-point positioning method according to the positions at the at least three different times and the distances; Perform positioning and tracking on the tracked terminal according to the position of the tracking terminal and the position of the tracked terminal; Among them, determining the positions of the tracked terminal at at least three different times according to the acceleration information and angular velocity information of the tracked terminal includes: Determine the relative angle and relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the acceleration information and angular velocity information of the tracked terminal; Determine the position of the tracked terminal at the current moment according to the position of the tracked terminal at the previous moment, the relative angle and the relative distance; Return to execute the operation of determining the relative angle and relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the acceleration information and angular velocity information of the tracked terminal until the positions of the tracked terminal at at least three different times are obtained.

2. The method according to claim 1, characterized in that, The acceleration information includes the basic acceleration data collected by the basic acceleration sensor in the tracked terminal and the composite acceleration data collected by the composite acceleration sensor; the angular velocity information includes the basic angular velocity data collected by the basic angular velocity sensor in the tracked terminal and the composite angular velocity data collected by the composite angular velocity sensor; Determining the relative angle and relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the acceleration information and angular velocity information of the tracked terminal includes: Determine the relative angle between the position of the tracked terminal at the current moment and the position at the previous moment according to the basic acceleration data and the basic angular velocity data; Determine the relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the composite acceleration data and the composite angular velocity data.

3. The method according to claim 2, characterized in that, Determining the relative angle between the position of the tracked terminal at the current moment and the position at the previous moment according to the basic acceleration data and the basic angular velocity data includes: Perform low-pass filtering on the basic acceleration data to obtain a low-pass filtering result; Integrate the basic angular velocity data in the time dimension and perform high-pass filtering on the integration result to obtain a high-pass filtering result; Determine the relative angle between the position of the tracked terminal at the current moment and the position at the previous moment according to the high-pass filtering result and the low-pass filtering result.

4. The method according to claim 2, characterized in that, Determining the relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the composite acceleration data and the composite angular velocity data includes: Collect the rotation vector of the tracked terminal through the rotation vector sensor of the tracked terminal; Convert the composite acceleration data from the terminal coordinate system to the inertial coordinate system according to the rotation vector to obtain inertial acceleration data; Determine the relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the inertial acceleration data and the composite angular velocity data.

5. The method according to claim 1, wherein, Determining the distances between the positions at the at least three different moments and the tracking terminal includes: Based on the ultra-wideband (UWB) signal, adopt the two-way ranging method to determine the distances between the positions at the at least three different moments and the tracking terminal.

6. The method according to claim 1, wherein, Locating and tracking the tracked terminal according to the position of the tracking terminal and the position of the tracked terminal includes: Determine whether the relative distance between the tracking terminal and the tracked terminal reaches within a set range according to the position of the tracking terminal and the position of the tracked terminal; When the relative distance reaches within the set range, send a control instruction to the tracking terminal for instructing the tracking terminal to perform corresponding control operations.

7. A positioning and tracking device, wherein, Comprising: A tracked position determination module for determining the positions of the tracked terminal at at least three different moments according to the acceleration information and angular velocity information of the tracked terminal; A tracking position determination module for determining the distances between the positions at the at least three different moments and the tracking terminal, and determining the position of the tracking terminal by a three-point positioning method according to the positions at the at least three different moments and the distances; A positioning and tracking module for positioning and tracking the tracked terminal according to the position of the tracking terminal and the position of the tracked terminal; wherein, the tracked position determination module includes: A relative position determination unit for determining the relative angle and relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the acceleration information and angular velocity information of the tracked terminal; A current position determination unit for determining the position of the tracked terminal at the current moment according to the position of the tracked terminal at the previous moment, the relative angle and the relative distance; A tracked position determination unit for returning to execute the operation of determining the relative angle and relative distance between the position of the tracked terminal at the current moment and the position at the previous moment according to the acceleration information and angular velocity information of the tracked terminal until the positions of the tracked terminal at at least three different moments are obtained.

8. An electronic device, wherein, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the positioning and tracking method according to any one of claims 1-6.

9. A computer-readable storage medium, wherein, The computer-readable storage medium stores computer instructions for causing a processor to implement the positioning and tracking method according to any one of claims 1-6 when executed.

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