Outdoor positioning detection system and method based on sparse array

Abstract

The present application provides an outdoor positioning detection system and method based on a sparse array. The present application installs a positioning base station on the top of an outdoor site facility, and sets a transceiver antenna unit that can be independently fed and controlled on the positioning base station to realize directional RF signal scanning radiation. As a result, the server connected to each positioning base station can calculate the coordinates of the mobile device in the site in real time according to the feedback signal of each positioning base station, and correspondingly predict the expected coordinate range of the mobile device in the next scanning cycle. As a result, the server can issue scanning instructions to each positioning base station while locating the coordinates of the mobile device in real time, adjust the scanning intensity and radiation direction of each RF signal, and realize real-time tracking and positioning of the mobile device in the site. The present application can realize real-time monitoring of a larger site range through the sparse antenna unit array on the top of each positioning base station and the coordinated cooperation between the positioning base stations, and realize real-time positioning prompts for outdoor mobile devices.

Description

Technical Field

[0001] The present application relates to an outdoor sports auxiliary device, and more specifically to a positioning detection technology for outdoor activities such as golf. Background Art

[0002] Outdoor ball sports such as golf have large venues, and the balls often roll far away, so they are often lost. Looking for lost balls will affect the progress of the game and the sports experience. At the same time, since the ball body is mostly made of artificially synthesized polymer materials, if the lost ball cannot be found in the end, the polymer substances in the ball body are difficult to degrade naturally, thus causing irreversible pollution to the ecological environment of the venue.

[0003] In the prior art, some venues use drones to search for lost balls on the field through image recognition technology. After the drone identifies the location of the lost ball, it reports it to maintenance personnel to retrieve it on site. However, this recovery and positioning method is limited by the drone's range, camera recognition accuracy, flight weather conditions, and positioning accuracy. It is easy to be affected by trees, shrubs, or water environments, and it is impossible to obtain the image of the ball body that is blocked by obstacles. Therefore, this existing identification and positioning method often misses. The existing stadium management system often ultimately needs to rely on manual inspections. This undoubtedly increases the manpower operating costs of the stadium, and still cannot solve the problem of locating lost balls in water bodies. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present application provides an outdoor positioning detection system and method based on a sparse array, which obtains positioning identification signals through positioning base stations in the field, determines the ball identification number and its movement position, and realizes the positioning and tracking of outdoor mobile devices. The present application specifically adopts the following technical solutions.

[0005] Firstly, to achieve the above-mentioned purpose, a sparse array-based outdoor mobile device positioning detection system is proposed, which is used to track mobile devices such as spheres in a venue, and includes: a plurality of positioning base stations, which are arranged in outdoor venue facilities, and are used to radiate radio frequency signals to scan the venue near the positioning base stations, and receive echo signals fed back by the radiation units in the sphere; a server, which is connected to each positioning base station in communication, and is used to locate the coordinates of the sphere in the venue according to the feedback signals uploaded by each positioning base station, and to generate a detection control matrix in real time according to the coordinates of the sphere and the motion trajectory, and to issue scanning instructions to each positioning base station according to the detection control matrix to adjust the intensity and direction of the radio frequency signals radiated outward by each positioning base station; an interactive terminal, which is connected to the server in communication, receives the coordinates of the sphere and the motion trajectory generated by the server, and indicates the direction of the sphere in real time according to the positioning signal of the interactive terminal;

[0006] Among them, the sphere of the present application is embedded with an outdoor ball positioning unit, and the outdoor ball positioning unit includes: a kinetic power generation device, which is embedded in the inner core of the sphere and arranged with the center of the sphere as the symmetry center, and each kinetic power generation device is triggered by the rotation state of the sphere to output a feeding signal; a radiation unit, which is arranged between the inner core and the outer shell of the sphere, and the feeding end of the radiation unit is electrically connected to the output end of the kinetic power generation device, and radiates a positioning identification signal outward in response to the feeding signal of the kinetic power generation device, so that the positioning base station in the venue can determine the ball identification number and its movement position according to the positioning identification signal; a corresponding radiation unit is fixedly installed on the outside of each kinetic power generation device, and the radiation surface of each radiation unit is parallel to the kinetic power generation device to which it is connected, and the radiation surface of each radiation unit is respectively set to take the line between the center of the kinetic power generation device to which it is connected and the center of the sphere as the symmetry center.

[0007] Optionally, in any of the above-described outdoor mobile device positioning detection systems based on sparse arrays, the server is pre-set with a standard motion feature matrix T at different coordinate positions in the venue. * and its corresponding rotational component, used to obtain the feedback signal uploaded by each positioning base station Extract the motion feature α, and according to the sphere identification number in the feedback signal, combine the motion features α corresponding to the same sphere identification number into a motion feature matrix according to the coordinate position number sequence of the positioning base station And, according to the coordinate position of each positioning base station in the field and the coordinate range R of the radiation sector positioning sphere in the field corresponding to each feedback signal, according to the motion feature matrix T, find the standard motion feature matrix T corresponding to the current coordinate range R of the sphere in the field and with the minimum Hamming distance with the motion feature matrix T * , obtain the corresponding rotation component, calculate the sphere movement speed v by combining the distance between the coordinate range of the sphere detected in the previous scanning cycle and the current coordinate range, calculate the expected coordinate range R' of the sphere in the field in the next scanning cycle, and calculate the expected radiation sector of each positioning base station based on the expected coordinate range R' Generate the detection control matrix.

[0008] Optionally, in any of the above-described outdoor mobile device positioning detection systems based on sparse arrays, a transceiver antenna array is evenly arranged on the top of the housing of the positioning base station, and the transceiver state of each antenna unit in the transceiver antenna array is independently controlled by the control end of the positioning base station in the following manner: a detection control matrix corresponding to the expected radiation elevation angle θ′ of the positioning base station sent by the receiving server is used to predict the radiation sector. With the axis direction as the center, according to the transmit and receive feeding status of each antenna unit stored in the detection control matrix, each antenna unit at the corresponding position in the transmit and receive antenna array on the top of the positioning base station shell is fed, and the strength and direction of the overall outward radiation of the radio frequency signal of the transmit and receive antenna array on the top of the positioning base station shell is adjusted.

[0009] Optionally, an outdoor mobile device positioning and detection system based on a sparse array as described above, wherein a plurality of layers of antenna units are arranged in a ring on the top of the outer shell of the positioning base station to form a transceiver antenna array, the setting height of each layer of antenna units in the transceiver antenna array increases layer by layer, and the number of antenna units in each layer of the transceiver antenna array decreases layer by layer.

[0010] At the same time, in order to achieve the above purpose, the present application also provides a sparse array-based outdoor mobile device positioning detection method for tracking a mobile device such as a sphere in a venue, the steps of which include: receiving feedback signals uploaded by each positioning base station Among them, ij represents the coordinate position number of the positioning base station, represents the radiation sector of the positioning base station corresponding to the feedback signal, θ represents the radiation altitude angle corresponding to the feedback signal, A represents the echo signal fed back by the radiation unit in the sphere, and the coordinate range R of the positioning sphere in the venue is determined according to the coordinate position of each positioning base station in the venue and the radiation sector corresponding to each feedback signal; the feedback signal of each positioning base station is corrected and extracted according to the radiation altitude angle θ corresponding to the feedback signal. According to the ball identification number in the feedback signal, the motion features α corresponding to the same ball identification number are combined into a motion feature matrix according to the coordinate position number sequence of the positioning base station. According to the motion feature matrix T, the trajectory extraction model is searched to calculate the expected coordinate range R′ of the sphere in the field in the next scanning cycle; according to the expected coordinate range R′, the expected radiation sector of each positioning base station is calculated Generate a detection control matrix, and issue scanning instructions to each positioning base station according to the detection control matrix, so that each positioning base station adjusts the intensity and direction of the outwardly radiated radio frequency signal according to the scanning instructions; output the sphere coordinates and motion trajectory to the interactive terminal according to the coordinate range R of the sphere located in the venue during this scanning cycle and the corresponding expected coordinate range R′, triggering the interactive terminal to indicate the direction of the sphere in real time according to its positioning signal.

[0011] Optionally, in any of the above-described outdoor mobile device positioning detection methods based on sparse arrays, the feedback signals of each positioning base station are corrected and extracted according to the radiation altitude angle θ corresponding to the feedback signal. The steps of determining the motion characteristic α of the sphere include: calculating the spatial transmission distance between the sphere and the positioning base station according to the radiation altitude angle θ corresponding to the feedback signal and the coordinate range R of the sphere in the field, compensating the phase delay of the echo signal A caused by the spatial transmission according to the spatial transmission distance, obtaining the compensation signal A', normalizing the phase of the compensation signal A' of each positioning base station, and using the normalized phase as the feedback signal of the positioning base station. The motion characteristics of α.

[0012] Optionally, in any of the above-described outdoor mobile device positioning detection methods based on sparse arrays, the trajectory extraction model is obtained by the following steps: driving the standard sphere to run in the venue according to a preset path and rotation component, controlling the positioning base stations within a range of d meters from the standard sphere through a server, or at least controlling the n positioning base stations closest to the standard sphere to radiate radio frequency signals to the standard sphere, and receiving the echo signal A fed back by the radiation unit in the sphere; receiving the feedback signal uploaded by each positioning base station through the server For each feedback signal The phase of the echo signal A is normalized, and the normalized phases are combined into a standard motion feature matrix T corresponding to the current coordinate position and rotation component of the standard sphere according to the coordinate position number sequence of the positioning base station. * , record the standard motion feature matrix T in the trajectory extraction model * and its corresponding standard spherical coordinate position and rotation components.

[0013] Optionally, in any of the above-described outdoor mobile device positioning detection methods based on sparse arrays, the specific steps of searching the trajectory extraction model according to the motion feature matrix T and calculating the estimated coordinate range R′ of the sphere in the field in the next scanning cycle include: searching the standard motion feature matrix T corresponding to the coordinate range in the trajectory extraction model according to the coordinate range R of the sphere in the field; * , select the standard motion feature matrix T with the smallest Hamming distance to the motion feature matrix T * , extract the corresponding rotation component; calculate the ball movement speed v according to the distance between the coordinate range of the ball detected in the previous scanning cycle and the current coordinate range, and correct the ball movement speed with the rotation component direction, and obtain the acceleration of the sphere in, Among them, C D is the spherical damping coefficient, ρ a is the air density, d is the outer diameter of the sphere, m is the weight of the sphere, and the speed of the sphere is The initial condition is the acceleration of the sphere A second integration is performed according to the scanning cycle to obtain the estimated coordinate range R′ of the sphere in the field in the next scanning cycle.

[0014] Optionally, in any of the above-described outdoor mobile device positioning detection methods based on sparse arrays, the estimated radiation sectors of each positioning base station are calculated according to the estimated coordinate range R′. Generate a detection control matrix, issue a scanning instruction to each positioning base station according to the detection control matrix, and make each positioning base station adjust the intensity and direction of the outwardly radiated radio frequency signal according to the scanning instruction. The specific steps include: connecting the coordinates of each positioning base station with the center of the expected coordinate range R', determining the expected radiation sector Axis direction, according to the acceleration of the sphere The vertical displacement component obtained by the second integration determines the expected radiation elevation angle θ′ corresponding to each positioning base station in the next scanning cycle; according to the expected radiation sector The axis direction and the expected radiation elevation angle θ′ corresponding to the positioning base station are retrieved from the pre-trained detection control matrix, and the transceiver state of each antenna unit in the transceiver antenna array on the top of each positioning base station shell is controlled according to the detection control matrix, so that the overall array pattern of the transceiver antenna array has a matching with its expected radiation sector. And the radiation signal gain intensity and radiation direction at the expected radiation elevation angle θ′.

[0015] Optionally, in any of the above-described outdoor mobile device positioning detection methods based on sparse arrays, a detection control matrix matching different expected radiation altitude angles θ′ is pre-stored in the server, and each element in the detection control matrix corresponds to the transceiver feeding state of each antenna unit in the transceiver antenna array on the top of the positioning base station housing; the step of controlling the transceiver state of each antenna unit in the transceiver antenna array on the top of each positioning base station housing according to the detection control matrix specifically includes: using the expected radiation sector With the axis direction as the center, according to the transmit and receive feeding status of each antenna unit stored in the detection control matrix, each antenna unit at the corresponding position in the transmit and receive antenna array on the top of the positioning base station shell is fed, where the feeding intensity is positively correlated to the spatial distance from the expected coordinate range R′ to the positioning base station.

[0016] Beneficial Effects

[0017] The present application installs a positioning base station on the top of the site facilities, and sets a transceiver antenna unit capable of independent feeding control on the positioning base station to realize directional RF signal scanning radiation. As a result, the server connected to each positioning base station can calculate the coordinates of the sphere in real time according to the feedback signal of each positioning base station, and accordingly predict the expected coordinate range of the sphere in the next scanning cycle. As a result, the server can issue scanning instructions to each positioning base station to adjust the scanning intensity and radiation direction of each RF signal while locating the coordinates of the sphere in real time, so as to realize real-time tracking and positioning of the sphere in the site. The present application can realize real-time monitoring of a larger site range through the sparse antenna unit array on the top of each positioning base station and the coordinated cooperation between the positioning base stations, and realize real-time positioning prompts for outdoor mobile devices.

[0018] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or may be understood by practicing the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0020] Figure 1 is a schematic diagram of the internal structure of a golf ball of the present application;

[0021] Figure 2 It is a schematic diagram of the structure principle of the outdoor ball positioning unit of the present application;

[0022] Figure 3 It is a schematic diagram of the interaction mode of each device in the system of this application;

[0023] Figure 4 is the directional diagram of any radiating unit in the outdoor spherical positioning unit of the present application;

[0024] Figure 5 It is a schematic diagram of the system of the present application performing positioning detection on an outdoor sphere.

[0025] In the figure, 1 represents a kinetic energy power generation device; 2 represents a radiation unit; 3 represents an inner core; 4 represents a mantle layer; 5 represents an outer shell; 6 represents a positioning base station; 7 represents a ball hole; and 8 represents a server. DETAILED DESCRIPTION

[0026] In order to make the purpose and technical solution of the embodiment of the present application clearer, the technical solution of the embodiment of the present application will be clearly and completely described in conjunction with the drawings of the embodiment of the present application. Obviously, the described embodiment is a part of the embodiment of the present application, not all of the embodiments. Based on the described embodiment of the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0027] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0028] The meaning of "and / or" described in this application means that the situations where each exists alone or both exist at the same time are included.

[0029] The meaning of "inside" and "outside" in this application refers to the direction from the outer shell to the inner core of the golf ball body itself, and the opposite direction is outside; it is not a specific limitation on the device mechanism of this application.

[0030] The term “connection” as used in this application may mean a direct connection between components or an indirect connection between components via other components.

[0031] Figure 1 The outdoor mobile device detected by the detection system of the present application can be any outdoor ball sports device such as golf, tennis, ground ball, bocce ball, shot put, etc. The ball of the present application is generally configured to be composed of a core 3 and an outer shell 5. The present application embeds an outdoor ball positioning unit inside the ball, and the positioning unit includes:

[0032] Kinetic energy power generation devices 1 are embedded in the inner core 3 of the sphere and arranged symmetrically with the center of the sphere as the center. Each kinetic energy power generation device 1 is triggered by the rotation state of the sphere to output a feed signal.

[0033] A radiation unit 2 is disposed between the inner core 3 and the outer shell 5 of the sphere, wherein the feeding end of the radiation unit is electrically connected to the output end of the kinetic energy power generation device 1, and radiates a positioning identification signal outward in response to the feeding signal of the kinetic energy power generation device 1, so that the positioning base station in the field can determine the identification number of the sphere and its moving position according to the positioning identification signal;

[0034] A corresponding radiation unit 2 is fixedly installed on the outside of each kinetic energy power generation device 1, and the radiation surface of each radiation unit 2 is parallel to the kinetic energy power generation device 1 to which it is connected, and the radiation surface of each radiation unit 2 is respectively set to take the line between the center of the kinetic energy power generation device 1 to which it is connected and the center of the sphere as the symmetry center.

[0035] refer to Figure 3 As shown in the figure, each positioning base station 6 set in the venue periodically radiates detection signals outward. After receiving the detection signal, the golf ball equipped with the above positioning unit will superimpose the positioning identification signal on the feedback echo signal through the internal radiation unit. Therefore, when the ball passes through each positioning base station, each positioning base station near the ball can Figure 5 The method shown in the figure determines the sphere identification number according to the positioning identification signal carried by the feedback echo, and determines the sphere identification number according to the feedback signal detected by each base station. The corresponding radiation sector And the radiation altitude angle θ corresponding to the feedback signal, calculate the movement position of the ball. Each base station periodically monitors the movement position of the ball, and can generate and predict the movement trajectory of the ball accordingly. Therefore, after the ball stops moving or rolls into the detection signal blind spot and loses the positioning identification signal, it can still be roughly positioned according to the previously identified movement trajectory to reduce the search range of the lost ball and facilitate the recovery of the ball.

[0036] In order to facilitate the positioning base stations at different locations to identify the positioning identification signals radiated outward by the positioning units, the present application may further refer to Figure 1 and Figure 2 As shown, in the inner core of the sphere, each of the kinetic energy power generation devices 1 is connected end to end to form a regular tetrahedron inscribed in the inner core 3. Thus, each of the kinetic energy power generation devices 1 can provide support for the inner core to improve the structural strength of the inner core, and can also feed power to radiation units in different directions through power generation devices in different directions in space, so as to facilitate the positioning units at various positions in the stadium to receive the positioning identification signals radiated outward by the positioning units from different radiation directions.

[0037] Each kinetic energy power generation device 1 in the inner core of the sphere can be respectively configured to include:

[0038] The core tube 10 is hollow inside and has a smooth inner wall;

[0039] A first magnet 11 is disposed at one end of the core tube 10;

[0040] A second magnet 12, which is disposed at the other end of the core tube 10;

[0041] The middle magnet 13 is disposed in the core tube 10 and is located between the first magnet 11 and the second magnet 12;

[0042] The coil 16 is wound around the outer circumference of the core tube 10 and completely covers the area between the first magnet 11 and the second magnet 12. The outlet end of the coil 16 is arranged at the middle position of the core tube 10.

[0043] The magnetic poles of the adjacent end faces between the first magnet 11, the second magnet 12 and the middle magnet 13 are arranged to repel each other magnetically, and a buffer structure is also arranged between the adjacent end faces. The middle magnet 13 slides back and forth between the first magnet 11 and the second magnet 12 along the inner wall of the core tube 10 in response to the change of the rotation state of the sphere, and reciprocates and vibrates in the coil 16. The sliding of the magnet inside the coil causes the magnetic flux in the coil to change, so that the coil output terminal outputs a feeding signal.

[0044] In the present application, the feed signal output by the kinetic energy power generation device can be directly fed into the radiation unit through the feed line, or it can be modulated by the modulation circuit set in the core and then fed into the radiation unit. When the feed signal is directly fed into the radiation unit through the feed line, the present application can select and tune the harmonics of the feed signal through the parasitic inductance generated by the structure of the radiation unit 2 itself, thereby realizing the output of the positioning identification signal.

[0045] Specific reference Figure 2 As shown, in the present application, the radiation unit 2 may be specifically configured to include:

[0046] A flexible material substrate 21, the outer surface of which is in contact with the inner wall of the housing 5;

[0047] The annular radiation layer 22 is engraved on the outer surface of the flexible material substrate 21 by laser etching, and has two oppositely arranged radiation monomers, each of which is respectively provided with at least two layers of concentrically arranged semi-ring structures, and the layers of semi-ring structures of each radiation monomer are sequentially connected layer by layer;

[0048] The connecting unit 23 includes a pair of connecting units 23 disposed at the center of the annular radiation layer 22 facing the kinetic energy power generation device 1, and a chip installation gap parallel to the long axis direction of the core tube 10 is provided between the two connecting units for installing the chip 24;

[0049] Each connection unit extends outward to connect to the innermost half-ring structure end of the radiation monomer on one side, and each connection unit is connected to the output terminal on one side of the kinetic energy power generation device 1.

[0050] The two radiation monomers in the annular radiation layer 22 of the present application are arranged to be symmetrical with respect to the center of the chip 24, the inner diameter and outer diameter of the semi-ring structure of the same layer between the two radiation monomers are equal, and the radial connection structure between each layer of the semi-ring structure and the extension structure between the connection unit and the innermost semi-ring structure appear alternately at both ends of the semi-ring structure. Figure 2Taking the double-layer semi-ring structure shown as an example, the left end of the first connection unit extends outward and is connected to the top of the inner semi-ring structure, and the bottom of the inner semi-ring structure turns outward and is connected to the bottom of the outer semi-ring structure; the right end of the second connection unit extends outward and is connected to the bottom of the inner semi-ring structure, and the top of the inner semi-ring structure turns outward and is connected to the top of the outer semi-ring structure. Therefore, the feeding signal fed by any connection unit to the radiating monomer connected thereto can obtain a corresponding symmetrical signal in the radiating monomer on the other side. For example, when the first connection unit feeds a feeding current, the current is output counterclockwise from the upper part to the bottom of the outer semi-ring structure in the inner semi-ring structure, and then fed clockwise from the bottom of the outer semi-ring structure to the top end of the structure. The feeding method on the other side is symmetrical. As a result, the electrical signals between the left and right semi-ring structures are continuous, forming an equivalent inductance; parasitic capacitance is formed between each layer of semi-ring structure, and is tuned with the equivalent inductive reactance, and radiates outward through the annular gap structure between the two.

[0051] The connection unit at the center of the radiation unit 2 of the present application can be set as a semicircular structure to connect the chip 24 through its straight edge and couple the inner semi-ring structure through its curved edge. The radius size of the connection unit, the gap distance between each layer of the semi-ring structure and the thickness can be flexibly adjusted according to the radiation frequency of the positioning identification signal. Since each layer of the semi-ring structure is coupled to form a parasitic reactance, the present application preferably sets the gap direction of the chip installed between the connection units to be perpendicular to the gap direction between the radiation monomers. In this way, it is possible to avoid the extension structure set at a close distance between the innermost connection unit and the semi-ring structure from further generating parasitic capacitance, thereby affecting the radiation direction of the outer annular radiation gap. Therefore, the radiation unit of the present application can be circularly polarized in a manner to Figure 4 The directional pattern outputs a positioning identification signal to realize radiation output in various directions through the radiation units in various directions inside the ball body, which is convenient for the positioning base station 6 to receive. In the present application, the main radiation direction width of each radiation unit in the ball body reaches 120° and its main lobe is close to a hemispherical shape. Therefore, the golf ball of the present application can radiate positioning identification signals uniformly outward through its radiation units 2 in various directions, so as to be identified by the positioning base stations at various positions on the golf course. Each positioning base station can connect to the server 8 through a wireless network, and upload the received positioning identification signals to the server in real time. The server calculates the coordinate position of the sphere relative to each positioning base station according to the signal strength, frequency deviation, phase offset and / or receiving angle of each positioning identification signal.

[0052] The present application may further provide a receiving terminal for positioning identification signals in the hole 7, so as to realize automatic scoring according to the ball identification number carried by the receiving terminal.

[0053] Taking a golf ball with a hard core and several mantle layers 4 as an example, the golf ball of the present application can be specifically configured to form the core 3 by injection molding or die casting of a non-polybutadiene material. During the injection molding or die casting process, the kinetic energy generator 1 is buried in the non-polybutadiene material, and the feeder wire at the output end of the outer coil of the kinetic energy generator 1 is led out. Then, any one of PI (polyimide resin, polyimide) material, sarling resin, polyurethane, or a combination of the above materials is used to cover the outer periphery of the core as the mantle layer 4. During the generation process of the mantle layer 4, the feeder wire at the output end is retained, and the setting range of the radiation unit 2 is determined based on the feeder lead-out end, and the flexible material substrate 21 is covered within this range, or the annular radiation layer 22 is directly engraved on the outer surface of the PI material by laser etching at the corresponding position in the mantle layer 4 of the PI material.

[0054] In order to ensure that the feeder is stably connected to the connection unit at the center of the radiation unit 2 to achieve power feeding, and to provide rotational inertia through the mantle layer 4 in all directions inside the sphere to keep the sphere stable, the present application preferably sets the flexible material substrate 21 as a PI film that is thick in the middle and thin around. For the mantle layer 4 that is made of PI material, the present application can also set a PI layer thickening at the position corresponding to the radiation unit 2. Thus, the annular radiation layer 22 and the connection unit 23 can be directly generated by etching through the outer surface of the PI film, and the connection unit 23 can also directly achieve the output of the feed signal through the connection through hole formed when covering the PI layer through the laser conversion of the LIG material and the conductive gel coated in the gap of the connection through hole. The feeder at the outlet end of the kinetic energy power generation device 1 passes through the connection through hole, and the connection unit is connected to the annular radiation layer 22 to achieve the output of the positioning identification signal. In the present application, the connection unit and the annular radiation layer 22 are both set as laser induced graphene (LIG) generated by the conversion of the PI film through the laser etching process, which has a flexible structure and can fit the deformation caused by the external force on the outer shell of the sphere without affecting the normal operation of the circuit radiation structure. The structure of the radiation unit 2, which is thick in the middle and thin around, can reduce the influence of the deformation of the inner side of the radiation structure on the signal radiation characteristics during the hitting and rotation of the ball, and ensure the recognition effect of the positioning base station integrated in the lawn irrigation sprinkler, light box and other devices. A metal reflective layer can be set at the bottom of the radiation unit 2 to improve the radiation intensity of the annular radiation layer 22 and protect the kinetic energy power generation device 1 in the sphere from being affected by the external electromagnetic environment and its feeding effect.

[0055] In the present application, the annular radiation layer 22 and the connection unit 23 of each radiation unit 2 can be respectively generated by etching the outer surface of the PI material of the mantle layer 4, and the thickness of the laser induced graphene (LIG) generated can be adjusted by adjusting the laser intensity to achieve the effect of penetrating the entire PI layer. Thus, the connection unit is directly connected to the feeding connection line to realize feeding, and the thickness of the LIG material can also provide additional strength, and cooperate with the outer shell to limit the thickened part of the PI mantle layer 4 to further protect the electrical connection radiation path to work stably.

[0056] In order to prevent the magnets in the kinetic energy power generation device 1 inside the sphere of the present application from breaking during the reciprocating collision process, the present application can further wrap a layer of TPE film with a smooth surface tightly and evenly on the surface of each of the first magnet 11, the second magnet 12 and the middle magnet 13, and provide protection and buffering through the TPE film. The inner wall surface of the core tube 10 can be evenly coated with a lubricating coating so that each magnet can reciprocate sensitively in the coil as the sphere rotates. The first magnet 11 and the second magnet 12 can be fixed at both ends of the kinetic energy power generation device 1, or they can slide freely in the core tube through the protection of the buffer material at their ends.

[0057] In view of the arrangement of the first magnet 11 and the second magnet 12 to slide freely in the core tube, the present application preferably arranges the coil 16 into two groups, including a first outlet end that is evenly wound from the end where the first magnet 11 is located to the middle position of the core tube 10, and a second outlet end that is evenly wound from the end where the second magnet 12 is located to the middle position of the core tube 10. Since the winding directions of the first outlet end and the second outlet end coils along the circumference of the core tube are opposite, under the same rotation state, the feeding signals output by the first outlet end and the second outlet end are opposite, and after being connected to the radiation unit 2 to form a feeding loop, the two outlet ends can synchronously provide continuous phase feeding outputs for the two groups of radiation monomers in the radiation unit, thereby increasing the feeding strength of the radiation unit through the additional magnetic flux introduced by the first magnet 11 and the second magnet 12, thereby improving the radiation strength of the positioning identification signal, which is convenient for the positioning base station to perform positioning identification.

[0058] In a specific implementation, the buffer structure between each magnet and the core tube can be set as: a spring 15 fixedly mounted on the inner end surface of the first magnet 11 and the second magnet 12, and a rebound sheet 14 fixedly mounted on the inner end of the spring 15. When the core tube tilts to one side as the sphere rotates, each magnet moves downward along the tilt direction accordingly. Since the magnetic poles between the middle magnet and the two end magnets repel each other, the magnetic lines of force between the middle magnet and the two end magnets cut the coil to generate an induced current, thereby realizing the feeding output. Since the magnetic flux between the middle magnet and the first magnet 11, and between the middle magnet and the second magnet 12 are opposite, the induced current generated in the coil also flows in the opposite direction, so that the feeding signal has positive and negative polarity, thereby realizing omnidirectional radiation output.

[0059] In other implementations, the buffer structures between the above-mentioned magnets and at the ends of the two end magnets can also be replaced by lubricating liquid filled in the core tube 10. Gaps for the passage of lubricating liquid are respectively left between the outer peripheries of the first magnet 11, the second magnet 12 and the middle magnet 13 and the inner wall of the core tube 10, so that each magnet can be buffered by the lubricating liquid and slide accordingly in the core tube with the movement of the ball to achieve magnetic flux changes, and generate induced current in the coil accordingly.

[0060] Therefore, the present application uses the kinetic energy power generation device 1 inside the sphere to directly provide power supply based on the motion state of the sphere, thereby realizing the radiation output of the positioning identification signal, thereby realizing real-time positioning and identifying and recording the motion trajectory of each golf ball based on the radiation signal of the sphere through the positioning base station integrated in the outdoor venue facilities such as the golf course lawn irrigation sprinkler and light box in the following manner:

[0061] The server receives the feedback signals uploaded by each positioning base station 6 in turn according to the predetermined interaction cycle. Among them, ij represents the coordinate position number of the positioning base station, represents the radiation sector of the positioning base station corresponding to the feedback signal, θ represents the radiation altitude angle corresponding to the feedback signal, and A represents the echo signal fed back by the radiation unit 2 in the sphere. The echo signal contains the sphere identification number. Therefore, the server can determine the sphere identity corresponding to each feedback signal according to the sphere identification number. According to the coordinate position of each positioning base station 6 in the site, with the coordinate position of each positioning base station as the center of the circle, according to the radiation sector in which the positioning base station receives the feedback signal of the sphere, the overlapping range of the radiation sectors of each positioning base station is determined, so as to locate the coordinate range R of the sphere in the site according to the radiation sector corresponding to each feedback signal;

[0062] Then, the server can correct and extract the feedback signal of each positioning base station according to the radiation altitude angle θ corresponding to the feedback signal According to the sphere identification number in the feedback signal, the motion features α corresponding to the same sphere identification number are combined into a motion feature matrix corresponding to the sphere with the same number according to the coordinate position number sequence of the positioning base station. Find the trajectory extraction model according to the motion feature matrix T and calculate the expected coordinate range R′ of the ball in the field in the next scanning cycle;

[0063] Therefore, the server can further calculate the expected radiation sector of each positioning base station 6 according to the expected coordinate range R′ Generate a detection control matrix, and issue a scanning instruction to each positioning base station 6 according to the detection control matrix, so that each positioning base station 6 adjusts the intensity and direction of the outwardly radiated radio frequency signal according to the scanning instruction to mainly tend to the expected radiation sector And ensure that the feeding strength of each antenna unit is sufficient to radiate the detection signal to the sphere at the expected coordinate range R′, so as to ensure that each positioning base station can effectively receive the echo signal fed back by the sphere;

[0064] While performing the above-mentioned interactive control, the server of the present application also synchronously outputs the sphere coordinates and motion trajectory to the interactive terminal according to the coordinate range R of the sphere located in the venue during this scanning cycle and the corresponding estimated coordinate range R′, triggering the interactive terminal to indicate the direction of the sphere in real time according to its positioning signal, so as to facilitate the user to search for the sphere in the venue.

[0065] In the process of positioning calculation performed by the server according to the echo signal fed back by the radiation unit 2 in the sphere, the calculation process can be further simplified in the following way to achieve a more accurate trajectory prediction effect:

[0066] According to the predetermined interaction cycle, the feedback signals uploaded by each positioning base station 6 are received in turn The identity of the ball corresponding to each feedback signal can be determined according to the ball identification number. Figure 5 As shown, for each feedback signal belonging to the same sphere According to the coordinate position of each positioning base station 6 in the site, with the coordinate position of each positioning base station as the center of the circle, according to the radiation sector in which the positioning base station receives the feedback signal of the sphere, the overlapping range of the radiation sectors of each positioning base station is determined, so as to locate the coordinate range R of the sphere in the site according to the radiation sector corresponding to each feedback signal;

[0067] Then, according to the radiation elevation angle θ corresponding to the feedback signal, the feedback signal of each positioning base station is corrected and extracted through the following steps: Motion characteristic α: Calculate the spatial transmission distance between the sphere and the positioning base station based on the radiation altitude angle θ corresponding to the feedback signal and the coordinate range R of the sphere in the venue, and compensate the phase delay of the echo signal A caused by spatial transmission according to the spatial transmission distance to obtain the compensation signal A'. After removing the phase delay caused by spatial transmission, the compensation signal A' can directly reflect the rotational acceleration in various directions carried by the sphere due to its own rotational inertia. Since the phase change of the compensation signal A' received by each positioning base station only reflects the rotational acceleration corresponding to the receiving direction of the base station, the acceleration state of the sphere in various directions can be obtained by normalizing the phase of the compensation signal A' obtained by each base station, and the normalized phase is used as the feedback signal of the positioning base station. The motion feature α is used to extract the motion state of the sphere and predict the estimated coordinate range R′ of the next scanning cycle.

[0068] In the specific prediction process, the server combines the motion features α corresponding to the same sphere identification number according to the coordinate position number sequence of the positioning base station into a motion feature matrix corresponding to the sphere with the same sphere identification number according to the sphere identification number in the feedback signal. Find the trajectory extraction model according to the motion feature matrix T to calculate the expected coordinate range R′ of the ball in the field in the next scanning cycle;

[0069] Among them, the trajectory extraction model can be generated in advance through the following steps to record the matching relationship between different motion feature matrices and different rotation components of the sphere, and provide a calculation basis for calculating the expected coordinate range R′ of the sphere in the venue in the next scanning cycle: drive the standard sphere to run in the venue according to the preset path and rotation component, and control the positioning base station 6 within the range of d meters from the standard sphere through the server 8, or at least control the n positioning base stations closest to the standard sphere to radiate radio frequency signals to the standard sphere, and receive the echo signal A fed back by the radiation unit 2 in the sphere; receive the feedback signal uploaded by each positioning base station 6 through the server 8 For each feedback signal The phase of the standard sphere echo signal A corresponding to the same coordinate position and the same rotation component is normalized, and the normalized phases are combined into a standard motion feature matrix T corresponding to the current coordinate position and rotation component of the standard sphere according to the coordinate position numbering sequence of the positioning base station. * , that is, the standard motion characteristic matrix T at a specific position and a specific rotation state * The standard motion feature matrix T is recorded in the trajectory extraction model. * The standard sphere coordinate position and rotation component corresponding to it can be used in the subsequent calculation process to identify the standard matrix closest to it according to the different motion characteristic matrices of the sphere, so as to evaluate the rotation component state corresponding to the sphere.

[0070] Therefore, after searching the trajectory extraction model according to the motion feature matrix T, the expected coordinate range R′ of the sphere in the field in the next scanning cycle can be calculated by integration:

[0071] 1. According to the coordinate range R of the sphere in the field, find the standard motion feature matrix T corresponding to the coordinate range in the trajectory extraction model * , select the standard motion feature matrix T with the smallest Hamming distance to the motion feature matrix T * , extract the corresponding rotation component;

[0072] 2. Calculate the ball's movement speed v based on the distance between the coordinate range of the ball detected in the previous scanning cycle and the current coordinate range, and correct the ball's movement speed with the rotation component. The specific direction of the sphere is obtained in, Indicates the influence of air resistance on the sphere, where C D is the spherical damping coefficient, ρ a is the air density, d is the outer diameter of the sphere, and m is the weight of the sphere. For the initial condition, the sphere at the current position is set according to its real-time acceleration After one integration, the change of the ball's running speed in the next scanning cycle can be obtained. Then, the speed variable obtained by the first integration is integrated again to obtain the movement of the ball in the field in the next scanning cycle, thereby estimating the expected coordinate range R' of the ball in the next scanning cycle.

[0073] Therefore, the server can further calculate the expected radiation sector of each positioning base station 6 according to the expected coordinate range R′ in the following manner: Generate a detection control matrix, and issue a scanning instruction to each positioning base station 6 according to the detection control matrix, so that each positioning base station 6 adjusts the intensity and direction of the outwardly radiated radio frequency signal according to the scanning instruction to mainly tend to the expected radiation sector And ensure that the feeding strength of each antenna unit is sufficient to radiate the detection signal to the sphere at the expected coordinate range R′, so as to ensure that each positioning base station can effectively receive the echo signal fed back by the sphere:

[0074] Connect the coordinates of each positioning base station 6 with the center of the estimated coordinate range R', and determine the estimated radiation sector of each positioning base station based on the connection line The direction of the axis is based on the acceleration of the sphere The displacement component perpendicular to the ground direction obtained by the second integration determines the estimated radiation altitude angle θ′ corresponding to each positioning base station 6 in the next scanning cycle;

[0075] According to the expected radiation sector The axis direction and the predicted radiation altitude angle θ′ corresponding to the positioning base station 6 are retrieved from the server, and the detection control matrix pre-trained and matched to the altitude is obtained. The transceiver state of each antenna unit in the transceiver antenna array on the top of the housing of each positioning base station 6 is controlled according to the detection control matrix, so that the overall array pattern of the transceiver antenna array has a radiation sector that matches its predicted radiation sector. The radiation signal gain intensity and radiation direction of the expected radiation height angle θ′ are calculated, and at the same time, other radiation directions are scanned by feeding other antenna arrays to avoid missing spheres in other directions.

[0076] In the present application, a plurality of layers of antenna units may be arranged in a ring on the top of the housing of the positioning base station 6 to form a transceiver antenna array. The height of each layer of antenna units in the transceiver antenna array increases layer by layer, and the number of antenna units in each layer of the transceiver antenna array decreases layer by layer. The server pre-stores a detection control matrix matching different expected radiation height angles θ′, and each element in the detection control matrix corresponds to the corresponding expected radiation sector in the transceiver antenna array on the top of the housing of the positioning base station 6. Therefore, the server can control the transceiver status of each antenna unit in the transceiver antenna array on the top of the housing of each positioning base station 6 in the following manner according to the detection control matrix:

[0077] Expected radiation sector With the axis direction as the center, according to the receiving and transmitting feeding status of each antenna unit stored in the detection control matrix, some antenna units corresponding to the radiation sector in the receiving and transmitting antenna array on the top of the housing of the positioning base station 6 are fed to make them radiate outward as the transmitting end 61, while other antenna units are used as the receiving end 62 to receive feedback signals. During the feeding process, the feeding strength of each transmitting end 61 can be determined according to the spatial distance from the expected coordinate range R′ to the positioning base station 6, providing a larger power feeding input when the spatial distance is far, and providing a smaller power feeding input when the spatial distance is close. In addition, while ensuring that the expected radiation sector While predicting the electromagnetic radiation output within the coordinate range R′, other antenna units can also be fed alternately and synchronously, thereby correspondingly stimulating other antenna units to act as transmitters to traverse and scan other areas near the positioning base station. In this process, they receive feedback signals correspondingly with the antenna units that are not transmitters, which can effectively avoid missing the echo signals fed back by the sphere.

[0078] Therefore, after receiving the echo signals from other new sectors, each positioning base station will also package them and report them to the server. Through the same steps as mentioned above, the newly appeared spherical feedback echo signals can be located and tracked, and the interactive tracking of any number of mobile devices in the entire venue area can be achieved through the sparsely arranged positioning base stations in the venue.

[0079] The above is only an implementation method of the present application, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present application. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application.

Claims

1. A sparse array-based outdoor mobile device positioning detection system for tracking mobile devices in a venue, characterized in that: include: A plurality of positioning base stations (6) are arranged in outdoor facilities and are used to radiate radio frequency signals to scan the area near the positioning base stations (6) and receive echo signals fed back by the radiation units (2) in the mobile devices; A server (8) is connected to each positioning base station (6) for locating the coordinates of a mobile device in a field according to feedback signals uploaded by each positioning base station (6), generating a detection control matrix in real time according to the coordinates and motion trajectory of the mobile device, and issuing scanning instructions to each positioning base station (6) according to the detection control matrix to adjust the intensity and direction of the radio frequency signal radiated outward by each positioning base station (6); An interactive terminal is connected to the server for communication, receives the coordinates and motion trajectory of the mobile device generated by the server, and indicates the direction of the mobile device in real time according to the positioning signal of the interactive terminal; The server (8) is pre-set with standard motion feature matrices T at different coordinate positions in the venue. * and its corresponding rotational component, used to obtain feedback signals uploaded by each positioning base station (6) Extract motion feature α, where ij represents the coordinate position number of the positioning base station, represents the radiation sector of the positioning base station corresponding to the feedback signal, θ represents the radiation altitude angle corresponding to the feedback signal, A represents the echo signal fed back by the radiation unit (2) in the mobile device, and according to the mobile device identification number in the feedback signal, the motion features α corresponding to the same mobile device identification number are combined into a motion feature matrix according to the coordinate position number sequence of the positioning base station Among them, any element α in the motion feature matrix T ij The feedback signal r represents the coordinate position of the positioning base station numbered ij ij The corresponding motion feature, α 1J The feedback signal r indicating the coordinate position of the positioning base station numbered 1J 1J The corresponding motion feature, α IJ The feedback signal r indicating the coordinate position of the positioning base station is numbered IJ IJ The corresponding motion feature, the coordinate position number ij of the positioning base station has a value range of Furthermore, according to the coordinate positions of each positioning base station (6) in the field and the coordinate range R of the radiation sector positioning mobile device in the field corresponding to each feedback signal, a standard motion feature matrix T corresponding to the current coordinate range R of the sphere in the field and having the minimum Hamming distance with the motion feature matrix T is searched according to the motion feature matrix T. * , obtain the corresponding rotation component, calculate the moving speed v of the mobile device by combining the distance between the coordinate range of the mobile device in the site detected in the previous scanning cycle and the current coordinate range, calculate the expected coordinate range R' of the mobile device in the site in the next scanning cycle, and calculate the expected radiation sector of each positioning base station (6) according to the expected coordinate range R' Generate a detection control matrix; The top of the housing of the positioning base station (6) is evenly arranged with a transceiver antenna array, and the transceiver state of each antenna unit in the transceiver antenna array is independently controlled by the control end of the positioning base station (6) in the following manner: The detection control matrix corresponding to the estimated radiation elevation angle θ′ of the positioning base station sent by the receiving server is used to estimate the radiation sector. With the axis direction as the center, according to the receiving and transmitting feeding status of each antenna unit stored in the detection control matrix, each antenna unit at the corresponding position in the receiving and transmitting antenna array on the top of the housing of the positioning base station (6) is fed, so as to adjust the intensity and direction of the radio frequency signal radiated outward by the receiving and transmitting antenna array on the top of the housing of the positioning base station (6) as a whole.

2. The outdoor mobile device positioning detection system based on sparse array as claimed in claim 1, characterized in that: A plurality of layers of antenna units are arranged in a ring on the top of the outer shell of the positioning base station (6) to form a transceiver antenna array. The height of the antenna units in each layer of the transceiver antenna array increases layer by layer, and the number of antenna units in each layer of the transceiver antenna array decreases layer by layer.

3. A method for locating and detecting an outdoor mobile device based on a sparse array, for tracking a mobile device in a venue, characterized in that the steps include: Receive feedback signals uploaded by each positioning base station (6) Among them, ij represents the coordinate position number of the positioning base station, represents the radiation sector of the positioning base station corresponding to the feedback signal, θ represents the radiation altitude angle corresponding to the feedback signal, A represents the echo signal fed back by the radiation unit (2) in the mobile device, and the coordinate range R of the positioning mobile device in the site is determined according to the coordinate position of each positioning base station (6) in the site and the radiation sector corresponding to each feedback signal; According to the radiation elevation angle θ corresponding to the feedback signal, the feedback signal of each positioning base station is corrected and extracted. According to the mobile device identification number in the feedback signal, the motion features α corresponding to the same mobile device identification number are combined into a motion feature matrix according to the coordinate position number sequence of the positioning base station. According to the motion feature matrix T, the trajectory extraction model is searched and the estimated coordinate range R′ of the mobile device in the field in the next scanning cycle is calculated. ij The feedback signal r represents the coordinate position of the positioning base station numbered ij ij The corresponding motion feature, α 1J The feedback signal r indicating the coordinate position of the positioning base station numbered 1J 1J The corresponding motion feature, α IJ The feedback signal r indicating the coordinate position of the positioning base station is numbered IJ IJ The corresponding motion feature, the coordinate position number ij of the positioning base station has a value range of Calculate the expected radiation sector of each positioning base station (6) according to the expected coordinate range R′ Generate a detection control matrix, and issue a scanning instruction to each positioning base station (6) according to the detection control matrix, so that each positioning base station (6) adjusts the intensity and direction of the radio frequency signal radiated outward according to the scanning instruction; Output the coordinates and motion trajectory of the mobile device to the interactive terminal according to the coordinate range R of the mobile device located in the site during this scanning cycle and the corresponding estimated coordinate range R′, triggering the interactive terminal to indicate the direction of the mobile device in real time according to its positioning signal; The estimated radiation sectors of each positioning base station (6) are calculated according to the estimated coordinate range R′. The specific steps of generating a detection control matrix, issuing a scanning instruction to each positioning base station (6) according to the detection control matrix, and causing each positioning base station (6) to adjust the intensity and direction of the outwardly radiated radio frequency signal according to the scanning instruction include: Connect the coordinates of each positioning base station (6) with the center of the estimated coordinate range R' to determine the estimated radiation sector Axis direction, according to the acceleration of the mobile device The vertical displacement component obtained by the secondary integration determines the estimated radiation altitude angle θ′ corresponding to each positioning base station (6) in the next scanning cycle; According to the expected radiation sector The axis direction and the predicted radiation elevation angle θ′ corresponding to the positioning base station (6) are used to retrieve the detection control matrix obtained by pre-training, and the transceiver state of each antenna unit in the transceiver antenna array on the top of the housing of each positioning base station (6) is controlled according to the detection control matrix, so that the overall array pattern of the transceiver antenna array has a radiation sector that matches its predicted radiation sector. and the radiation signal gain intensity and radiation direction at the expected radiation altitude angle θ′; The server pre-stores a detection control matrix matching different expected radiation altitude angles θ′, and each element in the detection control matrix corresponds to the transceiver feeding state of each antenna unit in the transceiver antenna array on the top of the housing of the positioning base station (6); The step of controlling the transceiver state of each antenna unit in the transceiver antenna array on the top of the housing of each positioning base station (6) according to the detection control matrix specifically includes: Expected radiation sector With the axis direction as the center, according to the receiving and transmitting feeding status of each antenna unit stored in the detection control matrix, each antenna unit at the corresponding position in the receiving and transmitting antenna array on the top of the housing of the positioning base station (6) is fed, wherein the feeding intensity is positively correlated to the spatial distance of the expected coordinate range R′ from the positioning base station (6).

4. The outdoor mobile device positioning detection method based on sparse array according to claim 3, characterized in that: According to the radiation elevation angle θ corresponding to the feedback signal, the feedback signal of each positioning base station is corrected and extracted. The steps of obtaining the motion feature α include: The spatial transmission distance between the mobile device and the positioning base station is calculated according to the radiation altitude angle θ corresponding to the feedback signal and the coordinate range R of the mobile device in the field. The phase delay of the echo signal A caused by spatial transmission is compensated according to the spatial transmission distance to obtain the compensation signal A'. The phase of the compensation signal A' of each positioning base station is normalized and the normalized phase is used as the feedback signal of the positioning base station. The motion characteristics of α.

5. The outdoor mobile device positioning detection method based on sparse array according to claim 3, characterized in that: The trajectory extraction model is obtained by the following steps: The standard sphere is driven to move in the field according to a preset path and rotation component, and a positioning base station (6) within a range of d meters from the standard sphere is controlled by a server (8), or at least n positioning base stations closest to the standard sphere are controlled to radiate radio frequency signals to the standard sphere, and an echo signal A fed back by a radiation unit (2) in the standard sphere is received; The server (8) receives feedback signals uploaded by each positioning base station (6) For each feedback signal The phase of the echo signal A is normalized, and the normalized phases are combined into a standard motion feature matrix T corresponding to the current coordinate position and rotation component of the standard sphere according to the coordinate position number sequence of the positioning base station. * , record the standard motion feature matrix T in the trajectory extraction model * and its corresponding standard spherical coordinate position and rotation components.

6. The outdoor mobile device positioning detection method based on sparse array according to claim 5, characterized in that: The specific steps of searching the trajectory extraction model according to the motion feature matrix T and calculating the estimated coordinate range R′ of the mobile device in the field in the next scanning cycle include: According to the coordinate range R of the mobile device in the field, find the standard motion feature matrix T corresponding to the coordinate range in the trajectory extraction model * , select the standard motion feature matrix T with the smallest Hamming distance to the motion feature matrix T * , extract the corresponding rotation component; The moving speed v of the mobile device is calculated based on the distance between the coordinate range of the mobile device in the field detected in the previous scanning cycle and the current coordinate range, and the moving speed of the mobile device is corrected by the rotation component direction, and obtain the acceleration of the mobile device in, Among them, C D is the damping coefficient of the mobile device, ρ a is the air density, d is the outer diameter of the mobile device, m is the weight of the mobile device, is the acceleration due to gravity, and the speed of the mobile device The acceleration of the mobile device is the initial condition A second integration is performed according to the scanning cycle to obtain the estimated coordinate range R' of the mobile device in the venue in the next scanning cycle.

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