Indoor assisted positioning system, method, and electronic device based on edge computing gateway

Abstract

This invention provides an indoor assisted positioning system, method, and electronic device based on an edge computing gateway. It includes a mobile terminal equipped with a positioning tag. An assisted positioning area is formed by at least three anchor nodes. A wireless transmission DWM1000 module is used to determine the distance information between the positioning tag and the anchor nodes. A data acquisition module is used to collect environmental information within the sub-area. An edge computing gateway receives multiple distance information and converts them into first coordinate information for the mobile terminal. The edge computing gateway also receives environmental information sent by the data acquisition module. A cloud server receives the environmental information sent by the edge computing gateway and second coordinate information configured by the edge computing gateway, and constructs a sub-area model based on the environmental information and the second coordinate information. The sub-area model is sent to the edge computing gateway. The edge computing gateway also marks the first coordinate information on the sub-area model returned by the cloud server.

Description

Technical Field

[0001] This invention relates to the field of software development technology, and in particular to an indoor assisted positioning system, method and electronic device based on an edge computing gateway. Background Technology

[0002] Unlike the well-established and comprehensive outdoor satellite positioning network based on the Global Positioning System (GPS), indoor environments are complex, and wireless signals are affected by the indoor environment, resulting in non-line-of-sight propagation. In such cases, wireless signals may experience weakening, scattering, shadows, and blind spots. With the continuous improvement of satellite navigation systems and the establishment of 5G and related infrastructure, indoor positioning technology has developed rapidly and achieved breakthroughs in many fields. However, in practical applications, it has been found that indoor positioning technology still has significant room for improvement in terms of accuracy and security.

[0003] Existing indoor positioning technologies such as Ultra Wide Band (UWB), Wi-Fi, ZigBee, and RFID have advantages and disadvantages in terms of accuracy, multipath resistance, and transmission power. One of the reasons for the reduced accuracy of indoor positioning is that the positioning signal is easily attenuated by obstacles, leading to increased positioning errors.

[0004] Furthermore, existing indoor positioning technologies still rely heavily on radar and satellite systems. However, in buildings constructed in mountainous terrain with complex topography, indoor satellite signals weaken, making it difficult to guarantee the accuracy of indoor positioning in the absence of third-party infrastructure. In such cases, it is necessary to improve the accuracy of indoor positioning by correcting or compensating for mobile device location and base station error information. However, this reduces the timeliness of indoor positioning and increases latency. Summary of the Invention

[0005] To address the aforementioned problems, the present invention aims to provide an indoor assisted positioning system, method, electronic device, and computer-readable storage medium based on an edge computing gateway, applicable to situations where satellite signals are weak and there are obstacles indoors, in order to overcome the problems of high latency, high power consumption, high bandwidth requirements, and low positioning accuracy.

[0006] In a first aspect, the present invention provides an indoor assisted positioning system based on an edge computing gateway. This system is applied to an indoor environment comprising multiple sub-regions. The system includes multiple subsystems, with one subsystem corresponding to each sub-region. Each subsystem includes: a controllable mobile terminal entering the sub-region, the mobile terminal being equipped with a positioning tag; at least three anchor nodes forming an assisted positioning area, covering at least all movement paths of the mobile terminal; a wireless transmission DWM1000 module for determining the distance between the positioning tag and each anchor node to obtain multiple distance information; a data acquisition module for collecting environmental information within the sub-region; and an edge computing gateway, with each anchor node communicatively connected to the edge computing gateway, and the data acquisition module also communicatively connected to the edge computing gateway. The edge computing gateway receives the multiple distance information sent by the wireless transmission DWM1000 module and converts it into first coordinate information for the mobile terminal. The edge computing gateway also receives the environmental information sent by the data acquisition module. The cloud server receives environmental information and second coordinate information configured by the edge computing gateway from the edge computing gateway. Based on the environmental and second coordinate information, the cloud server constructs a sub-region model, which is then sent back to the edge computing gateway. The edge computing gateway also marks the first coordinate information on the sub-region model returned by the cloud server to achieve mobile terminal positioning within the edge computing gateway.

[0007] Compared to existing technologies, this invention provides an edge computing-based indoor positioning system. In each sub-area (which can be individual rooms) of an indoor space, multiple UWB anchor nodes and edge computing gateways are set up. The edge computing gateways utilize real-time data collected from the distances of the mobile terminal's UWB positioning tag to three anchor nodes in each sub-room to obtain the accurate location of the mobile terminal. This invention divides the indoor space into sub-rooms and sets up edge computing gateways in each sub-room, ensuring data processing near the data source, improving data processing efficiency, reducing data transmission bandwidth, and guaranteeing low latency for positioning moving mobile terminals, thus reducing the required bandwidth. When the number of mobile terminals indoors is large, the massive data processing can be distributed to edge computing gateways near the data source for processing, and then the processed data is sent to a cloud server. The cloud server integrates and processes the data before sending the location coordinates of each mobile terminal tag and the indoor environment model to each edge computing gateway. All information received by the cloud server has been processed by the edge computing gateways, improving data transmission efficiency and reducing system latency while maintaining cost. Furthermore, when the indoor layout needs to be changed, only the corresponding edge computing gateways need to be modified, without requiring a complete overhaul. Therefore, this invention improves the timeliness of the positioning system and reduces the power consumption required for bandwidth. A large indoor space is divided into independent sub-rooms, each with a matching edge computing gateway operating independently. Each edge computing gateway is equipped with location sensors, and these location sensors are connected to form a location sensing network for each room within the indoor space. By dividing the massive amount of data into data from each sub-room, the system's operating efficiency and positioning accuracy are greatly improved. Furthermore, dividing the space into sub-rooms better reduces the obstruction of signals by walls and other obstacles, further enhancing indoor positioning accuracy.

[0008] In addition, due to the weak global satellite positioning signal in some areas, the use of GNSS for high-precision positioning of indoor mobile devices or traditional UWB for precise indoor positioning will have a large delay, resulting in inaccurate positioning of mobile devices moving indoors and insufficient timeliness. The indoor guided positioning system based on edge computing gateway of the present invention can solve the problems of inaccurate indoor positioning, inefficient indoor positioning, and high latency when there is no GPS signal indoors.

[0009] Secondly, the present invention provides an indoor assisted positioning method based on an edge computing gateway, comprising the following steps:

[0010] A mobile terminal is provided, which is equipped with a positioning tag. The mobile terminal enters an auxiliary positioning area, which is formed by at least three anchor nodes and covers at least all the movement paths of the mobile terminal.

[0011] The distance between the positioning tag and each anchor node is determined using the wireless transmission DWM1000 module to obtain multiple distance information.

[0012] Multiple distance information is sent to the edge computing gateway, and the multiple distance information is converted into the first coordinate information of the mobile terminal.

[0013] The data acquisition module collects environmental information within the sub-region and sends it to the cloud server via the edge computing gateway. The cloud server receives the environmental information sent by the edge computing gateway and the second coordinate information configured by the edge computing gateway, and constructs a sub-region model based on the environmental information and the second coordinate information. The sub-region model is then sent to the edge computing gateway.

[0014] The first coordinate information is marked on the sub-region model returned by the cloud server using the edge computing gateway, so as to realize the positioning of the mobile terminal within the edge computing gateway.

[0015] The beneficial effects of the indoor assisted positioning method based on edge computing gateway provided by the present invention are the same as those of the indoor assisted positioning system based on edge computing gateway provided by the first aspect and / or any implementation of the first aspect of the present invention, and will not be repeated here.

[0016] Thirdly, the present invention provides an electronic device, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory that is communicatively connected to at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to execute the micro-edge computing gateway-based indoor assisted positioning method provided by the second aspect and / or any implementation thereof.

[0020] The beneficial effects of the electronic device provided by the present invention are the same as those of the indoor assisted positioning system based on edge computing gateway provided by the first aspect and / or any implementation of the first aspect of the present invention, and will not be repeated here.

[0021] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the indoor assisted positioning method based on an edge computing gateway provided in the second aspect and / or any implementation thereof. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a block diagram of an indoor assisted positioning system based on an edge computing gateway provided in an embodiment of the present invention;

[0024] Figure 2 A block diagram of a device connected to an edge computing gateway within an indoor sub-region, as provided in an embodiment of the present invention;

[0025] Figure 3 A flowchart of an indoor assisted positioning method based on an edge computing gateway provided in an embodiment of the present invention. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Firstly, see [the following] Figure 1 and Figure 2The purpose of this invention is to provide an indoor assisted positioning system based on an edge computing gateway. This system is applied to indoor areas comprising multiple sub-regions and includes multiple subsystems, with one subsystem configured for each sub-region. Each subsystem includes: a controllable mobile terminal entering the sub-region, the mobile terminal being equipped with a positioning tag; at least three anchor nodes enclosing an assisted positioning area that covers at least all movement paths of the mobile terminal; a DWM1000 wireless transmission module for determining the distance between the positioning tag and each anchor node to obtain multiple distance information; a data acquisition module for collecting environmental information within the sub-region; and an edge computing gateway, with each anchor node and the data acquisition module communicatively connected to the edge computing gateway. The edge computing gateway receives the multiple distance information sent by the DWM1000 wireless transmission module and converts it into first coordinate information for the mobile terminal. The edge computing gateway also receives the environmental information sent by the data acquisition module. The cloud server receives environmental information and second coordinate information configured by the edge computing gateway from the edge computing gateway. Based on the environmental and second coordinate information, the cloud server constructs a sub-region model, which is then sent back to the edge computing gateway. The edge computing gateway also marks the first coordinate information on the sub-region model returned by the cloud server to achieve mobile terminal positioning within the edge computing gateway.

[0028] See Figure 1 The aforementioned mobile terminal can be any of a mobile phone, tablet, or wearable device, without any specific limitation. To achieve accurate positioning of the mobile terminal, a positioning tag can be configured within the mobile terminal. The form of the positioning tag can vary, without any specific limitation, for example, the positioning tag can be an Ultra Wide Band (UWB) positioning tag.

[0029] See Figure 1 and Figure 2It needs further explanation that the mobile terminal, all anchor nodes, the DWM1000 wireless transmission module, the data acquisition module, and the edge computing gateway transmit data through a WirelessHART network. For example, the mobile terminal and the anchor nodes can be connected via multi-path Ethernet or wireless communication. The DWM1000 wireless transmission module can be connected to the mobile terminal and all anchor nodes via wireless communication methods such as Wi-Fi, and the DWM1000 wireless transmission module can also be connected to the edge computing gateway via wireless communication methods such as Wi-Fi. The anchor nodes and the edge computing gateway can be connected via a local area network such as multi-path Ethernet. The data acquisition module and the edge computing gateway can be connected via wireless communication methods such as Wi-Fi. The edge computing gateway and the cloud server can be connected via any existing long-distance wireless communication method.

[0030] Furthermore, taking a building with multiple sub-rooms as an example, each sub-room should be equipped with a subsystem, and multiple subsystems should constitute a complete indoor assisted positioning system based on an edge computing gateway. In this case, the multiple subsystems configured for each sub-room can establish relationships through a WirelessHART network.

[0031] As an example, the aforementioned anchor nodes can be any type of location sensor provided by existing technology, used to locate the positioning tag configured on the mobile terminal. The distance information between the mobile tag and each anchor node can be determined using a wireless transmission DWM1000 module. Specifically, the measurement method can be the TDOA two-way distance measurement method. To consider the time from the positioning tag to each anchor node, the TDOA two-way distance measurement method was specifically chosen. The actual measurement involves propagating broadcast information, calculating the time it takes for the broadcast signal to travel to each anchor node, and then using the propagation speed of the broadcast information to calculate the distance from the mobile terminal's positioning tag to the three anchor nodes. Further explaining the TDOA two-way distance measurement method, TDOA positioning considers the time from the positioning point to each anchor node in the actual positioning process. The specific idea is that the mobile terminal transmits a signal, and the time of signal transmission is used as the signal transmission time. Each base station receives the information from the mobile terminal and records the reception time. The time difference is obtained by subtracting the two times, and then the distance between the mobile terminal and the base station is calculated using the time-distance formula. Finally, the positioning is performed using the distances between multiple base stations and the terminal. This invention uses TDOA two-way distance measurement, where the anchor node in the sub-room sends broadcast information to the tag node and records the time. The actual distance is calculated using the propagation speed of the broadcast signal. It needs further explanation that the above anchor nodes are independent of each other. An anchor node is a fixed node with known coordinates. Its existence is to provide data support for calculating the coordinates of moving label nodes.

[0032] As an example, an inertial navigation module can also be configured within the mobile terminal to record the mobile terminal's attitude, acceleration, and angular velocity data. The mobile terminal can then transmit this data to an edge computing gateway via a local area network (LAN) such as Wi-Fi or multi-channel Ethernet. The edge computing gateway is equipped with a UWB-PDR fusion algorithm, using the first coordinate information, attitude data, acceleration data, and angular velocity data as inputs to obtain the fused value of the mobile terminal. The edge computing gateway also marks the fused value on a sub-region model returned by the cloud server to achieve mobile terminal positioning within the gateway. In other words, obtaining the real-time coordinates of the mobile terminal based on the UWB-PDR fusion algorithm consists of two measurement components: a UWB positioning tag and an inertial navigation module. The UWB positioning tag can calculate the distance information between the mobile terminal's positioning tag and each anchor node using the TDOA two-way distance measurement method. Based on this distance information, the edge computing gateway is used to obtain the mobile terminal's positioning coordinates. The inertial navigation module can output the acceleration, angular velocity, and attitude information of the UWB positioning tag in real time. The UWB-PDR fusion algorithm can calculate the fused value of these two positioning information sources. This fused value can also be sent to the cloud server through the edge computing gateway.

[0033] See Figure 2 As an example, the aforementioned controllable entry into a sub-region refers to a mobile terminal that can move freely within each sub-region, with its movement route being random. To identify whether a mobile terminal has entered a specific sub-region and to accurately pinpoint its current location, at least one entrance and one exit can be defined at the boundary of the sub-region. At least one RFID reader can be installed at both the entrance and exit. The RFID reader communicates with an edge computing gateway to identify whether the mobile terminal has entered or exited the sub-region.

[0034] See Figure 2 As another example, the indoor assisted positioning system also includes an AI processor module, which can be configured within an edge computing gateway. The AI ​​processor module is used to calibrate the sub-region when the sub-region model returns to the edge computing gateway. In other words, when the RFID reader identifies that the mobile terminal has entered a certain sub-region, it obtains the edge computing gateway configured for the sub-region.

[0035] As an example, at least three anchor nodes are included, and the lines connecting the three anchor nodes form a triangle. This configuration, using a triangular geometric layout, ensures that the local area network formed by the anchor nodes can cover all movement paths of the mobile terminal.

[0036] As a second example, at least three anchor nodes include four anchor nodes, and the lines connecting the four anchor nodes form a quadrilateral.

[0037] As a third example, at least three anchor nodes include N anchor nodes, where N is a positive integer greater than four, and the lines connecting the N anchor nodes form an N-sided polygon.

[0038] The aforementioned data acquisition module can be a high-definition camera, which captures high-definition images of the sub-region and sends these images to a cloud server via an edge computing gateway. Within the cloud service, a sub-region model of the sub-region is constructed based on the high-definition module.

[0039] Compared to existing technologies, this invention provides an edge computing-based indoor positioning system. In each sub-area (which can be individual rooms) of an indoor space, multiple UWB anchor nodes and edge computing gateways are set up. The edge computing gateways utilize real-time data collected from the distances of the mobile terminal's UWB positioning tag to three anchor nodes in each sub-room to obtain the accurate location of the mobile terminal. This invention divides the indoor space into sub-rooms and sets up edge computing gateways in each sub-room, ensuring data processing near the data source, improving data processing efficiency, reducing data transmission bandwidth, and guaranteeing low latency for positioning moving mobile terminals, thus reducing the required bandwidth. When the number of mobile terminals indoors is large, the massive data processing can be distributed to edge computing gateways near the data source for processing, and then the processed data is sent to a cloud server. The cloud server integrates and processes the data before sending the location coordinates of each mobile terminal tag and the indoor environment model to each edge computing gateway. All information received by the cloud server has been processed by the edge computing gateways, improving data transmission efficiency and reducing system latency while maintaining cost. Furthermore, when the indoor layout needs to be changed, only the corresponding edge computing gateways need to be modified, without requiring a complete overhaul. Therefore, this invention improves the timeliness of the positioning system and reduces the power consumption required for bandwidth. A large indoor space is divided into independent sub-rooms, each with a matching edge computing gateway operating independently. Each edge computing gateway is equipped with location sensors, and these location sensors are connected to form a location sensing network for each room within the indoor space. By dividing the massive amount of data into data from each sub-room, the system's operating efficiency and positioning accuracy are greatly improved. Furthermore, dividing the space into sub-rooms better reduces the obstruction of signals by walls and other obstacles, further enhancing indoor positioning accuracy.

[0040] In addition, due to the weak global satellite positioning signal in some areas, the use of GNSS for high-precision positioning of indoor mobile devices or traditional UWB for precise indoor positioning will have a large delay, resulting in inaccurate positioning of mobile devices moving indoors and insufficient timeliness. The indoor guided positioning system based on edge computing gateway of the present invention can solve the problems of inaccurate indoor positioning, inefficient indoor positioning, and high latency when there is no GPS signal indoors.

[0041] Secondly, this invention provides an indoor assisted positioning method based on an edge computing gateway. The core idea is to acquire indoor sub-region environmental information, send this information to a cloud server via an edge computing gateway, and then have the cloud server build a sub-region model based on the indoor environmental information. This sub-region model is then sent to each edge computing gateway. Based on this, the coordinates of the mobile terminal in the sub-region are acquired and marked in the indoor model returned by the cloud server via the edge computing gateway, thereby achieving accurate and efficient positioning of the mobile terminal within the edge computing gateway.

[0042] See Figure 3 The indoor assisted positioning method based on an edge computing gateway provided in this embodiment of the invention may specifically include the following steps:

[0043] S10. Provide a mobile terminal equipped with a positioning tag. The mobile terminal enters an auxiliary positioning area, which is enclosed by at least three anchor nodes and covers at least all movement paths of the mobile terminal. Prior to this step, it also includes identifying whether the mobile terminal has entered an indoor sub-area via an RFID reader connected to an edge computing gateway.

[0044] S11. Utilize the wireless transmission DWM1000 module to determine the distance between the positioning tag and each anchor node to obtain multiple distance information.

[0045] S12. Send multiple distance information to the edge computing gateway, and convert the multiple distance information into the first coordinate information of the mobile terminal.

[0046] S13. The data acquisition module collects environmental information within the sub-area and sends it to the cloud server via the edge computing gateway. The cloud server receives the environmental information and the second coordinate information configured by the edge computing gateway, and constructs a sub-area model based on the environmental information and the second coordinate information. The sub-area model is then sent back to the edge computing gateway. Specifically, when the mobile terminal enters the indoor sub-area, it captures the environmental information of the indoor sub-area using a high-definition camera. The edge computing gateway sends the coordinates of the sub-area to the cloud server via a position sensor. The environmental information of the indoor sub-area collected by the high-definition camera is also sent to the cloud server via the edge computing gateway. The cloud server then returns the environmental model of the indoor sub-room to the edge computing gateway.

[0047] S14. Use the edge computing gateway to mark the first coordinate information on the sub-region model returned by the cloud server, so as to realize the positioning of the mobile terminal within the edge computing gateway.

[0048] As a preferred embodiment, after providing the mobile terminal, the indoor assisted positioning method further includes:

[0049] The mobile terminal is also equipped with an inertial navigation module, which records the mobile terminal's attitude data, acceleration data, and angular velocity data. This data is then sent to an edge computing gateway, which is equipped with a UWB-PDR fusion algorithm. The algorithm takes the first coordinate information, attitude data, acceleration data, and angular velocity data as input to obtain the fused value of the mobile terminal. The edge computing gateway also marks the fused value on a sub-region model returned by the cloud server, enabling the positioning of the mobile terminal within the edge computing gateway. When a mobile terminal enters the indoor sub-area to be tested, the distance information between the built-in UWB positioning tag and three anchor nodes is calculated using the TDOA bidirectional distance measurement method. This distance information is then transmitted to the edge computing gateway of the sub-area via multiple Ethernet connections. The edge computing gateway uses a fusion algorithm to convert the distance information between the mobile terminal and each anchor node into the mobile terminal's coordinate information. Simultaneously, the mobile terminal's built-in inertial navigation module sends its attitude, acceleration, and angular velocity information to the edge computing gateway. The edge computing gateway then sends the mobile terminal's attitude motion information and the indoor mobile terminal's coordinate information to the cloud server. To further understand the attitude information, taking multiple sub-cabins within a large ship's cabin as an example, the attitude information can include parameters such as whether the personnel in the cabin are standing, sitting, or lying down.

[0050] After completing the positioning of the mobile terminal, the indoor assisted positioning method based on the edge computing gateway also includes the following steps:

[0051] The final indoor model, containing environmental information for each sub-area and mobile device coordinates, is transmitted to the remote command center via a 5G network. Based on the model and the actual situation, the remote command center sends commands to the mobile device through an edge computing gateway.

[0052] The beneficial effects of the indoor assisted positioning method based on edge computing gateway provided by the present invention are the same as those of the indoor assisted positioning system based on edge computing gateway provided by the first aspect and / or any implementation of the first aspect of the present invention, and will not be repeated here.

[0053] Thirdly, the present invention provides an electronic device, the electronic device comprising:

[0054] At least one processor; and

[0055] A memory that is communicatively connected to at least one processor; wherein,

[0056] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to execute the micro-edge computing gateway-based indoor assisted positioning method provided by the second aspect and / or any implementation thereof.

[0057] The beneficial effects of the electronic device provided by the present invention are the same as those of the indoor assisted positioning system based on edge computing gateway provided by the first aspect and / or any implementation of the first aspect of the present invention, and will not be repeated here.

[0058] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the indoor assisted positioning method based on an edge computing gateway provided in the second aspect and / or any implementation thereof.

[0059] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0060] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. An indoor assisted positioning system based on an edge computing gateway, characterized in that, The indoor assisted positioning system based on an edge computing gateway is applied to an indoor environment comprising multiple sub-regions. The system includes multiple subsystems, with one subsystem configured for each sub-region. Each subsystem includes: A mobile terminal that can be controlled to enter the sub-area, the mobile terminal being equipped with a positioning tag; At least three anchor nodes are used to form an auxiliary positioning area, which covers at least all movement paths of the mobile terminal. A wireless transmission DWM1000 module is used to determine the distance between the positioning tag and each anchor node to obtain multiple distance information. The data acquisition module is used to collect environmental information within the sub-region. An edge computing gateway is provided, with each anchor node communicatively connected to it, and the data acquisition module also communicatively connected to it. The edge computing gateway receives multiple distance information messages sent by the wireless transmission DWM1000 module and converts these messages into first coordinate information for the mobile terminal. The edge computing gateway also receives environmental information sent by the data acquisition module. A cloud server receives environmental information and second coordinate information configured by the edge computing gateway sent by the edge computing gateway, and constructs a sub-region model based on the environmental information and the second coordinate information, and sends the sub-region model to the edge computing gateway. The edge computing gateway is also used to mark the first coordinate information on the sub-region model returned by the cloud server, so as to realize the positioning of the mobile terminal within the edge computing gateway; Each of the aforementioned sub-areas has an entrance and an exit; the indoor assisted positioning system further includes: an RFID reader and an AI processor module; wherein, An RFID reader is configured at the entrance and exit, and is communicatively connected to the edge computing gateway to identify whether the mobile terminal has entered the sub-area; when the mobile terminal enters the sub-area, it obtains the edge computing gateway configured in the sub-area. An AI processor module is configured within the edge computing gateway and is used to calibrate the sub-region when the sub-region model is returned to the edge computing gateway.

2. The indoor assisted positioning system based on an edge computing gateway according to claim 1, characterized in that, The mobile terminal is also equipped with an inertial navigation module, which is used to record the attitude data, acceleration data, and angular velocity data of the mobile terminal; and send the attitude data, acceleration data, and angular velocity data to the edge computing gateway. The edge computing gateway is equipped with a UWB_PDR fusion algorithm, which uses the first coordinate information, attitude data, acceleration data, and angular velocity data as inputs to the UWB_PDR fusion algorithm to obtain the fused value of the mobile terminal. The edge computing gateway is also used to mark the fused value in the sub-region model returned by the cloud server, so as to realize the positioning of the mobile terminal within the edge computing gateway.

3. The indoor assisted positioning system based on an edge computing gateway according to claim 2, characterized in that, The edge computing gateway is also used to send the attitude data, acceleration data, and angular velocity data to the cloud server; The edge computing gateway is also used to send the fused value to the cloud server.

4. The indoor assisted positioning system based on an edge computing gateway according to claim 1, characterized in that, The at least three anchor nodes include three anchor nodes, and the lines connecting the three anchor nodes form a triangle; or, The at least three anchor nodes include four anchor nodes, and the lines connecting the four anchor nodes form a quadrilateral; or, The at least three anchor nodes include N anchor nodes, where N is a positive integer greater than four, and the lines connecting the N anchor nodes form an N-sided polygon.

5. The indoor assisted positioning system based on an edge computing gateway according to claim 1, characterized in that, The data acquisition module is a high-definition camera.

6. An indoor assisted positioning method based on an edge computing gateway, characterized in that, Includes the following steps: A mobile terminal is provided, the mobile terminal is configured with a positioning tag, the mobile terminal enters an auxiliary positioning area, the auxiliary positioning area is formed by at least three anchor nodes, and the auxiliary positioning area covers at least all the movement paths of the mobile terminal. The distance between the positioning tag and each anchor node is determined using a wireless transmission DWM1000 module to obtain multiple distance information. The multiple distance information is sent to the edge computing gateway, and the multiple distance information is converted into the first coordinate information of the mobile terminal; The data acquisition module collects environmental information within a sub-region and sends it to the cloud server via the edge computing gateway. The cloud server receives the environmental information sent by the edge computing gateway and the second coordinate information configured by the edge computing gateway, and constructs a sub-region model based on the environmental information and the second coordinate information. The sub-region model is then sent to the edge computing gateway. The first coordinate information is marked on the sub-region model returned by the cloud server using the edge computing gateway, so as to realize the positioning of the mobile terminal within the edge computing gateway; Each of the aforementioned sub-regions has an entrance and an exit; wherein, RFID readers are configured at the entrance and exit to identify whether the mobile terminal has entered the sub-area; when the mobile terminal enters the sub-area, the edge computing gateway configured in the sub-area is obtained. An AI processor module is configured within the edge computing gateway, and the AI ​​processor module is used to calibrate the sub-region when the sub-region model is returned to the edge computing gateway.

7. The indoor assisted positioning method based on an edge computing gateway according to claim 6, characterized in that, After providing the mobile terminal, the indoor assisted positioning method further includes: The mobile terminal is also equipped with an inertial navigation module, which records the attitude data, acceleration data, and angular velocity data of the mobile terminal; and sends the attitude data, acceleration data, and angular velocity data to the edge computing gateway. The edge computing gateway is equipped with a UWB_PDR fusion algorithm, which uses the first coordinate information, attitude data, acceleration data, and angular velocity data as inputs to obtain the fused value of the mobile terminal; the edge computing gateway is also used to mark the fused value on the sub-region model returned by the cloud server, so as to realize the positioning of the mobile terminal within the edge computing gateway.

8. An electronic device, characterized in that, 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 that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the indoor assisted positioning method based on an edge computing gateway as described in any one of claims 6-7.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the indoor assisted positioning method based on an edge computing gateway as described in any one of claims 6-7.

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