Position determination method and apparatus, server, and storage medium

Abstract

This application relates to the field of fusion positioning technology and provides a location determination method, device, server, and storage medium. By pre-establishing and setting a digital twin in software form corresponding to the user terminal of the object being located, the digital twin acquires and stores location data of the object being located in multiple positioning systems based on the user terminal and the corresponding positioning terminal. Finally, from the stored location data of multiple positioning systems, reliable target location data generated at the same preset time is selected and output. This allows for accurate positioning of the object at a preset time without the need for hardware integration of multiple positioning systems on the user terminal of the object being located at the hardware level. The technical difficulty and cost are both low.

Description

Technical Field

[0001] This application belongs to the field of fusion positioning technology, and in particular relates to a location determination method, device, server and storage medium. Background Technology

[0002] Positioning technology can be broadly divided into two main areas: outdoor positioning technology and indoor positioning technology, and it is widely used in various business scenarios. However, a single positioning standard cannot be applied to all business scenarios. Typically, multiple positioning standards need to be integrated based on changes and requirements in the business scenario to achieve the optimal positioning accuracy and lowest cost. Fusion positioning technology refers to using positioning signals from multiple positioning standards to communicate with multiple corresponding base stations (BS) within a certain area, achieving integrated positioning under multiple positioning standards. Existing fusion positioning solutions usually require hardware integration of multiple positioning standards at the hardware level, which is technically challenging and costly. Summary of the Invention

[0003] In view of this, embodiments of this application provide a location determination method, apparatus, server, and storage medium to solve the problem that existing fusion positioning solutions usually require hardware integration of multiple positioning standards at the hardware level, which is technically difficult and costly.

[0004] The first aspect of this application provides a location determination method, which uses a digital twin to acquire and store location data of the object to be located in multiple positioning formats;

[0005] From the location data of the various positioning systems, determine the target location data generated at a preset time that is reliable;

[0006] Output the target location data;

[0007] The object being located is provided with M user terminals corresponding to the digital twin. Each user terminal supports N positioning systems and corresponds to a positioning terminal for each of the N positioning systems. The positioning terminal is a base station or a beacon. M and N are both positive integers and are not both 1.

[0008] A second aspect of this application provides a location determination device, comprising:

[0009] Location storage unit, used to acquire and store location data of the object being located in multiple positioning formats through a digital twin;

[0010] The location determination unit is used to determine reliable target location data generated at a preset time from the location data of the multiple positioning systems.

[0011] A position output unit is used to output the target position data;

[0012] The object being located is provided with M user terminals corresponding to the digital twin. Each user terminal supports N positioning systems and corresponds to a positioning terminal for each of the N positioning systems. The positioning terminal is a base station or a beacon. M and N are both positive integers and are not both 1.

[0013] A third aspect of this application provides a server, including a communication module, a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it implements the steps of the location determination method provided in the first aspect of this application.

[0014] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the location determination method provided in the first aspect of this application.

[0015] The location determination method applied to the server provided in the first aspect of this application pre-establishes and sets a digital twin in software form corresponding to the user terminal of the object to be located. Then, the digital twin obtains and stores location data of the object to be located in multiple positioning systems based on the user terminal and the corresponding positioning terminal. Finally, it filters out and outputs reliable target location data generated at the same preset time from the stored location data of multiple positioning systems. This allows for accurate location of the object at a preset time without the need for hardware integration of multiple positioning systems on the user terminal of the object to be located at the hardware level. The technical difficulty and cost are both low.

[0016] It is understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic flowchart of the first method for determining the location provided in the embodiments of this application;

[0019] Figure 2 This is a schematic diagram of the second type of location determination method provided in the embodiments of this application;

[0020] Figure 3This application provides the positioning mechanisms, positioning accuracy, and minimum number of base stations or beacons required to achieve the positioning function for the 12 positioning systems provided in the embodiments of this application.

[0021] Figure 4 This is a schematic diagram of the third type of location determination method provided in the embodiments of this application;

[0022] Figure 5 This is a schematic diagram illustrating the process of determining and outputting target location data provided in an embodiment of this application;

[0023] Figure 6 This is a schematic diagram of the position determination device provided in the embodiments of this application;

[0024] Figure 7 This is a schematic diagram of the server structure provided in the embodiments of this application. Detailed Implementation

[0025] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0026] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0027] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0028] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as meaning "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0029] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless otherwise specifically emphasized. "Multiple" means "two" or "more than two."

[0031] This application provides a location determination method applied to a server, which can be executed by the server's processor when running a computer program with corresponding functions. By pre-establishing a virtual software-based digital twin, the digital twin corresponds to at least one user terminal set up on the object to be located. Then, the digital twin obtains and stores location data of the object to be located in multiple positioning systems based on the user terminal and the positioning terminal corresponding to the user terminal in at least one positioning system. Finally, from the stored location data of multiple positioning systems, multiple location data generated at the same preset time are filtered out and their reliability is judged. Finally, a reliable target location data is selected and output. This method can achieve accurate positioning of the object at a preset time without hardware integration of multiple positioning systems on the user terminal of the object to be located at the hardware level. The technical difficulty and cost are both low.

[0032] In the application, the server can be a server, or any computing device that can communicate with the user and the positioning device, listen to the positioning signals sent by the user or the positioning device, and perform analysis and calculation to obtain the location data of the object being located and output it.

[0033] In applications, the user terminal can be any mobile terminal, tag, beacon, etc. that can communicate with the positioning terminal and supports multiple positioning standards, such as mobile phones, tablets, wearable devices (e.g., smart bracelets, smart badges, smart glasses, smart tags, etc.), in-vehicle devices, augmented reality (AR) devices, virtual reality (VR) devices, laptops, ultra-mobile personal computers (UMPCs), netbooks, personal digital assistants (PDAs), etc.

[0034] In applications, the positioning terminal can be any positioning standard, including but not limited to: Ultra Wide Band (UWB), UWB-Beacon, Angle of Arrival (AoA), Bluetooth (BT) AoA, Angle of Departure (AoD), Bluetooth Beacon, BeiDou Navigation Satellite System (BDS / BNSS), Global Positioning System (GPS), 4G / 5G, Wi-Fi, and Radio Frequency Identification (RFID). This application does not impose any restrictions on the specific types of the server, user, and positioning terminal.

[0035] like Figure 1 As shown, the location determination method provided in this application includes the following steps S101 to S103:

[0036] Step S101: Obtain and store location data of the object to be located in multiple positioning systems through the digital twin, and proceed to step S102.

[0037] In application, a digital twin is a virtual object in software form pre-built on the server. The digital twin is represented as a set of data in the server's computer program, and this set of data has a correlation with the location data of the object being located. This correlation can be a mapping relationship. The digital twin has a corresponding relationship with M user terminals set up on the object being located. This correspondence can be a 1-to-M mapping relationship. Each user terminal supports N positioning systems and corresponds to N positioning terminals for each positioning system. The positioning terminals are base stations or beacons. M and N are both positive integers and not both 1. Specifically, when the object being located has only one user terminal, the user terminal supports multiple positioning systems and corresponds to positioning terminals for multiple positioning systems; when the object being located has multiple user terminals, each user terminal supports at least one positioning system and corresponds to at least one positioning terminal for at least one positioning system. When the server runs the digital twin, it stores the location data of the object being located based on the user terminals and positioning terminals, using multiple positioning systems. Specifically, this can be stored in a local database on the server or a cloud database. The location data can specifically be represented as geographic coordinates.

[0038] In applications, by pre-establishing a digital twin that correlates the location data of the object being located with multiple positioning standards, there is no need to set up a customized user terminal with multi-mode integrated hardware that integrates multiple positioning standards on the object being located. As needed, according to changes in business scenarios and requirements, a regular user terminal that only supports one or more positioning standards can be selected. This avoids the problem of mutual interference between multiple positioning standards caused by multi-mode integrated hardware, simplifies the debugging and optimization process of multi-mode integrated hardware, and reduces the cost required for customized development of multi-mode integrated hardware that supports multiple positioning standards.

[0039] In the application, the server is equipped with a communication module that supports multiple positioning standards, capable of listening to positioning signals sent by user terminals or positioning devices of the corresponding positioning standards. After enabling the server's positioning function for user terminals, the server begins listening to positioning signals sent by user terminals or their corresponding positioning devices. Based on the location signals of multiple positioning standards detected, the server uses the corresponding positioning algorithm to calculate the location data for each positioning standard.

[0040] In the application, the server's location function for the target object located on the user's device can be activated by the user on the server through the server's human-computer interaction device, or by another user on another user's device sending an activation request to the server to trigger the server to activate the location function for the target object located on the user's device. The other user's device and the user device set on the target object can be the same terminal or different terminals.

[0041] In the application, other user terminals can be any computing device that can communicate directly or indirectly with the server via wired or wireless networks to monitor or manage the location of the object being located, such as tablets, laptops, UMPCs, netbooks, PDAs, desktop computers, etc.

[0042] In this application, each user terminal and each positioning terminal has a unique ID (Identity Document), which can be written into the positioning signal. Therefore, based on the user terminal's ID carried in the positioning signal sent by the user terminal, the positioning terminal or server can uniquely identify the user terminal sending the positioning signal. Similarly, based on the positioning terminal's ID carried in the positioning signal sent by the positioning terminal, the server can also uniquely identify the positioning terminal sending the positioning signal. The server pre-stores the correspondence between the locations and IDs of all positioning terminals that can communicate with it, as well as the correspondence between the user terminal being located and the user terminal's ID. Thus, after listening to the positioning signal sent by any user terminal or positioning terminal, the server can quickly determine the location of the user terminal or positioning terminal sending the positioning signal based on the pre-stored correspondence and ID. In this way, after listening to the positioning signal sent by the user terminal or positioning terminal, the server can quickly obtain the location data of the located object in multiple positioning systems based on the pre-stored correspondence and ID.

[0043] Step S102: From the location data of multiple positioning systems, determine the target location data generated at a preset time and which is reliable, and proceed to step S103.

[0044] In applications, because the communication rates of user terminals or positioning terminals of different positioning systems are not necessarily the same, or there may be communication delays, even if the user terminals or corresponding positioning terminals set to the same object generate positioning signals at the same time, the positioning signals of multiple positioning systems that the server listens to at the same time may be generated at different times. As a result, the location data of multiple positioning systems calculated based on all positioning signals listened to at the same time may not be the location data of the object being located at the same time. It may include the location data of the object being located at different times of the same positioning system. It is necessary to filter out the location data of the required preset time from these location data, and then determine the location of the object being located at the preset time based on the location data of the preset time.

[0045] In applications, since the location data of various positioning systems includes multiple location data generated at the same preset time, the reliability of these location data is not the same. Therefore, it is necessary to select the location data with the highest reliability as the target location data, that is, the location data of the object being located at the preset time.

[0046] Step S103: Output target location data.

[0047] In the application, after determining the target location data, the server can output the target location data through the server's output device or the output device of other user terminals communicating with the server. The output of the target location data can be in the form of display or voice broadcast. Accordingly, the output device can include a display screen or an audio playback device. The target location data can be displayed in the form of graphics, images, text, or tables. Among them, graphics or images can be maps.

[0048] like Figure 2 As shown, in one embodiment, step S102 includes the following steps S201 to S203:

[0049] Step S201: From the location data of various positioning systems, determine multiple location data generated at a preset time, and proceed to step S202.

[0050] In applications, since the server may receive location signals of multiple positioning systems simultaneously, even if these signals were generated at different times, the location data calculated based on these signals might not reflect the location of the object at that specific moment. It could include location data of the same object at different times using the same positioning system. Therefore, it's necessary to filter this location data to extract the desired location data for a specific time. Typically, the location signals received by the server carry timestamps to record the signal's generation time. After receiving signals of multiple positioning systems, the server can calculate the location data of the object at a specific positioning system at the preset time based on the signal from that system. To improve computational efficiency and timeliness, the server usually employs parallel computation, calculating the location data for each positioning system simultaneously based on the signals from the multiple positioning systems at the preset time.

[0051] In one embodiment, step S201 includes:

[0052] Based on the timestamps carried by location data from various positioning systems, multiple location data points generated at a preset time are determined.

[0053] In application, the prefix or suffix (or packet prefix or packet suffix) of the positioning signal for each positioning system is written with a timestamp to record the generation time of the positioning signal. Correspondingly, the prefix or suffix (or packet prefix or packet suffix) of the corresponding location data calculated based on the positioning signal for each positioning system is also written with a timestamp to record the generation time of the corresponding positioning signal.

[0054] Step S202: Determine whether multiple location data generated at a preset time are reliable according to the preset priority order, and proceed to step S203;

[0055] Step S203: If any of the multiple location data generated at the preset time is reliable, then the reliable location data generated at the preset time is determined as the target location data.

[0056] In applications, the method for determining the most reliable target location data from multiple location data generated at the same preset time can be as follows: Prioritize all positioning systems based on their accuracy supported by all positioning systems of the server or the M user terminals of the target object; then arrange all positioning systems according to a preset priority order. The preset priority order is from highest to lowest priority. The rules for setting the preset priority sequence are as follows:

[0057] The priority of different positioning systems is positively correlated with positioning accuracy. That is, the higher the positioning accuracy, the higher the priority and the higher the reliability. Conversely, the lower the positioning accuracy, the lower the priority and the lower the reliability.

[0058] Among multiple positioning systems with the same positioning accuracy, the positioning system using the uplink positioning mechanism has a higher priority than the positioning system using the downlink positioning mechanism. The uplink positioning mechanism involves the user terminal sending the positioning signal to the corresponding positioning terminal first, and then the positioning terminal sending the received positioning signal to the corresponding server. The downlink positioning mechanism involves the positioning terminal sending the positioning signal to the corresponding user terminal first, and then the user terminal sending the received positioning signal to the corresponding server.

[0059] In applications, positioning standards that employ uplink positioning mechanisms include, but are not limited to: UWB, UWB-AoA, Bluetooth AoA, 4G / 5G, and Wi-Fi;

[0060] Positioning systems that use downlink positioning mechanisms include, but are not limited to: UWB-Beacon, Bluetooth AoD, GPS / BeiDou satellite positioning system, Bluetooth Beacon, and RFID.

[0061] like Figure 3 As shown, the positioning mechanisms, positioning accuracy, and minimum number of base stations or beacons required to achieve the positioning function of 12 positioning systems are illustrated. Among them, the RFID positioning system usually does not have high-precision positioning capabilities and is only used to determine the existence of the object to be located in a specific spatial area. When the server detects the RFID signal, it determines that the object to be located is in the specific spatial area; otherwise, it determines that the object to be located is not in the specific spatial area. That is, the location data obtained by the user terminal and the positioning terminal based on the RFID positioning system is the location data of the specific spatial area.

[0062] In one embodiment, the steps preceding step S202 include:

[0063] Based on the preset priority sequence and the positioning system of multiple location data generated at a preset time, the preset priority order of multiple location data generated at a preset time is determined; wherein, the preset priority sequence includes the following positioning systems arranged in descending order of preset priority: UWB, UWB-Beacon, UWB-AoA, Bluetooth AoA, Bluetooth AoD, Bluetooth Beacon, GPS / BeiDou satellite positioning system, 4G / 5G, Wi-Fi, RFID.

[0064] In applications, the preset priority order determined by the server varies depending on the application scenario. For example:

[0065] If the object being located is a freight vehicle, the following positioning methods are supported by the M user terminals set on the freight vehicle in order of preset priority from high to low: at least one of Bluetooth AoA, Bluetooth AoD and Bluetooth Beacon (specifically Bluetooth AoA), at least one of GPS and Beidou satellite positioning system (specifically Beidou satellite positioning system), and RFID.

[0066] For freight vehicles, it is necessary to use RFID base stations set up at the factory gate and RFID tags set up on the freight vehicles. Based on RFID positioning technology, it is necessary to determine whether the freight vehicle is entering the factory from outside the factory.

[0067] When freight vehicles enter the factory area, Bluetooth AoA base stations set up in each parking space and Bluetooth AoA tags set up in the freight vehicles are used to accurately determine which parking space the freight vehicles are parked in, based on Bluetooth AoA positioning technology.

[0068] When freight vehicles are outside the factory area, since they usually need to transport goods to different locations, it is necessary to use GPS or Beidou satellite positioning equipment installed on the freight vehicles. Based on GPS or Beidou satellite positioning technology, the location of the freight vehicles can be accurately determined, and real-time tracking of the freight vehicle's location can be achieved.

[0069] If the object being located is a mobile object in a public place, the following positioning methods are supported by the M user terminals set on the mobile object in order of preset priority from high to low: at least one of Bluetooth AoA, Bluetooth AoD and Bluetooth Beacon (specifically Bluetooth AoA), at least one of 4G and 5G (specifically 5G), and Wi-Fi.

[0070] Public places can be shopping malls, stadiums, exhibition halls, medical places, etc. Correspondingly, the moving objects can be people or animals, and the user end can be a mobile terminal that supports Bluetooth, 4G / 5G and Wi-Fi.

[0071] Among them, Bluetooth AoA positioning technology can accurately locate moving objects in specific areas equipped with Bluetooth AoA base stations, with a positioning accuracy of about 0.5 meters;

[0072] If the moving object does not enter a specific area, but is within the signal coverage area of ​​a 4G / 5G base station, the moving object can be located based on 4G / 5G positioning technology, with a positioning accuracy of about 5 meters.

[0073] If the moving object is neither in a specific area nor within the coverage area of ​​the 4G / 5G base station's positioning signal, but within the coverage area of ​​the Wi-Fi network, then the moving object can be located based on Wi-Fi positioning technology, with a positioning accuracy of more than 50 meters.

[0074] If the object being located is a moving object in a nuclear power plant, the following positioning methods are supported on the M user terminals of the moving object, arranged in descending order of preset priority: at least one of UWB, UWB-Beacon and UWB-AoA (specifically UWB-Beacon), at least one of Bluetooth AoA and Bluetooth AoD (specifically Bluetooth AoD), and Bluetooth Beacon.

[0075] The moving objects in a nuclear power plant can be people, animals, vehicles, etc. Nuclear power plants represent a very special application scenario, typically prohibiting the installation of conventional positioning base stations; they can only rely on various positioning beacons or 4G / 5G networks for location tracking.

[0076] For example, inside a nuclear power plant, positioning beacons of various positioning standards can be set up on moving objects. For some large and open areas, UWB-Beacon beacons can be set up on moving objects, and correspondingly, UWB-Beacon base stations can be set up in these areas.

[0077] In areas with many partitions and a large number of rooms, Bluetooth AoD beacons can be set up for mobile objects, and corresponding Bluetooth AoD base stations can be set up in these areas.

[0078] In areas where positioning accuracy is not critical, mobile objects can be equipped with Bluetooth Beacon beacons to reduce costs, and correspondingly, Bluetooth Beacon base stations can be deployed in these areas.

[0079] Among them, the positioning accuracy of UWB-Beacon positioning technology can reach 0.2 meters, the positioning accuracy of Bluetooth AoD positioning technology is about 0.5 meters, and the positioning accuracy of Bluetooth iBeacon positioning technology is 3 to 5 meters.

[0080] If the object being located is a mobile object in a medical facility, the following positioning methods are supported by the M user terminals set on the mobile object in order of preset priority from high to low: at least one of UWB, UWB-Beacon and UWB-AoA (specifically UWB), at least one of Bluetooth AoA, Bluetooth AoD and Bluetooth Beacon (specifically Bluetooth AoA), and RFID.

[0081] Mobile objects in medical settings can include medical equipment such as ventilators, electrocardiogram monitors, and pulse oximeters. Since these devices are typically expensive and limited in number, they often need to be moved to different floors, wards, or departments for use. Therefore, monitoring and tracking their location to prevent loss is crucial. Different positioning tags of varying standards can be used on these devices. For example, in larger, more open areas (such as lobbies or nurses' stations), UWB tags can be attached to the mobile objects, and corresponding UWB base stations can be deployed in these areas.

[0082] In areas with many partitions and a large number of rooms (e.g., diagnostic rooms, wards, etc.), mobile objects can be tagged with Bluetooth AoA tags, and corresponding Bluetooth AoA base stations can be set up in these areas.

[0083] For areas where only presence detection is required (e.g., warehouses), moving objects can be tagged with RFID tags, and RFID base stations can be set up in these areas accordingly.

[0084] like Figure 4 As shown, in one embodiment, step S202 includes the following steps S301 to S303:

[0085] Step S301: Determine whether the location data with the i-th priority among the multiple location data generated at a preset time is reliable, and proceed to step S303;

[0086] Step S302: If the location data of the i-th priority is reliable, then the location data of the i-th priority is determined as the target location data, and proceed to step S303;

[0087] Step S303: If the location data of the i-th priority is unreliable, then determine whether the location data of the (i+1)-th priority among the multiple location data generated at the preset time is reliable.

[0088] In the application, i = 1, 2, ..., m, where m is the total number of location data generated at a preset time. The priority of the i-th data is higher than that of the (i+1)-th data. That is, firstly, the priority order of location data for various positioning systems is determined according to the preset priority order; then, according to the priority order of location data for various positioning systems, the reliability of the first priority (i.e., the highest priority) location data among the multiple location data generated at the preset time is determined. If the first priority location data is reliable, it is used as the target location data of the object being located at the preset time and output; if the first priority location data is unreliable, the second priority location data among the multiple location data generated at the preset time is determined. Based on the reliability of the location data, if the location data of the second priority is reliable, then the location data of the second priority is used as the target location data of the object being located at the preset time and output; if the location data of the second priority is not reliable, then the reliability of the location data of the third priority among the multiple location data generated at the preset time is determined. If the location data of the third priority is reliable, then the location data of the third priority is used as the target location data of the object being located at the preset time and output; ...; and so on. When the location data of any priority is reliable, the determination of the reliability of the next priority among the multiple location data generated at the preset time can be stopped, and the reliable location data is used as the target location data of the object being located at the preset time and output.

[0089] In the application, if the server does not detect a location signal, it can output a first error message; if all location data is unreliable, it means that the location data at the preset time is inaccurate, and a second error message can be output; if the server does not detect a location signal or all location data is unreliable, the server can also use the target location data of the object at the previous preset time as the target location data of the object at the current preset time, and return to step S101 to continue to determine the target location data of the object at the next preset time.

[0090] In one embodiment, step S301 includes:

[0091] If the j-th priority location data among multiple location data generated at a preset time is obtained based on a user terminal that supports the preset positioning system and more than n positioning terminals that support the preset positioning system, then the j-th priority location data is determined to be reliable.

[0092] If the j-th priority location data among multiple location data generated at a preset time is obtained based on a user terminal that supports the preset positioning system and n or fewer positioning terminals that support the preset positioning system, then the j-th priority location data is determined to be unreliable.

[0093] In the application, j∈[1,m], meaning the j-th priority location data is any one of multiple location data generated at a preset time. The preset positioning system is the positioning system of the j-th priority location data. When the server obtains the j-th priority location data, it needs to rely on user terminals that support the preset positioning system and the corresponding n (i.e., more than n, including n) positioning terminals to obtain n positioning signals to calculate the j-th priority location data; if the number of positioning terminals is greater than or equal to n (i.e., more than n, excluding n), then the calculated j-th priority location data is accurate (i.e., reliable); if the number of positioning terminals is less than n (i.e., less than n, excluding n), then the calculated j-th priority location data is inaccurate (i.e., unreliable). For example, UWB positioning requires at least 3 base stations, UWB-Beacon positioning requires at least 3 beacons, and Bluetooth Beacon positioning requires at least 3 beacons. When determining the reliability of location data for these positioning systems according to a preset priority order, if the number of n is less than 3, it is determined to be unreliable; if the number of n is greater than or equal to 3, it is determined to be reliable. Other positioning systems only require 1 base station or beacon, and when determining the reliability of location data for other positioning systems according to a preset priority order, they can be directly determined to be reliable.

[0094] like Figure 5 As shown, an exemplary illustration illustrates the process of determining and outputting target location data when the preset priority order is UWB, UWB-AoA, UWB-Beacon, Bluetooth AoA, Bluetooth AoD, Bluetooth Beacon, GPS / BeiDou satellite positioning system, 4G / 5G, Wi-Fi, RFID.

[0095] In one embodiment, the location determination method provided in this application further includes:

[0096] Based on the target location data within a preset time period, the motion trajectory of the located object is generated;

[0097] Output the motion trajectory.

[0098] In the application, besides locating the target object at each preset time, the server can also continuously track and locate the target object based on target location data acquired over a preset time period. It can also generate corresponding motion trajectories to analyze the behavior of the target object. For example, this can be used to analyze whether freight vehicles are operating along standardized routes, whether people or animals linger in the same location for too long or pose a danger, whether workers are performing their duties normally, and whether medical equipment is transported to its designated location along a specified route. The preset time period can be set according to actual needs. After determining the motion trajectory of the target object, the server can also output the motion trajectory in the same way as it outputs the target location data.

[0099] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0100] like Figure 6 As shown in the embodiments of this application, a location determination device is also provided for performing the steps in the above-described location determination method embodiments. The location determination device may be a virtual appliance in the server, run by the server's processor, or it may be the server itself.

[0101] like Figure 6 As shown, the location determination device 100 provided in this application embodiment includes:

[0102] Location storage unit 101 is used to acquire and store location data of the object being located in multiple positioning formats through a digital twin;

[0103] The location determination unit 102 is used to determine reliable target location data generated at a preset time from location data of multiple positioning systems.

[0104] Position output unit 103 is used to output target position data;

[0105] The object being located is equipped with M user terminals corresponding to the digital twin. Each user terminal supports N positioning standards and has a corresponding positioning terminal for each of the N positioning standards. The positioning terminal is either a base station or a beacon. M and N are both positive integers and are not both 1.

[0106] In applications, the units in the location determination device can be software program units, or they can be implemented by different logic circuits integrated in a processor, or they can be implemented by multiple distributed processors.

[0107] like Figure 7As shown, this application embodiment also provides a server 200 including: a communication module 201, and at least one processor 202. Figure 7 The diagram shows only one processor, memory 203, and computer program 204 stored in memory 203 and executable on at least one processor 202. When processor 202 executes computer program 204, it implements the steps in any of the above-described location determination method embodiments.

[0108] In applications, the server-side may include, but is not limited to, communication modules, processors, and memory. Those skilled in the art will understand that... Figure 7 This is merely an example of a server-side component and does not constitute a limitation on the server-side. It may include more or fewer components than illustrated, or combinations of certain components, or different components. For example, it may also include input / output devices, network access devices, etc. Input / output devices may include displays, touch screens, touch displays, audio playback devices, mice, keyboards, buttons, communication interfaces, etc.

[0109] In applications, the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0110] In applications, the memory may be an internal storage unit of the server in some embodiments, such as a server-side hard drive or RAM. In other embodiments, the memory may be an external storage device of the server, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory may include both internal and external storage units. The memory is used to store the operating system, applications, boot loader, data, and other programs, such as the program code of computer programs. The memory can also be used to temporarily store data that has been output or will be output.

[0111] In applications, the display screen can be a thin film transistor liquid crystal display (TFT-LCD), a liquid crystal display (LCD), an organic electroluminescence display (OLED), a quantum dot light-emitting diode (QLED) display, a seven-segment or eight-segment display, etc.

[0112] In applications, the communication module can be configured as any device capable of direct or indirect long-distance wired or wireless communication, depending on actual needs. For example, the communication module can provide solutions for communication applications on network devices, including Wireless Local Area Networks (WLANs) (such as Wi-Fi networks), Bluetooth, Zigbee, mobile communication networks, GNSS, Frequency Modulation (FM), Near Field Communication (NFC), and Infrared (IR) technologies. The communication module can include an antenna, which can have a single element or be an antenna array with multiple elements. The communication module can receive electromagnetic waves through the antenna, frequency modulate and filter the electromagnetic wave signal, and send the processed signal to the processor. The communication module can also receive signals to be transmitted from the processor, frequency modulate and amplify them, and then convert them into electromagnetic waves for radiation via the antenna.

[0113] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps described in the above-described location determination method embodiments.

[0114] This application provides a computer program product that, when run on a server, enables the server to implement the steps described in the above-described location determination method embodiments.

[0115] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include at least: any entity or device capable of carrying the computer program code to the photography server, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, such as a USB flash drive, a portable hard drive, a magnetic disk, or an optical disk.

[0116] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0117] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0118] In the embodiments provided in this application, it should be understood that the disclosed server and method can be implemented in other ways. For example, the server embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0119] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0120] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method of position determination, characterized by, Applied to the server side, the method includes: By running a digital twin, the system listens to the positioning signals sent by the user terminal or the positioning terminal corresponding to the user terminal of the object being located. Based on the location signals of multiple positioning systems that are listened to, the system obtains and stores the location data of the object being located in multiple positioning systems. From the location data of the various positioning systems, determine the target location data generated at a preset time that is reliable; Output the target location data; The digital twin is a virtual object in software form that is pre-established on the server side and is used to associate the location data of the object being located. The object being located is equipped with M user terminals corresponding to the digital twin. The user terminals support N positioning systems and have corresponding positioning terminals for N positioning systems. The positioning terminals are base stations or beacons. M and N are both positive integers and are not both 1.

2. The location determination method as described in claim 1, characterized in that, The step of determining reliable target location data generated at a preset time from the location data of the multiple positioning systems includes: From the location data of the various positioning systems, determine multiple location data generated at a preset time; Based on a preset priority order, the reliability of multiple location data generated at the preset time is determined sequentially. If any one of the multiple location data generated at the preset time is reliable, then the reliable location data generated at the preset time is determined as the target location data; The preset priority order is from high to low, and the setting rule for the preset priority is as follows: The priority of different positioning systems is positively correlated with positioning accuracy; Among multiple positioning systems with the same positioning accuracy, the uplink positioning mechanism has a higher priority than the downlink positioning mechanism. The uplink positioning mechanism involves the user terminal sending the positioning signal to the corresponding positioning terminal, and then the positioning terminal sending the received positioning signal to the corresponding server. The downlink positioning mechanism involves the positioning terminal sending the positioning signal to the corresponding user terminal, and then the user terminal sending the received positioning signal to the corresponding server.

3. The location determination method as described in claim 2, characterized in that, The step of determining the reliability of multiple location data generated at a preset time according to a preset priority order includes: Determine whether the location data with the i-th priority among the multiple location data generated at the preset time is reliable; If the location data of the i-th priority is reliable, then the location data of the i-th priority is determined as the target location data; If the location data of the i-th priority is unreliable, then determine whether the location data of the (i+1)-th priority among the multiple location data generated at the preset time is reliable; Where i = 1, 2, ..., m, m is the total number of multiple location data generated at the preset time, and the i-th priority is higher than the (i+1)-th priority.

4. The location determination method as described in claim 3, characterized in that, Determining whether the location data of the i-th priority among the multiple location data generated at the preset time is reliable includes: If the j-th priority location data among the multiple location data generated at the preset time is obtained based on a user terminal supporting the preset positioning system and more than n positioning terminals, then the j-th priority location data is determined to be reliable. If the j-th priority location data among the multiple location data generated at the preset time is obtained based on a user terminal supporting the preset positioning system and n or fewer positioning terminals, then the j-th priority location data is determined to be unreliable. Where j∈[1,m], the user terminal supporting the preset positioning system corresponds to n positioning terminals, where n is a positive integer.

5. The location determination method according to any one of claims 2 to 4, characterized in that, The step of determining multiple location data generated at a preset time from the location data of the multiple positioning systems includes: Based on the timestamps carried by the location data of the various positioning systems, multiple location data generated at a preset time are determined.

6. The location determination method according to any one of claims 2 to 4, characterized in that, Before determining the reliability of multiple location data generated at a preset time according to a preset priority order, the process includes: Based on a preset priority sequence and the positioning system of multiple location data generated at the preset time, a preset priority order of multiple location data generated at the preset time is determined; wherein, the preset priority sequence includes the following positioning systems arranged in descending order of preset priority: UWB, UWB-Beacon, UWB-AoA, Bluetooth AoA, Bluetooth AoD, Bluetooth Beacon, GPS / BeiDou satellite positioning system, 4G / 5G, Wi-Fi, RFID.

7. The location determination method according to any one of claims 2 to 4, characterized in that, If the object to be located is a freight vehicle, the M user terminals set on the freight vehicle support the following positioning methods arranged in descending order of preset priority: at least one of Bluetooth AoA, Bluetooth AoD and Bluetooth Beacon, at least one of GPS and Beidou satellite positioning systems, and RFID. If the object being located is a mobile object in a public place, then the M user terminals set on the mobile object support the following positioning methods arranged in descending order of preset priority: at least one of Bluetooth AoA, Bluetooth AoD and Bluetooth Beacon, at least one of 4G and 5G, and Wi-Fi. If the object being located is a moving object of a nuclear power plant, then the M user terminals set on the moving object support the following positioning systems arranged in descending order of preset priority: at least one of UWB, UWB-Beacon and UWB-AoA, at least one of Bluetooth AoA and Bluetooth AoD, and Bluetooth Beacon. If the object being located is a mobile object in a medical facility, then the M user terminals set on the mobile object support the following positioning systems arranged in descending order of preset priority: at least one of UWB, UWB-Beacon and UWB-AoA, at least one of Bluetooth AoA, Bluetooth AoD and Bluetooth Beacon, and RFID.

8. A position determining device, characterized in that, include: The location storage unit is used to monitor the location signals sent by the user terminal set on the object being located or the location terminal corresponding to the user terminal by running a digital twin, and to obtain and store the location data of the object being located in multiple location systems based on the monitored location signals of multiple location systems. The location determination unit is used to determine reliable target location data generated at a preset time from the location data of the multiple positioning systems. A position output unit is used to output the target position data; The digital twin is a virtual object in software form that is pre-established on the server side and is used to associate the location data of the object being located. The object being located is equipped with M user terminals corresponding to the digital twin. The user terminals support N positioning systems and have corresponding positioning terminals for N positioning systems. The positioning terminals are base stations or beacons. M and N are both positive integers and are not both 1.

9. A server, comprising a communication module, a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the location determination method as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the location determination method as described in any one of claims 1 to 7.

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