Positioning information processing method and apparatus, electronic device, and storage medium

Abstract

The present disclosure provides a positioning information processing method and device, electronic equipment and storage medium, which can be applied to the technical field of positioning. The method comprises: in response to a positioning request, acquiring distance information of each base station in a plurality of base stations for a terminal device; based on the plurality of distance information, determining first position information of the terminal device in a first reference system determined based on the plurality of base stations; and based on the first position information and position information of a target object, determining positioning information of the terminal device for the target object, wherein the position information of the target object is determined from a tomographic result.

Description

Technical Field

[0001] This disclosure relates to the field of positioning technology, specifically to the field of three-dimensional positioning technology in enclosed spaces, and more specifically to a positioning information processing method, apparatus, electronic device, and storage medium. Background Technology

[0002] During cargo transportation, cargo containers and other loading vehicles act as cargo containers and are the basic units of transportation. Therefore, they are also key targets for security checks. If suspicious items are found during security checks, it is unavoidable to remove and inspect them.

[0003] Because the internal environment of cargo containers such as flight cases and shipping containers is relatively complex, even if the virtual location of a suspicious item is detected by technologies such as tomography, security personnel still find it difficult to remove the suspicious item from inside the cargo container based on the virtual location, resulting in poor accuracy in locating suspicious items. Summary of the Invention

[0004] In view of this, the present disclosure provides a location information processing method, apparatus, electronic device, storage medium, and computer program product.

[0005] One aspect of this disclosure provides a positioning information processing method, comprising: in response to a positioning request, acquiring distance information of each of a plurality of base stations relative to a terminal device; determining first position information of the terminal device in a first reference frame determined based on the plurality of distance information; and determining positioning information of the terminal device relative to the target item based on the first position information and the position information of the target item, wherein the position information of the target item is determined from a tomographic scan result.

[0006] According to embodiments of this disclosure, the plurality of base stations include a plurality of base station groups that satisfy preset conditions, wherein the preset conditions are characterized as the plurality of base stations in the base station groups being non-coplanar; wherein determining the first position information of the terminal device in a first reference frame determined based on the plurality of distance information includes: for each base station group, determining the second position information of the terminal device in the first reference frame based on the plurality of distance information associated with the base station group; and determining the first position information based on the plurality of second position information associated with each of the plurality of base station groups.

[0007] According to embodiments of this disclosure, a plurality of base stations constitute a detection space, the detection space including the internal space of a rectangular flight case, the plurality of base stations including eight UWB base stations fixedly disposed at the apex of the outer side of the flight case, the eight UWB base stations being divided into two base station groups, wherein the first base station group includes three UWB base stations located on the first surface of the flight case and one UWB base station located on the second surface of the flight case, and the second base station group includes one UWB base station located on the first surface and three UWB base stations located on the second surface, wherein the first surface and the second surface are disposed opposite to each other.

[0008] According to embodiments of this disclosure, determining the first location information based on multiple second location information associated with each of the multiple base station groups includes: acquiring a set of historical location information of the terminal device in the first reference frame; determining the predicted location information of the terminal device at the time the location request is initiated based on the set of historical location information; and determining the first location information based on the predicted location information and the multiple second location information.

[0009] According to an embodiment of this disclosure, determining the predicted location information of the terminal device at the time the location request is initiated based on the historical location information set includes: generating a displacement curve of the terminal device based on the historical location information set; and predicting the position of the terminal device at the time the request is initiated based on the displacement curve to obtain the predicted location information.

[0010] According to embodiments of this disclosure, the aforementioned historical location information set includes multiple historical location information sets, each configured with a recording time. The step of generating a displacement curve for the terminal device based on the aforementioned historical location information set includes: extracting multiple first target historical location information sets from the aforementioned historical location information set whose recording time is closest to the request initiation time; interpolating the multiple first target historical location information sets using the Catmull-Rom interpolation algorithm to obtain multiple interpolation point location information; and generating a displacement curve for the terminal device based on the multiple target historical location information sets and the multiple interpolation point location information sets.

[0011] According to embodiments of this disclosure, the above-mentioned prediction of the position of the terminal device at the time of request initiation based on the displacement curve to obtain the predicted position information includes: determining the historical position information of a second target from a plurality of the historical position information of the first target, wherein the recording time of the historical position information of the second target is closest to the time of request initiation; determining the predicted speed information associated with the historical position information of the second target based on the displacement curve; determining the predicted displacement information based on the predicted speed information, the time of request initiation, and the recording time of the historical position information of the second target; and determining the predicted position information based on the predicted displacement information and the historical position information of the second target.

[0012] According to an embodiment of this disclosure, determining the first location information based on the predicted location information and a plurality of second location information includes: for each of the second location information, calculating the distance between the coordinates represented by the predicted location information and the coordinates represented by the second location information to obtain a distance value; determining a target distance value from a plurality of distance values ​​that are one-to-one related to the plurality of second location information, wherein the target distance value is represented as the minimum value among the plurality of distance values; and determining the second location information related to the target distance value as the first location information.

[0013] According to embodiments of this disclosure, determining the first location information based on a plurality of second location information associated with each of the plurality of base station groups includes: determining information weights associated with each of the plurality of second location information based on the signal attenuation of the plurality of base station groups; and determining the first location information based on the plurality of second location information and the information weights associated with each of the plurality of second location information.

[0014] According to an embodiment of this disclosure, determining the first location information based on a plurality of second location information associated with a plurality of base station groups includes: calculating the average value of the coordinates represented by the plurality of second location information to obtain the first location information.

[0015] According to an embodiment of this disclosure, determining the positioning information of the terminal device for the target item based on the first location information and the location information of the target item includes: determining a second reference frame based on the tomographic scan results; processing the location information of the target item using a conversion strategy between the first reference frame and the second reference frame to obtain a third location information of the target item in the first reference frame; and generating the positioning information based on the first location information and the third location information.

[0016] According to embodiments of this disclosure, the method further includes: sending the location information to the terminal device so that the terminal device can display the location information.

[0017] According to embodiments of this disclosure, the method further includes: scanning the detection space formed by multiple base stations using a computed tomography scanner to obtain the tomographic scan results.

[0018] Another aspect of this disclosure provides a positioning information processing apparatus, comprising: an acquisition module, configured to acquire distance information of a terminal device from each of a plurality of base stations in response to a positioning request; a first determination module, configured to determine first position information of the terminal device in a first reference frame determined based on the plurality of distance information; and a second determination module, configured to determine positioning information of the terminal device for the target item based on the first position information and the position information of the target item, wherein the position information of the target item is determined from a tomographic scan result.

[0019] Another aspect of this disclosure provides an electronic device, including: one or more processors; and a memory for storing one or more instructions, wherein when the one or more instructions are executed by the one or more processors, the one or more processors cause the one or more processors to perform the method as described above.

[0020] Another aspect of this disclosure provides a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the method described above.

[0021] Another aspect of this disclosure provides a computer program product including computer-executable instructions that, when executed, implement the method described above.

[0022] According to embodiments of this disclosure, a positioning tag can be configured on the terminal device to enable the base station to locate the terminal device. When locating a target item in response to a positioning request, the first location information of the terminal device can be determined based on the positioning information of each base station for the terminal device. Then, the first location information and the location information of the target item determined from the tomographic scan results can be processed to determine the positioning information of the terminal device for the target item. This positioning information can be used to guide the inspection personnel holding the terminal device to find the target item in the inspection space. Therefore, it at least partially overcomes the technical problem of poor positioning accuracy of target items during the security inspection of loading tools in related technologies, thereby effectively improving the positioning accuracy of target items. Attached Figure Description

[0023] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0024] Figure 1 The illustration schematically shows an exemplary system architecture to which location information processing methods and apparatus can be applied according to embodiments of the present disclosure.

[0025] Figure 2 A flowchart illustrating a location information processing method according to an embodiment of the present disclosure is shown schematically.

[0026] Figure 3A A schematic diagram of the layout of a UWB base station on the outside of an aviation container according to an embodiment of the present disclosure is shown.

[0027] Figure 3B A schematic diagram of the layout of a UWB base station on the outside of an aircraft carrier according to another embodiment of the present disclosure is shown.

[0028] Figure 4 A flowchart illustrating a method for determining first location information according to an embodiment of the present disclosure is shown schematically.

[0029] Figure 5A A flowchart illustrating a method for determining first location information according to another embodiment of the present disclosure is shown schematically.

[0030] Figure 5B A schematic diagram of a displacement curve obtained by fitting using an interpolation algorithm according to another embodiment of the present disclosure is shown.

[0031] Figure 5C A schematic diagram illustrating the prediction of position information using displacement curves according to another embodiment of the present disclosure is shown.

[0032] Figure 6 A schematic diagram illustrating a coordinate system transformation according to an embodiment of the present disclosure is shown.

[0033] Figure 7 A block diagram of a location information processing apparatus according to an embodiment of the present disclosure is shown schematically.

[0034] Figure 8 A block diagram of an electronic device suitable for implementing a location information processing method according to an embodiment of the present disclosure is shown schematically. Detailed Implementation

[0035] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0036] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0037] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0038] When using expressions such as "at least one of A, B, and C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, and C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.). Similarly, when using expressions such as "at least one of A, B, or C," the expression should generally be interpreted in accordance with the meaning commonly understood by a person skilled in the art (e.g., "a system having at least one of A, B, or C" should include, but is not limited to, systems having A alone, having B alone, having C alone, having A and B, having A and C, having B and C, and / or having A, B, and C, etc.).

[0039] In cargo transportation, containers such as airline crates serve as cargo containers and are the basic units of transport. Therefore, they are also key targets for security checks. When faced with a large number of airline crates, efficiently locating suspicious items and guiding personnel to retrieve them is crucial for improving security check efficiency.

[0040] Because computed tomography (CT) can display information about the interior of an object, CT technology is widely used in the security inspection of large cargo. Its combination with deep learning technology can relatively easily detect the spatial location of suspicious items. Although the virtual location of suspicious items obtained by CT technology allows inspectors to have a general idea of ​​their position inside the flight case, it is usually difficult for inspectors to pinpoint their exact location while inside the case. Given the complex internal environment of the flight case, finding a suspicious item in a specific location remains a challenging task.

[0041] Among related technologies, virtual positioning based on UWB (Ultra-Wideband) technology has relatively mature applications for object positioning, typically achieving accuracy down to 10cm. This technology has two mature algorithms or solutions: the Time of Flight (TOF) scheme based on two-way ranging and the Time Difference of Arrival (TDOA) method using high-precision time synchronization. The TOF algorithm draws a circle with the distance between the tag and the base station as the radius, and finds the common intersection point of multiple circles as the tag's location. This scheme is simple and highly accurate, requiring both the base station and the tag to transmit signals to determine their distance. TDOA, on the other hand, requires pre-setting high-precision time synchronization between base stations. Centered on the base station, it constructs a hyperbola based on the time difference between the tag's broadcast to the base station, and finds the common intersection point of multiple hyperbolas as the tag's location. It has the advantages of low power consumption and large capacity. However, UWB technology is often used for personnel positioning in open areas. When dealing with aircraft cases only a few meters in size, the solutions in this technology cannot meet the required positioning accuracy.

[0042] In view of this, embodiments of the present disclosure provide a method for locating target objects within a detection space. Combining the object detection results of CT technology, spatial positioning is performed based on UWB technology. The layout of base stations is adjusted according to the size of the flight case, and the accuracy of object positioning is improved through data fitting. This allows positioning solutions that were originally applied to large scenes with low accuracy to adapt to smaller scenes with higher accuracy positioning requirements. By displaying the positioning information through a terminal device, the efficiency of retrieving target objects can be effectively improved.

[0043] Specifically, embodiments of this disclosure provide a positioning information processing method and apparatus. The method includes: in response to a positioning request, acquiring distance information of each of a plurality of base stations for a terminal device; determining first position information of the terminal device in a first reference frame determined based on the plurality of distance information; and determining positioning information of the terminal device for a target item based on the first position information and the position information of a target item, wherein the position information of the target item is determined from tomographic scan results.

[0044] It should be noted that, unless it is explicitly stated that there is a sequential order of execution between different operations, or that there is a sequential order of execution between different operations in terms of technical implementation, the execution order between multiple operations may not be significant, and multiple operations may be executed simultaneously.

[0045] Figure 1 The illustration schematically depicts an exemplary system architecture to which location information processing methods and apparatus can be applied according to embodiments of this disclosure. It should be noted that... Figure 1 The examples shown are merely examples of system architectures that can be applied to the embodiments of this disclosure, in order to help those skilled in the art understand the technical content of this disclosure, but do not mean that the embodiments of this disclosure cannot be used in other devices, systems, environments or scenarios.

[0046] like Figure 1 As shown, the system architecture 100 according to this embodiment may include a terminal device 101 located inside the detection space, and base stations 102, 103, 104, 105 and terminal device 106 located outside the detection space. The detection space may be the internal space of any enclosed container, including but not limited to aircraft cases, shipping containers, etc.

[0047] Terminal device 101 can be a variety of mobile electronic devices with a display screen and supporting wireless communication, including but not limited to smartphones, tablets, laptops, etc.

[0048] Base stations 102, 103, 104, and 105 can interact with terminal devices 101 and 106 via wireless communication. Terminal device 101 can be bound to a tag for positioning, so base stations 102, 103, 104, and 105 can locate terminal device 101 using methods such as Time-of-Flight (TOF) and Time-of-Door (TDOA).

[0049] Terminal device 106 can be various electronic devices with processors, including but not limited to desktop computers, servers, etc.

[0050] It should be noted that the location information processing method provided in this embodiment can generally be executed by the terminal device 106. Correspondingly, the location information processing device provided in this embodiment can generally be located in the terminal device 106. A user can generate and send a location request to the terminal device 106 via the terminal device 101. Alternatively, base stations 102, 103, 104, and 105 can periodically generate and send location requests to the terminal device 106. After receiving the location request, the terminal device 106 can obtain distance information relative to the terminal device 101 from the base stations 102, 103, 104, and 105. Based on this distance information, the terminal device 106 can combine the location information of the target object to generate location information and return the location information to the terminal device 101. The location information processing method provided in this embodiment can also be executed by other terminal devices, servers, or server clusters that are different from the terminal device 106 and capable of communicating with it. Correspondingly, the location information processing device provided in this embodiment can also be located in other terminal devices, servers, or server clusters that are different from the terminal device 106 and capable of communicating with it. Alternatively, the positioning information processing method provided in this embodiment can also be executed by the terminal device 101. Correspondingly, the positioning information processing device provided in this embodiment can also be disposed in the terminal device 101. The terminal device 101 itself can respond to the generated positioning request, or the base stations 102, 103, 104, and 105 can also actively send a positioning request to the terminal device 101. After responding to the positioning request, the terminal device 101 can obtain distance information from the base stations 102, 103, 104, and 105, and generate positioning information based on the distance information and the location information of the target object.

[0051] It should be understood that Figure 1 The number of terminal devices, detection spaces, and base stations shown is merely illustrative. Depending on implementation needs, any number of terminal devices, detection spaces, and base stations can be included.

[0052] Figure 2 A flowchart illustrating a location information processing method according to an embodiment of the present disclosure is shown schematically.

[0053] like Figure 2 As shown, the method includes operations S201 to S203.

[0054] In operation S201, in response to the location request, distance information for the terminal device is obtained from each of the multiple base stations.

[0055] In operation S202, based on multiple distance information, the first position information of the terminal device in a first reference frame determined based on multiple base stations is determined.

[0056] In operation S203, based on the first location information and the location information of the target item, the positioning information of the terminal device for the target item is determined, wherein the location information of the target item is determined from the tomographic scan results.

[0057] According to embodiments of this disclosure, both the terminal device and the target item can be located within a detection space. This detection space can be a space comprised of multiple base stations as vertices, or it can be the internal space of various enclosed containers, such as the internal space of an aircraft case or a shipping container.

[0058] According to embodiments of this disclosure, the terminal device can be a handheld terminal worn by an inspection personnel. The terminal device can send location requests wirelessly. The terminal device may be equipped with a location tag.

[0059] According to embodiments of this disclosure, a location request can refer to a request for locating a target item. Before an inspector enters the inspection space with a terminal device, relevant information about the target item can be pre-recorded in the terminal device. The location request can be a request initiated by the inspector through the terminal device to locate the target item. Alternatively, multiple base stations can each have a timed task for locating the target item written into them. After the timed task is triggered, the base station can generate the location request.

[0060] According to embodiments of this disclosure, the distance information may be generated by the base station based on schemes such as TOF and TDOA, and the distance information may be used to represent the distance between the base station and the terminal device.

[0061] According to embodiments of this disclosure, the first reference frame may be determined based on the locations of multiple base stations, or it may be determined based on the location in the detection space. The multiple base stations may have fixed coordinates in the first reference frame. The first location information may be represented as the coordinates of the terminal device in the first reference frame.

[0062] According to embodiments of this disclosure, the tomographic scan results can be obtained by scanning the detection space using equipment such as a CT scanner. After obtaining the tomographic scan results, image processing techniques can be used to classify the various items displayed in the tomographic scan results to identify suspicious items. The target item can be any one of the identified suspicious items.

[0063] According to embodiments of this disclosure, the positioning information may include information such as the direction and distance of the terminal device relative to the target object, which is not limited herein.

[0064] According to embodiments of this disclosure, a positioning tag can be configured on the terminal device to enable the base station to locate the terminal device. When locating a target item in response to a positioning request, the first location information of the terminal device can be determined based on the positioning information of each base station for the terminal device. Then, the first location information and the location information of the target item determined from the tomographic scan results can be processed to determine the positioning information of the terminal device for the target item. This positioning information can be used to guide the inspection personnel holding the terminal device to find the target item in the inspection space. Therefore, it at least partially overcomes the technical problem of poor positioning accuracy of target items during the security inspection of loading tools in related technologies, thereby effectively improving the positioning accuracy of target items.

[0065] The following is for reference. Figures 3A-3B , Figure 4 , Figures 5A-5C and Figure 6 In conjunction with specific embodiments, Figure 2 The method shown will be further explained.

[0066] According to embodiments of this disclosure, multiple base stations may include multiple base station groups that meet preset conditions. The preset conditions may be characterized as the multiple base stations in a base station group not being coplanar. That is, each base station group may include at least four base stations, and at least four base stations are not completely coplanar. Each base station may belong to only a single base station group, or it may belong to multiple base station groups simultaneously; this is not limited thereto.

[0067] According to embodiments of this disclosure, multiple base stations can constitute a detection space, which can be the internal space of a cuboid-shaped flight case, and the base stations can be UWB base stations fixedly installed at the vertices of the outer side of the flight case.

[0068] Figure 3A A schematic diagram of the layout of a UWB base station on the outside of an aviation container according to an embodiment of the present disclosure is shown.

[0069] like Figure 3A As shown, five UWB base stations (BS1, BS2, BS3, BS4, and BS5) can be installed at the five vertices of the outer surface of the flight case. These five UWB base stations can be divided into two base station groups, one of which includes four UWB base stations: BS1, BS2, BS3, and BS4. Figure 3A The left image shows another base station group consisting of four UWB base stations: BS1, BS3, BS4, and BS5. Figure 3A The right figure shows that the four UWB base stations in each base station group are not coplanar.

[0070] Figure 3B A schematic diagram of the layout of a UWB base station on the outside of an aircraft carrier according to another embodiment of the present disclosure is shown.

[0071] like Figure 3B As shown, UWB base stations can be installed at each of the eight vertices of the outer surface of the flight case, namely BS1, BS2, BS3, BS4, BS5, BS6, BS7, and BS8. These eight UWB base stations can be divided into two base station groups. The first base station group can include three UWB base stations located on the first surface of the flight case and one UWB base station located on the second surface, i.e., four UWB base stations in total: BS1, BS2, BS3, and BS8. Figure 3B The left figure shows the second base station group, which may include one UWB base station located on the first surface and three UWB base stations located on the second surface, namely BS4, BS5, BS6, and BS7, a total of four UWB base stations. Figure 3B The right-hand image shows the first and second surfaces, which can be two surfaces opposite each other on the flight case.

[0072] According to embodiments of this disclosure, by arranging three base stations on one plane and the last base station on another plane—that is, by ensuring that the four base stations in a base station group are not coplanar—multiple solutions can be avoided during vertical positioning. This means that each base station group can obtain a unique positioning result, reducing positioning errors to some extent. Secondly, the symmetrical arrangement of the two base station groups allows for subsequent interpolation selection. Furthermore, placing the base stations at the eight vertices of the flight box clearly distinguishes between the internal and external spaces, thereby eliminating positional solutions in the external space.

[0073] Figure 4 A flowchart illustrating a method for determining first location information according to an embodiment of the present disclosure is shown schematically.

[0074] like Figure 4 As shown, the method includes operations S401 to S402.

[0075] In operation S401, for each base station group, based on multiple distance information related to the base station group, the second position information of the terminal device in the first reference frame is determined.

[0076] In operation S402, first location information is determined based on multiple second location information related to multiple base station groups.

[0077] According to embodiments of this disclosure, the second location information measured by each base station group can be obtained by processing the distance information measured by each base station in the base station group using methods such as TOF and TDOA.

[0078] According to embodiments of this disclosure, with Figure 3BTaking the base station layout shown as an example, the calculation process of processing the distance information measured by each base station in the base station group using the TOF method can be shown in formulas (1) to (8). Among them, formulas (1) to (4) are the calculation process of processing the distance information measured by the first base station group, and formulas (5) to (8) are the calculation process of processing the distance information measured by the second base station group.

[0079]

[0080]

[0081]

[0082]

[0083]

[0084]

[0085]

[0086]

[0087] Where, x j j = 1, 2, ..., 8 represents the x-axis coordinate of the j-th base station BSj in the first reference frame; y j j = 1, 2, ..., 8 represents the y-axis coordinate of the j-th base station BSj in the first reference frame; z j j = 1, 2, ..., 8 represents the z-axis coordinate of the j-th base station BSj in the first reference frame; Δ j j = 1, 2, ..., 8 represents the flight time of the signal from the terminal device to the j-th base station BSj; c represents the signal propagation speed; c·Δ j j = 1, 2, ..., 8 represents the distance information measured by the j-th base station BSj; P1(x i1 y i1 , z i1 P2(x) represents the second location information determined by the first base station group; i2 y i2 , z i2 ) represents the second location information determined by the second base station group.

[0088] According to the embodiments of this disclosure, when multiple base stations can be divided into two or more base station groups, the process of calculating the second location information based on the measured distance information of other base station groups can refer to formulas (1) to (4) or formulas (5) to (8), which will not be repeated here.

[0089] According to embodiments of this disclosure, the second location information determined by each base station group can be used as a candidate for the true location, and the information of the true location, i.e., the first location information, can be calculated using multiple second location information.

[0090] For example, the average of the coordinates represented by multiple second position information can be calculated to obtain the first position information, as shown in formula (9):

[0091]

[0092] In the formula, P0 represents the first position information; P n This represents the nth second location information; n represents the number of base station groups.

[0093] For example, information weights associated with multiple second location information can be determined based on the signal attenuation of multiple base station groups; then, first location information can be determined based on the multiple second location information and the information weights associated with the multiple second location information.

[0094] According to embodiments of this disclosure, signal attenuation can refer to the amount of signal strength reduction of a base station signal when it penetrates an object. The signal attenuation of each base station in a base station group can be calculated using the method described in formula (10):

[0095] ΔT=T-T0 (10)

[0096] In the formula, ΔT represents the signal attenuation, T represents the actual flight time of the base station signal, and T0 represents the flight time of the base station signal in an open area with the same distance.

[0097] According to embodiments of this disclosure, the information weight of each second location information can be calculated as shown in formula (11):

[0098]

[0099] In the formula, w k The information weight of the k-th second position information is represented by ∑ΔT. k This represents the signal attenuation of the base station group corresponding to the kth second location information.

[0100] According to embodiments of this disclosure, the process of determining the first location information based on multiple second location information and information weights associated with each of the multiple second location information can be a process of weighted summation of multiple second location information using information weights as weights, as shown in formula (12):

[0101]

[0102] For example, the first position information can be determined by interpolating multiple second position information.

[0103] For example, the second location information that is closest to the location information recorded at the previous time can be selected from multiple second location information as the first location information.

[0104] According to embodiments of this disclosure, the first location information can be determined in any manner, without limitation.

[0105] According to embodiments of this disclosure, by determining the true location information, i.e. the first location information, based on multiple second location information as described above, the error between the measured first location information and the actual location information can be reduced without introducing other information, thereby effectively improving positioning accuracy.

[0106] Figure 5A A flowchart illustrating a method for determining first location information according to another embodiment of the present disclosure is shown schematically.

[0107] like Figure 5A As shown, the method includes operations S501 to S504.

[0108] In operation S501, for each base station group, based on multiple distance information related to the base station group, the second position information of the terminal device in the first reference frame is determined.

[0109] In operation S502, the historical location information set of the terminal device in the first reference frame is obtained.

[0110] In operation S503, based on the historical location information set, the predicted location information of the terminal device at the time the location request is initiated is determined.

[0111] In operation S504, the first location information is determined based on the predicted location information and multiple second location information.

[0112] According to embodiments of this disclosure, the historical location information set may include multiple historical location information sets, and the historical location information may be configured with a recording time, that is, the time when the historical location information is recorded.

[0113] According to embodiments of this disclosure, multiple historical location information in a historical location information set can be recorded at a fixed period, that is, the time difference between recordings of adjacent historical location information can be a fixed value.

[0114] According to embodiments of this disclosure, the predicted location information of a terminal device at the time the location request is initiated can be determined based on a set of historical location information by any trajectory prediction model or algorithm, such as LSTM (Long Short-Term Memory), CNN (Convolutional Neural Network), interpolation algorithms, etc., without limitation.

[0115] According to embodiments of this disclosure, operation S503 may include the following operations:

[0116] Based on the historical location information set, a displacement curve of the terminal device is generated; and based on the displacement curve, the position of the terminal device at the time of request initiation is predicted to obtain predicted location information.

[0117] According to embodiments of this disclosure, the displacement curve can be the fitted movement path of the testing personnel holding the terminal device.

[0118] According to embodiments of this disclosure, since the movement of the detection personnel is a continuous process, their movement path can be considered as a smooth curve. Based on this, by fitting the displacement curve to the position information at past moments, and then using the fitting result to predict the position information at the current moment, the predicted position information can be made to have high accuracy. Thus, by processing multiple second position information through the predicted position information, a more reliable first position information can be obtained, thereby improving the accuracy of positioning.

[0119] According to embodiments of this disclosure, operation S504 may include the following operations:

[0120] For each second location information, calculate the distance between the coordinates represented by the predicted location information and the coordinates represented by the second location information to obtain a distance value; determine the target distance value from multiple distance values ​​that are one-to-one related to multiple second location information, wherein the target distance value is represented as the minimum value among multiple distance values; and determine the second location information related to the target distance value as the first location information.

[0121] According to embodiments of this disclosure, any distance algorithm can be used to calculate the distance between the predicted location information and the second location information, such as the Euclidean distance algorithm, the Manhattan distance algorithm, the Chebyshev distance algorithm, etc., and is not limited thereto.

[0122] According to embodiments of this disclosure, by using predicted location information to fit multiple second location information to obtain first location information, the first location information obtained by positioning can conform to the movement trend of the terminal device, thereby reducing the error between the first location information and the actual location and improving the positioning accuracy.

[0123] Figure 5B A schematic diagram of a displacement curve obtained by fitting using an interpolation algorithm according to another embodiment of the present disclosure is shown.

[0124] like Figure 5B As shown, the displacement curve can be obtained by fitting multiple historical location information in the historical location information set using the Catmull-Rom interpolation algorithm.

[0125] According to embodiments of this disclosure, fitting a displacement curve using the Catmull-Rom interpolation algorithm may include the following operations:

[0126] Extract the historical location information of multiple first targets whose record time is closest to the request initiation time from the historical location information set; use the Catmull-Rom interpolation algorithm to interpolate the historical location information of multiple first targets to obtain multiple interpolation point location information; and generate the displacement curve of the terminal device based on the historical location information of multiple targets and the multiple interpolation point location information.

[0127] According to embodiments of this disclosure, when using the Catmull-Rom interpolation algorithm for interpolation, four consecutive points need to be input, with the interpolation interval between the two middle points. For example, for four consecutive historical location information p of a first target obtained from a historical location information set... -4 p -3 p -2 and p -1 When performing interpolation using the above four historical location information of the first target, the interpolation point location information between the two middle historical location information of the first target can be determined, i.e., p. -3 and p -2 The interpolation point position information between them is shown in formula (13):

[0128]

[0129] In the formula, p u τ represents the position information of the interpolation point at time u, where u is in the interval [-3, -2]; τ is a hyperparameter used to affect the curvature of the fitted displacement curve, and τ can take any value between 0 and 1.

[0130] According to embodiments of this disclosure, when using the Catmull-Rom interpolation algorithm for interpolation, interpolation between two points on an edge can be achieved by constructing a start point or an end point. For example, for four consecutive historical location information p of a first target obtained from a historical location information set... -4 p -3 p -2 and p-1 When it is necessary to fit p -2 and p -1 When calculating the displacement curve between points, an endpoint can be constructed, such as p′. -1 =2p -1 -p -2 After that, p can be... -4 p -3 p -2 and p -1 Substituting the endpoint of the construction into formula (13) yields p. -2 and p -1 Interpolation point location information between them.

[0131] According to embodiments of this disclosure, by fitting a displacement curve to recorded historical location information, the reliability of the fitted displacement curve can be effectively improved, thereby providing more reliable auxiliary information for determining the first location information of the detection personnel, and thus indirectly improving the positioning accuracy.

[0132] Figure 5C A schematic diagram illustrating the prediction of position information using displacement curves according to another embodiment of the present disclosure is shown.

[0133] like Figure 5C As shown, the displacement curve can be obtained using the following method: Figure 5B The method described in [the document] can be used to obtain [the information].

[0134] According to embodiments of this disclosure, after fitting the displacement curve using the Catmull-Rom interpolation algorithm, the predicted position information can be obtained through the following operations:

[0135] The historical location information of a second target is determined from multiple historical location information of a first target, wherein the recording time of the historical location information of the second target is closest to the request initiation time; based on the displacement curve, the predicted velocity information associated with the historical location information of the second target is determined; based on the predicted velocity information, the request initiation time, and the recording time of the historical location information of the second target, the predicted displacement information is determined; and based on the predicted displacement information and the historical location information of the second target, the predicted location information is determined.

[0136] According to embodiments of this disclosure, the second target historical location information may refer to the most recently recorded historical location information. For example, the historical location information recorded in the historical location information set is sorted by recording time from earliest to latest as p m p m-1 ... p -2 p -1 Then the historical location information of the second target can refer to the historical location information p -1 .

[0137] According to embodiments of this disclosure, the predicted speed information can refer to the instantaneous speed of the terminal device at the time of recording the historical location information of the second target, and can be calculated as shown in formula (14):

[0138]

[0139] In the formula, v represents the predicted velocity information; p -1 This indicates the historical location information of the second target; p _(1+Δt) It can be calculated using formula (13); Δt can be a hyperparameter.

[0140] According to embodiments of this disclosure, it can be assumed that the terminal device is moving at a constant speed between the time the request is initiated and the time the historical location information of the second target is recorded. Then, the predicted displacement information can be calculated as shown in formula (15):

[0141] Δp=v×(t0-t -1 (15)

[0142] In the formula, Δp represents the predicted displacement information, t0 represents the request initiation time, and t -1 This indicates the recording time of the historical location information of the second target.

[0143] According to embodiments of this disclosure, the predicted location information can be obtained by summing the historical location of the second target with the predicted displacement information, as shown in formula (16):

[0144] p′=p -1 +Δp (16)

[0145] In the formula, p′ represents the predicted location information.

[0146] In some embodiments, the predicted velocity information can be vector information, that is, the predicted velocity information may include the velocity value calculated as in formula (14) and azimuth information. The predicted position information can also be determined by the azimuth information.

[0147] According to embodiments of this disclosure, orientation information can be determined based on the value of Δt. For example... Figure 5C As shown, when Δt is 1, the predicted location information that can be obtained is p. 0_1 When Δt is sufficiently small, for example, 0.01, the predicted location information can be p. 0_2 Clearly, the smaller the value of Δt, the higher the reliability of the predicted location information. Therefore, p can be chosen. 0_2 As predicted location information.

[0148] According to embodiments of this disclosure, after determining the predicted location information, the first location information can be determined from a plurality of second location information using the predicted location information. For example, the distance between the predicted location information and each of the second location information can be calculated, and the second location information corresponding to the shortest record can be selected as the first location information.

[0149] According to embodiments of this disclosure, a computed tomography (CT) scanner can be used to scan a detection space consisting of multiple base stations to obtain CT scan results, and the location information of a target object can be determined from the CT scan results.

[0150] According to embodiments of this disclosure, a second reference frame can be determined based on the tomographic scan results. After determining the first location information and the location information of the target item, the positioning information of the terminal device for the target item can be determined based on the first location information and the location information of the target item by performing coordinate system transformation between the first reference frame and the second reference frame.

[0151] Figure 6 A schematic diagram illustrating a coordinate system transformation according to an embodiment of the present disclosure is shown.

[0152] like Figure 6 As shown, the coordinate system transformation can be to convert the coordinates in the second reference system to the coordinates in the first reference system. That is, the transformation strategy between the first and second reference systems is used to process the position information of the target item and obtain the third position information of the target item in the first reference system.

[0153] According to embodiments of this disclosure, the coordinate system transformation process can be as shown in formula (17):

[0154] C1 = C2 × R + T (17)

[0155] In the formula, C1 represents the first reference frame; C2 represents the second reference frame; R represents the rotation angle deviation between the first and second reference frames; and T represents the displacement deviation between the first and second reference frames. The rotation angle deviation and displacement deviation can be determined using multiple corresponding points in the first and second reference frames, which will not be elaborated here.

[0156] According to embodiments of this disclosure, the process of converting the location information of the target item into third location information in the first reference frame can be as shown in formula (18):

[0157]

[0158] In the formula, Indicates third location information. This indicates the location information of the target item.

[0159] According to embodiments of this disclosure, after determining the first location information and the third location information, positioning information can be generated based on the first location information and the third location information. The positioning information may include information such as the direction and distance of the terminal device relative to the target object.

[0160] According to embodiments of this disclosure, after generating location information in response to a location request, an external terminal device can send the location information to the terminal device so that the terminal device can display the location information. For example, the terminal device can be equipped with a three-dimensional display system based on a first reference frame. After receiving the location information, the terminal device can display the first location information and the third location information on the terminal device's display screen, and mark the orientation information and distance information of the current location relative to the target object.

[0161] According to embodiments of this disclosure, by displaying the location of the terminal device and the location of the target item on the terminal device in real time, the inspection personnel can clearly know their own location, which facilitates the adjustment of the subsequent search direction based on the location information, thereby improving the detection efficiency of the item.

[0162] Figure 7 A block diagram of a location information processing apparatus according to an embodiment of the present disclosure is shown schematically.

[0163] like Figure 7 As shown, the positioning information processing device 700 includes an acquisition module 710, a first determination module 720, and a second determination module 730.

[0164] The acquisition module 710 is used to acquire distance information for the terminal device from each of the multiple base stations in response to a positioning request.

[0165] The first determining module 720 is used to determine the first position information of the terminal device in a first reference frame determined based on multiple base stations, based on multiple distance information.

[0166] The second determining module 730 is used to determine the positioning information of the terminal device for the target item based on the first location information and the location information of the target item, wherein the location information of the target item is determined from the tomographic scan results.

[0167] According to embodiments of this disclosure, a positioning tag can be configured on the terminal device to enable the base station to locate the terminal device. When locating a target item, the first location information of the terminal device can be determined based on the positioning information of each base station for the terminal device. Then, the first location information and the location information of the target item determined from the tomographic scan results can be processed to determine the positioning information of the terminal device for the target item. This positioning information can be used to guide the inspection personnel holding the terminal device to find the target item in the inspection space. Therefore, it at least partially overcomes the technical problem of poor positioning accuracy of target items during the security inspection of loading tools in related technologies, thereby effectively improving the positioning accuracy of target items.

[0168] According to embodiments of this disclosure, the multiple base stations include multiple base station groups that meet preset conditions, wherein the preset conditions are characterized as the multiple base stations in the base station group not being coplanar.

[0169] According to embodiments of this disclosure, the first determining module 720 includes a first determining submodule and a second determining submodule.

[0170] The first determining submodule is used to determine the second position information of the terminal device in the first reference frame for each base station group based on multiple distance information related to the base station group.

[0171] The second determining submodule is used to determine the first location information based on multiple second location information that are associated with multiple base station groups one by one.

[0172] According to embodiments of this disclosure, multiple base stations constitute a detection space, which includes the internal space of a rectangular flight case. The multiple base stations include eight UWB base stations fixedly installed at the vertices of the outer side of the flight case. The eight UWB base stations are divided into two base station groups. The first base station group includes three UWB base stations located on the first surface of the flight case and one UWB base station located on the second surface of the flight case. The second base station group includes one UWB base station located on the first surface and three UWB base stations located on the second surface. The first and second surfaces are arranged opposite to each other.

[0173] According to embodiments of this disclosure, the second determining submodule includes a first determining unit, a second determining unit, and a third determining unit.

[0174] The first determining unit is used to acquire the historical location information set of the terminal device in the first reference frame.

[0175] The second determining unit is used to determine the predicted location information of the terminal device at the time the location request is initiated, based on the historical location information set.

[0176] The third determining unit is used to determine the first location information based on the predicted location information and multiple second location information.

[0177] According to embodiments of this disclosure, the second determining unit includes a first determining subunit and a second determining subunit.

[0178] The first determining sub-unit is used to generate the displacement curve of the terminal device based on the historical location information set.

[0179] The second determining subunit is used to predict the position of the terminal device at the time of request initiation based on the displacement curve, and obtain the predicted position information.

[0180] According to embodiments of this disclosure, the historical location information set includes multiple historical location information items, and each historical location information item is configured with a recording time.

[0181] According to embodiments of this disclosure, the first determining subunit includes a first determining component, a second determining component, and a third determining component.

[0182] The first determining component is used to extract multiple first target historical location information from the historical location information set whose recording time is closest to the request initiation time.

[0183] The second determining component is used to interpolate the historical location information of multiple first targets using the Catmull-Rom interpolation algorithm to obtain the location information of multiple interpolation points.

[0184] The third determining component is used to generate the displacement curve of the terminal device based on the historical location information of multiple targets and the location information of multiple interpolation points.

[0185] According to embodiments of this disclosure, the second determining subunit includes a fourth determining component, a fifth determining component, a sixth determining component, and a seventh determining component.

[0186] The fourth determining component is used to determine the historical location information of the second target from multiple historical location information of the first target, wherein the recording time of the historical location information of the second target is closest to the time when the request was initiated.

[0187] The fifth determining component is used to determine the predicted velocity information associated with the historical location information of the second target based on the displacement curve.

[0188] The sixth determining component is used to determine the predicted displacement information based on the predicted velocity information, the request initiation time, and the recording time of the second target's historical position information.

[0189] The seventh determining component is used to determine the predicted position information based on the predicted displacement information and the historical position information of the second target.

[0190] According to embodiments of this disclosure, the third determining unit includes a third determining subunit, a fourth determining subunit, and a fifth determining subunit.

[0191] The third determining sub-unit is used to calculate the distance between the coordinates represented by the predicted position information and the coordinates represented by the second position information for each second position information, and obtain the distance value.

[0192] The fourth determining subunit is used to determine the target distance value from multiple distance values ​​that are associated one-to-one with multiple second location information, wherein the target distance value is characterized as the minimum value among the multiple distance values.

[0193] The fifth determining subunit is used to determine the second location information related to the target distance value as the first location information.

[0194] According to embodiments of this disclosure, the second determining submodule includes a fourth determining unit and a fifth determining unit.

[0195] The fourth determining unit is used to determine the information weights that are associated one-to-one with multiple second location information based on the signal attenuation of multiple base station groups.

[0196] The fifth determining unit is used to determine the first location information based on multiple second location information and information weights that are one-to-one related to the multiple second location information.

[0197] According to embodiments of this disclosure, the second determining submodule includes a sixth determining unit.

[0198] The sixth determining unit is used to calculate the average value of the coordinates represented by multiple second position information to obtain the first position information.

[0199] According to embodiments of this disclosure, the second determining module 730 includes a third determining submodule, a fourth determining submodule, and a fifth determining submodule.

[0200] The third determination submodule is used to determine the second reference frame based on the tomographic scan results.

[0201] The fourth determination submodule is used to process the second position information by using the conversion strategy between the first and second reference frames to obtain the fourth position information of the target item in the first reference frame.

[0202] The fifth determination submodule is used to generate positioning information based on the first and fourth location information.

[0203] According to embodiments of this disclosure, the location information processing device 700 further includes a transmission module.

[0204] The sending module is used to send location information to the terminal device so that the terminal device can display the location information.

[0205] According to embodiments of this disclosure, the positioning information processing device 700 further includes a scanning module.

[0206] The scanning module is used to scan the detection space composed of multiple base stations using a computed tomography scanner to obtain tomographic scan results.

[0207] Any one or more of the modules, submodules, units, subunits, and components according to embodiments of this disclosure, or at least part of the functions of any one or more of them, can be implemented in a single module. Any one or more of the modules, submodules, units, subunits, and components according to embodiments of this disclosure can be implemented by dividing them into multiple modules. Any one or more of the modules, submodules, units, subunits, and components according to embodiments of this disclosure can be at least partially implemented as hardware circuits, such as Field Programmable Gate Arrays (FPGAs), Programmable Logic Arrays (PLAs), Systems-on-Chip, Systems-on-Substrate, Systems-on-Package, Application-Specific Integrated Circuits (ASICs), or implemented by hardware or firmware through any other reasonable means of integrating or packaging circuits, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, one or more of the modules, submodules, units, subunits, and components according to embodiments of this disclosure can be at least partially implemented as computer program modules, which, when run, can perform corresponding functions.

[0208] For example, any plurality of the acquisition module 710, the first determination module 720, and the second determination module 730 can be combined into one module / unit / subunit, or any one of these modules / units / subunits can be split into multiple modules / units / subunits. Alternatively, at least part of the functionality of one or more of these modules / units / subunits can be combined with at least part of the functionality of other modules / units / subunits and implemented in one module / unit / subunit. According to embodiments of this disclosure, at least one of the acquisition module 710, the first determination module 720, and the second determination module 730 can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging the circuitry, or implemented in software, hardware, or firmware, or in any suitable combination of any of these three implementation methods. Alternatively, at least one of the acquisition module 710, the first determination module 720, and the second determination module 730 may be implemented at least partially as a computer program module, which can perform corresponding functions when the computer program module is run.

[0209] It should be noted that the location information processing device part in the embodiments of this disclosure corresponds to the location information processing method part in the embodiments of this disclosure. For a detailed description of the location information processing device part, please refer to the location information processing method part, which will not be repeated here.

[0210] Figure 8 A block diagram of an electronic device suitable for implementing a location information processing method according to an embodiment of the present disclosure is shown schematically. Figure 8 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0211] like Figure 8 As shown, a computer electronic device 800 according to an embodiment of the present disclosure includes a processor 801, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 802 or a program loaded from a storage portion 808 into a random access memory (RAM) 803. The processor 801 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 801 may also include onboard memory for caching purposes. The processor 801 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0212] RAM 803 stores various programs and data required for the operation of electronic device 800. Processor 801, ROM 802, and RAM 803 are interconnected via bus 804. Processor 801 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 802 and / or RAM 803. It should be noted that the programs may also be stored in one or more memories other than ROM 802 and RAM 803. Processor 801 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.

[0213] According to embodiments of this disclosure, the electronic device 800 may further include an input / output (I / O) interface 805, which is also connected to a bus 804. The electronic device 800 may also include one or more of the following components connected to the I / O interface 805: an input section 806 including a keyboard, mouse, etc.; an output section 807 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 808 including a hard disk, etc.; and a communication section 809 including a network interface card such as a LAN card, modem, etc. The communication section 809 performs communication processing via a network such as the Internet. A drive 810 is also connected to the I / O interface 805 as needed. A removable medium 811, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 810 as needed so that computer programs read from it can be installed into the storage section 808 as needed.

[0214] According to embodiments of this disclosure, the method flow according to embodiments of this disclosure can be implemented as a computer software program. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via communication section 809, and / or installed from removable medium 811. When the computer program is executed by processor 801, it performs the functions defined in the system of embodiments of this disclosure. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0215] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the methods according to the embodiments of this disclosure.

[0216] According to embodiments of this disclosure, the computer-readable storage medium can be a non-volatile computer-readable storage medium. Examples include, but are not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0217] For example, according to embodiments of this disclosure, a computer-readable storage medium may include the ROM 802 and / or RAM 803 described above and / or one or more memories other than ROM 802 and RAM 803.

[0218] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods provided in the embodiments of this disclosure. When the computer program product is run on an electronic device, the program code is used to enable the electronic device to implement the positioning information processing method provided in the embodiments of this disclosure.

[0219] When the computer program is executed by the processor 801, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0220] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and may be downloaded and installed via the communication section 809, and / or installed from a removable medium 811. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0221] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on the user's computing device, partially on the user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0222] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions. Those skilled in the art will understand that the features recited in the various embodiments and / or claims of this disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not expressly described in this disclosure. In particular, the features described in the various embodiments and / or claims of this disclosure may be combined and / or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0223] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. The scope of this disclosure is defined by the appended claims and their equivalents. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A location information processing method, applicable to retrieving a suspicious target item from inside a loading vehicle, comprising: The enclosed inspection space of the loading tool is scanned using a computed tomography scanner, and the location information of the target item within the inspection space is determined based on the tomographic scan results. In response to a positioning request, distance information for the terminal device is obtained from each of the multiple base stations, wherein the multiple base stations include multiple base station groups that meet preset conditions, the preset conditions being that the multiple base stations in the base station group are not coplanar, and the multiple base station groups are configured in a symmetrical layout; For each of the base station groups, based on multiple distance information related to the base station group, the second position information of the terminal device in a first reference frame determined based on the multiple base stations is determined; Acquire the set of historical position information generated in the first reference frame when the terminal device moves in the detection space; Based on the historical location information set, the predicted location information of the terminal device at the time when the location request is initiated is determined; For each piece of the second location information, the distance between the coordinates represented by the predicted location information and the coordinates represented by the second location information is calculated to obtain a distance value; A target distance value is determined from a plurality of distance values ​​that are associated one-to-one with a plurality of second location information, wherein the target distance value is characterized as the minimum value among the plurality of distance values; The second location information related to the target distance value is determined as the first location information; and Based on the first location information and the location information of the target item, the positioning information of the terminal device for the target item is determined.

2. The method according to claim 1, wherein, The multiple base stations constitute a detection space, which includes the internal space of a rectangular flight case. The multiple base stations include eight UWB base stations fixedly installed at the vertices of the outer side of the flight case. The eight UWB base stations are divided into two base station groups. The first base station group includes three UWB base stations located on the first surface of the flight case and one UWB base station located on the second surface of the flight case. The second base station group includes one UWB base station located on the first surface and three UWB base stations located on the second surface. The first surface and the second surface are arranged opposite to each other.

3. The method according to claim 1, wherein, The step of determining the predicted location information of the terminal device at the time the location request was initiated, based on the historical location information set, includes: Based on the historical location information set, the displacement curve of the terminal device is generated; and Based on the displacement curve, the position of the terminal device at the time the request is initiated is predicted to obtain the predicted position information.

4. The method according to claim 3, wherein, The historical location information set includes multiple historical location information sets, and each historical location information set is configured with a recording time. The step of generating the displacement curve of the terminal device based on the historical location information set includes: Extract from the historical location information set the historical location information of multiple first targets whose recording time is closest to the request initiation time; The Catmull-Rom interpolation algorithm is used to interpolate the historical location information of multiple first targets to obtain multiple interpolated point location information; and Based on the historical location information of multiple targets and the location information of multiple interpolation points, a displacement curve of the terminal device is generated.

5. The method according to claim 4, wherein, The step of predicting the position of the terminal device at the time the request was initiated based on the displacement curve to obtain the predicted position information includes: A second target historical location information is determined from multiple first target historical location information, wherein the recording time of the second target historical location information is closest to the request initiation time; Based on the displacement curve, the predicted velocity information associated with the historical position information of the second target is determined; Based on the predicted velocity information, the request initiation time, and the recording time of the second target's historical position information, the predicted displacement information is determined; and Based on the predicted displacement information and the historical location information of the second target, the predicted location information is determined.

6. The method according to claim 1, wherein, The step of determining the positioning information of the terminal device for the target item based on the first location information and the location information of the target item includes: Based on the tomographic scan results, a second reference frame is determined; The position information of the target item is processed using a transformation strategy between the first and second reference frames to obtain the third position information of the target item in the first reference frame; and The positioning information is generated based on the first location information and the third location information.

7. The method according to claim 1, further comprising: The location information is sent to the terminal device so that the terminal device can display the location information.

8. A location information processing device, suitable for retrieving a suspicious target item from inside a loading vehicle, comprising: The scanning module is used to scan the enclosed detection space of the loading tool using a computed tomography scanner, and to determine the position information of the target item within the detection space based on the tomographic scan results. The acquisition module is used to acquire distance information of each of the multiple base stations for the terminal device in response to a positioning request. The multiple base stations include multiple base station groups that meet preset conditions. The preset conditions are characterized in that the multiple base stations in the base station group are not coplanar and the multiple base station groups are configured in a symmetrical layout. A first determining module is configured to, for each of the base station groups, determine, based on multiple distance information related to the base station group, the second position information of the terminal device in a first reference frame determined based on the multiple base stations; acquire a set of historical position information generated in the first reference frame when the terminal device moves in the detection space; determine, based on the historical position information set, the predicted position information of the terminal device at the time the positioning request is initiated; for each piece of second position information, calculate the distance between the coordinates represented by the predicted position information and the coordinates represented by the second position information to obtain a distance value; determine a target distance value from multiple distance values ​​that are one-to-one related to the multiple pieces of second position information, wherein the target distance value is represented as the minimum value among the multiple distance values; determine the second position information related to the target distance value as first position information; and The second determining module is used to determine the positioning information of the terminal device for the target item based on the first location information and the location information of the target item.

9. An electronic device, comprising: One or more processors; Memory, used to store one or more instructions. When the one or more instructions are executed by the one or more processors, the one or more processors cause the one or more processors to implement the method of any one of claims 1 to 7.

10. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 7.

11. A computer program product comprising computer-executable instructions, which, when executed, are used to implement the method of any one of claims 1 to 7.

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