A positioning method, device, system and medium based on multi-mode heterogeneous communication

Abstract

The application discloses a positioning method, device and system based on multi-mode heterogeneous communication and a medium. Different positioning modes are switched with network environments for multi-mode heterogeneous communication, so that positioning calculation can be performed at a terminal, a base station or a server as needed, and low-power high-precision positioning can be realized by cooperating with the starting and sleeping of a satellite receiver, thereby meeting the positioning requirements of different outdoor scenes.

Description

[0001] Cross Reference to Related Applications

[0002] This application claims priority to U.S. Patent Application No. 63 / 436111, filed December 30, 2022, U.S. Patent Application No. 63 / 450100, filed March 06, 2023, U.S. Patent Application No. 63 / 546495, filed October 30, 2023; PCT Application No. PCT / CN2022 / 116928, filed September 03, 2022; and PCT Application No. PCT / CN2023 / 102266, filed June 26, 2023, all of which are incorporated by reference herein in their entirety. TECHNICAL FIELD

[0003] The present application relates to the field of positioning technology, and in particular to a positioning method, device, system and medium based on multi-mode heterogeneous communication. BACKGROUND

[0004] Traditional outdoor high-precision positioning solutions not only have difficulty in controlling the power consumption of the positioning terminal, but also usually need to rely on the operator network environment to complete the high-precision positioning requirement. However, in the network service blind area or the area without base station coverage, such as the deep mountains and old forests in uninhabited areas, or the sea without network coverage, the positioning tag cannot transmit data to the positioning engine through the network, and it is difficult to monitor the movement track of the terminal. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application aims to provide a positioning method, device, system and medium based on multi-mode heterogeneous communication, which realizes low-power high-precision positioning based on multi-mode heterogeneous communication and meets the positioning requirements of different outdoor scenarios.

[0006] The first aspect of the present application provides a positioning method based on multi-mode heterogeneous communication, applied to a positioning terminal with multi-mode heterogeneous communication mode, the method comprising:

[0007] determining a target positioning mode of the positioning terminal according to positioning requirement information;

[0008] switching to a corresponding base station for communication through multi-mode heterogeneous network according to the current network environment;

[0009] starting a satellite receiver of the positioning terminal to receive satellite messages;

[0010] receiving auxiliary positioning data sent by the base station and combining the satellite messages to perform positioning calculation locally at the terminal, or sending the satellite messages to the base station to perform positioning calculation at the base station or server, according to the target positioning mode and the network environment.

[0011] Turning off the satellite receiver of the positioning terminal, and entering a sleep state until the next positioning is started.

[0012] In one embodiment, the target positioning mode of the positioning terminal is determined according to the positioning requirement information, specifically:

[0013] The target positioning mode of the positioning terminal is determined according to the positioning accuracy and the positioning frequency as the normal positioning mode or the accurate positioning mode.

[0014] In one embodiment, the target positioning mode of the positioning terminal is determined according to the positioning requirement information, specifically:

[0015] The target positioning mode of the positioning terminal is determined according to the positioning accuracy and the positioning frequency as the normal positioning mode or the accurate positioning mode.

[0016] In one embodiment, when the target positioning mode is the normal positioning mode, the auxiliary positioning data sent by the base station is received and combined with the satellite message to perform positioning calculation locally in the terminal, including:

[0017] The compressed ephemeris and almanac data sent by the base station are received;

[0018] The compressed ephemeris and almanac data and the satellite message are used to perform positioning calculation locally to obtain terminal positioning information.

[0019] In one embodiment, when the target positioning mode is the accurate positioning mode, the auxiliary positioning data sent by the base station is received and combined with the satellite message to perform positioning calculation locally in the terminal, including:

[0020] The compressed ephemeris and almanac data and the RTK differential data sent by the base station are received, the RTK differential data is directly from the base station or from a server, and the data from the server is obtained after being aggregated, fused and virtually processed from other base stations;

[0021] The compressed ephemeris and almanac data, the satellite message and the RTK differential data are used to perform positioning calculation locally to obtain terminal positioning information.

[0022] In one embodiment, when the target positioning mode is the normal positioning mode, the satellite message is sent to the base station to perform positioning calculation in the base station or the server, including:

[0023] The effective original message is extracted from the satellite message;

[0024] The effective original message is sent to the base station, so that the base station or the server performs positioning calculation according to the effective original message to obtain terminal positioning information.

[0025] In one embodiment, when the target positioning mode is a precise positioning mode, the sending of the satellite message to the base station for positioning calculation at the base station or server comprises:

[0026] extracting valid original messages from the satellite message;

[0027] sending the valid original messages to the base station, so that the base station or server performs positioning calculation according to the valid original messages and RTK differential data to obtain terminal positioning information, wherein the RTK differential data is directly obtained from the base station or from a server, and the data from the server is obtained after being aggregated, fused and virtually processed from other base stations.

[0028] The second aspect of the present application provides a positioning device based on multi-mode heterogeneous communication, which is applied to a positioning terminal with multi-mode heterogeneous communication mode, and the device comprises:

[0029] a positioning mode switching module configured to determine a target positioning mode of the positioning terminal according to positioning requirement information;

[0030] a multi-mode heterogeneous communication module configured to switch to a corresponding base station for communication through multi-mode heterogeneous network according to a current network environment, wherein the network environment comprises available public network and private network base stations, connection quality, available bandwidth, power consumption per bit, etc.

[0031] a receiver control module configured to start a satellite receiver of the positioning terminal to receive satellite messages, and to stop the satellite receiver of the positioning terminal to enter a sleep state until the next positioning start;

[0032] a positioning module configured to receive auxiliary positioning data sent by the base station and combine the satellite messages to perform positioning calculation at the terminal locally, or to send the satellite messages to the base station for positioning calculation at the base station or server, according to the target positioning mode and the network environment.

[0033] The third aspect of the present application provides a positioning system based on multi-mode heterogeneous communication, which comprises at least one processor, and

[0034] a memory in communication connection with the at least one processor; wherein

[0035] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the positioning method based on multi-mode heterogeneous communication.

[0036] The fourth aspect of the present application provides a non-volatile computer readable storage medium, the non-volatile computer readable storage medium stores computer executable instructions, when the computer executable instructions are executed by one or more processors, the one or more processors can execute the positioning method based on multi-mode heterogeneous communication described above.

[0037] Beneficial effects: The present application discloses a positioning method, device, system and medium based on multi-mode heterogeneous communication, compared with the prior art, the embodiment of the present application realizes multi-mode heterogeneous communication switching between different positioning modes and network environment, so that the positioning solution can be executed in the terminal local, base station or server as needed, and the start and sleep of the satellite receiver can realize low-power high-precision positioning, and meet the positioning needs of different outdoor scenes. BRIEF DESCRIPTION OF DRAWINGS

[0038] The present application will be further described below in conjunction with the drawings and embodiments, wherein:

[0039] Figure 1 It is a positioning system framework based on multi-mode heterogeneous communication;

[0040] Figure 2 It is a flowchart of the positioning method based on multi-mode heterogeneous communication provided by the embodiment of the present application;

[0041] Figure 3 It is a positioning work strategy diagram based on multi-mode heterogeneous communication;

[0042] Figure 4 It is a functional module schematic diagram of the positioning device based on multi-mode heterogeneous communication provided by the embodiment of the present application;

[0043] Figure 5 It is a hardware structure schematic diagram of the positioning system based on multi-mode heterogeneous communication provided by the embodiment of the present application;

[0044] Figure 6 It is a next-generation Internet of Things architecture diagram. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and effect of the present application more clear and explicit, the present application will be further described in detail below. It should be understood that the specific embodiments described herein are only used to explain the present application, and are not used to limit the present application. The embodiments of the present application are introduced below in conjunction with the drawings.

[0046] Traditional outdoor high-precision positioning scheme, not only the power consumption of positioning terminal is not easy to control, and usually need to rely on operator network environment to complete the high-precision positioning demand, but in the network service blind area or no base station coverage area, such as in the uninhabited area of deep forest, or no network coverage of the sea, positioning tag cannot transmit data to the positioning engine through the network, and then it is difficult to monitor the movement track of the terminal.

[0047] In view of the above problems existing in outdoor positioning, the present application provides a positioning method based on multi-mode heterogeneous communication, which can be applied to Figure 1 The positioning system framework based on multi-mode heterogeneous communication is shown in the figure, the terminal in the system framework has multi-mode heterogeneous communication mode; the base station covers satellite, private network, WLAN, network bridge, public network, multi-mode heterogeneous network and other communication networks, and dynamically adjusts any communication parameters to establish a network according to industry requirements or / and physical location. Specifically, the network service of dynamically adjusting any communication parameters according to industry requirements or / and physical location is provided through multi-mode heterogeneous network service, for example, the physical communication parameters such as source coding, channel coding, modulation model, signal time slot and transmission power can be adjusted; flexible scheduling, flexible expansion of wireless link access and management technology can be used, and functions such as device remote control, upgrade, parameter reading / modification and management can be performed, supporting link self-healing, providing high utilization, strong stability and easy recovery of professional wireless network bearing service.

[0048] The multi-mode heterogeneous network is an effective improvement and promotion of existing wireless communication and network, which improves the utilization rate of network resources and increases the coverage ability and performance of the network through dynamic coordination and distribution of communication parameters, various networking modes and network resources. For example, in Daxing'anling, the forest area operator network coverage is poor, and multi-mode heterogeneous base station can be deployed to cover the target area, and multi-mode heterogeneous network can be used as Figure 1 As shown in the architecture diagram, the connection network between the terminal and the base station, the terminal and the server, and the base station and the server realizes low-power high-performance positioning in the outdoor scene with poor operator network environment.

[0049] As Figure 2 The flow chart of the positioning method based on multi-mode heterogeneous communication provided by the embodiment of the present application is shown, which is applied to Figure 1 The positioning terminal with multi-mode heterogeneous communication mode in the framework diagram is introduced, and the method specifically includes the following steps:

[0050] S101, determining the target positioning mode of the positioning terminal according to the positioning demand information;

[0051] S102, switching to the corresponding base station of the positioning terminal through the multi-mode heterogeneous network for communication;

[0052] S103, turn on the satellite receiver of the positioning terminal to receive satellite message;

[0053] S104, according to the target positioning mode and network environment, receive the auxiliary positioning data sent by the base station and combine the satellite message to perform positioning calculation locally in the terminal, or send the satellite message to the base station to perform positioning calculation in the base station or server;

[0054] S105, turn off the satellite receiver of the positioning terminal and enter a sleep state until the next positioning is started.

[0055] In the embodiment, the positioning calculation of the positioning terminal can be performed locally in the terminal, in the base station or in the server on demand, and the positioning strategy can be flexibly switched according to the positioning demand and network environment. Specifically, the target positioning mode of the positioning terminal can be determined by the positioning demand information such as positioning accuracy and positioning frequency, so as to switch the target positioning mode of the positioning terminal between the ordinary positioning mode, the accurate positioning mode, the low-frequency positioning mode and the high-frequency positioning mode. For example, when the positioning accuracy demand is higher than the specified accuracy and / or the positioning frequency is lower than the specified frequency, the accurate positioning mode can be automatically switched to ensure the accuracy of terminal positioning; when the positioning accuracy demand is lower than the specified accuracy and / or the positioning frequency is higher than the specified frequency, the ordinary positioning mode can be automatically switched to save the terminal power consumption and improve the terminal endurance time in high-frequency positioning; of course, the positioning mode can also be manually switched according to the actual demand of the user to meet the positioning demand in different scenarios.

[0056] On the basis of switching the target positioning mode, the corresponding base station is switched to communicate through the multi-mode heterogeneous network according to the current network environment, such as the available public network and private network base station, connection quality, available bandwidth, power consumption per bit, actual available bandwidth, etc. Specifically, the communication between the private network base station and the public network base station is switched, for example, the communication of the private network base station is switched when the communication condition is good to provide safe and reliable positioning service; and the communication of the public network base station is switched when the communication condition is poor to ensure the basic data transmission demand.

[0057] The satellite receiver of the positioning terminal, i.e., GNSS receiver, has a wake-up and sleep function to reduce the positioning power consumption as much as possible, and the satellite receiver is turned on to receive the satellite message sent by the satellite when positioning is needed. Since the positioning calculation of the positioning terminal can be performed locally on the terminal, at the base station or at the server as needed, based on different network environments, when the network environment is poor, the auxiliary positioning data sent by the base station can be received and combined with the satellite message to perform positioning calculation locally on the terminal; or when the network environment is good, the satellite message can also be sent to the base station to perform positioning calculation at the base station or the server, and the specific auxiliary positioning data content is adjusted based on different target positioning modes. The specific auxiliary positioning data can include satellite ephemeris, satellite almanac, RTK differential data, base station position, etc., to achieve different positioning accuracy.

[0058] After the positioning is completed, the satellite receiver of the positioning terminal is turned off and enters a sleep state until the next positioning, and then is woken up again for the next round of positioning. Thus, through multi-mode heterogeneous communication switching of different positioning modes and network environments, the positioning calculation can be performed locally on the terminal, at the base station or at the server as needed, and the start and sleep of the satellite receiver can realize low-power high-precision positioning. In the case of good or poor network environment, accurate or regular positioning demand, etc., low-power outdoor positioning can be realized to meet the positioning demand of different outdoor scenes.

[0059] In one embodiment, when the target positioning mode is a normal positioning mode, the receiving the auxiliary positioning data sent by the base station and performing positioning calculation locally on the terminal in combination with the satellite message comprises:

[0060] Receiving the compressed ephemeris and almanac data sent by the base station;

[0061] Performing positioning calculation locally according to the compressed ephemeris and almanac data and the satellite message to obtain the terminal positioning information.

[0062] In this embodiment, as Figure 3The multi-mode positioning strategy shown describes a method where, when the positioning mode switches to normal positioning mode (general positioning), if communication conditions are poor, the positioning terminal performs local positioning calculations. It receives compressed ephemeris and almanac data sent by the base station. Specifically, it can obtain compressed ephemeris and almanac data from a public network base station, saving data transmission time. After the GNSS receiver is activated to receive satellite messages, the positioning calculation is performed locally based on the compressed ephemeris and almanac data and satellite messages to obtain the terminal's positioning information and complete the positioning. This positioning information can be further sent to the base station or server for other control processing based on the positioning information; this embodiment does not limit this. After completing the local positioning calculation, the GNSS receiver is promptly turned off and enters a sleep state, awaiting the next positioning wake-up. In this embodiment, the positioning terminal supports local location calculations, improves the initial positioning time by using compressed ephemeris and almanac data, and reduces power consumption through the sleep and startup of the satellite receiver, enabling low-power local positioning even in poor communication conditions.

[0063] In one embodiment, when the target positioning mode is a precise positioning mode, receiving the auxiliary positioning data sent by the base station and performing positioning calculation locally on the terminal in conjunction with the satellite message includes:

[0064] The system receives compressed ephemeris and almanac data, as well as RTK differential data, sent by the base station. The RTK differential data comes directly from the base station or from the server. The data from the server is obtained after aggregation, fusion, and virtual processing from other base stations.

[0065] The terminal positioning information is obtained by performing local positioning calculations based on the compressed ephemeris and almanac data, satellite messages, and RTK differential data.

[0066] In this embodiment, as Figure 3 The multi-mode positioning strategy shown in the diagram, when the positioning mode is switched to the precise positioning mode, if the communication condition is poor, the positioning terminal will run the positioning calculation locally. In order to achieve more accurate positioning, in addition to receiving the compressed ephemeris and almanac data sent by the base station, it will also request RTK differential data from the base station or the server. The RTK differential data comes directly from the base station or from the server. The data from the server is obtained after being aggregated, fused and virtualized from other base stations.

[0067] Specifically, the RTK (Real-Time Kinematic) positioning technology is a high-precision differential positioning technology based on a global positioning system (Beidou, GPS, GLONASS, etc.). By using an additional base station to provide a high-precision reference signal, the position error of the receiver is calculated and corrected in real time, and the positioning accuracy of centimeter level can be achieved by the RTK positioning technology. In the embodiment, the private network differential base station has an RTK differential receiver and provides an RTK correction engine. By acquiring satellite position information in time, the RTK differential data is obtained by updating the differential correction parameters in real time. The RTK differential data can be provided to the terminal downwardly and to the server upwardly. The server can further provide the RTK differential data, ephemeris and almanac to the public network base station, so that the positioning terminal can obtain the compressed data such as ephemeris and almanac and the RTK differential data through the public network base station when the communication condition is poor.

[0068] After the GNSS receiver receives the satellite message, the compressed ephemeris and almanac data, the satellite message and the RTK differential data are combined to perform local positioning calculation to obtain accurate terminal positioning information, and the local high-precision positioning process is completed. The accurate terminal positioning information can be further sent to the base station or the server for other control processing based on the accurate positioning information, which is not limited in the embodiment. After the local accurate positioning calculation is completed, the GNSS receiver is turned off to enter the sleep state, and waits for the next positioning wake-up. In the embodiment, the positioning terminal supports local position calculation, improves the first positioning time by using the compressed ephemeris and almanac data, reduces the power consumption by the sleep and start of the satellite receiver, requests the RTK differential data from the base station or the server, and realizes the high-precision positioning. Even when the communication condition is poor, the local low-power high-precision positioning can still be realized.

[0069] In one embodiment, when the target positioning mode is the normal positioning mode, the sending of the satellite message to the base station for positioning calculation at the base station or the server comprises:

[0070] extracting the valid original message from the satellite message;

[0071] sending the valid original message to the base station, so that the base station or the server performs positioning calculation according to the valid original message to obtain terminal positioning information.

[0072] In the embodiment, as Figure 3The multi-mode positioning working strategy shown in the embodiment, when the positioning mode is switched to the general positioning mode, if the communication condition is good, the positioning calculation is run through the private network base station or the server, after the GNSS receiver is started to receive the satellite message, the effective original message is extracted from the satellite message of the GNSS receiver, specifically, the bad message and the compressed message are sent to the multi-mode positioning base station or the server after being eliminated, the positioning calculation is executed based on the effective original message at the base station or the server, and the terminal positioning information is obtained, so that the power consumption caused by the satellite position calculation can be effectively reduced, and the terminal power consumption is saved. Preferably, when the positioning calculation is run on the private network base station or the server, the GNSS receiver of the positioning terminal can be closed into a sleep state after the original message is sent to the base station or the server, without waiting for the positioning calculation of the private network base station or the server to be completed, so as to reduce the power consumption caused by the work of the GNSS receiver as much as possible, and realize the low-power positioning based on the multi-mode heterogeneous communication.

[0073] In one embodiment, when the target positioning mode is the accurate positioning mode, the sending of the satellite message to the base station for the positioning calculation at the base station or the server comprises:

[0074] extracting the effective original message from the satellite message;

[0075] sending the effective original message to the base station, so that the base station or the server performs the positioning calculation according to the effective original message and RTK differential data to obtain the terminal positioning information, the RTK differential data is directly from the base station or from the server, and the data from the server is obtained after being converged, fused and virtually processed from other base stations.

[0076] In the embodiment, as shown in the multi-mode positioning working strategy, Figure 3 The multi-mode positioning working strategy shown in the embodiment, when the positioning mode is switched to the general positioning mode, if the communication condition is good, the positioning calculation is run through the private network base station or the server, after the GNSS receiver is started to receive the satellite message, the effective original message is extracted from the satellite message of the GNSS receiver, specifically, the bad message and the compressed message are sent to the multi-mode positioning base station or the server after being eliminated, the positioning calculation is executed based on the effective original message at the base station or the server, and the terminal positioning information is obtained, so that the power consumption caused by the satellite position calculation can be effectively reduced, and the terminal power consumption is saved. Preferably, when the positioning calculation is run on the private network base station or the server, the GNSS receiver of the positioning terminal can be closed into a sleep state after the original message is sent to the base station or the server, without waiting for the positioning calculation of the private network base station or the server to be completed, so as to reduce the power consumption caused by the work of the GNSS receiver as much as possible, and realize the low-power positioning based on the multi-mode heterogeneous communication.

[0077] Specifically, in the accurate positioning mode, the positioning terminal carries the currently available satellite number when requesting the RTK data from the base station or the server, and the base station and the server extract the corresponding data from the complete RTK data according to the currently available satellite number of the device, and send the data to the terminal after compression. The specific RTK data compression method includes eliminating poor quality data, using differential compression when the continuously requested RTK data changes little, and the like, so as to save the amount of data transmission and improve the positioning speed.

[0078] The positioning terminal can also limit the available satellite number according to the actual network situation and positioning demand. For example, if the network is not good and the bandwidth is limited, the satellites with slightly poor signal strength are defined as unusable satellites, which can effectively reduce the bandwidth occupied by the RTK data.

[0079] When there are multiple positioning terminals around the base station respectively requesting to obtain the RTK differential data, the communication bandwidth of the base station may be insufficient. At this time, the base station sends the RTK differential data in a broadcast mode. The broadcast mode of the base station refers to that the base station periodically sends broadcast information including time, position, frequency and the like to all connected terminals, so as to ensure that the communication connection of all terminals is smooth and unblocked. The terminal receives the RTK differential data at the time point when the base station broadcast is turned on, so as to ensure the accurate and reliable acquisition of the RTK differential data and realize local high-precision positioning.

[0080] Specifically, the server supports all base station algorithms, and can automatically select the data of the base station closest to the terminal when providing the RTK differential data to the terminal, or can generate new virtual RTK differential data in combination with the data of multiple multi-mode differential stations. The present embodiment does not limit this.

[0081] It should be noted that the above steps do not necessarily have a certain order, and those skilled in the art can understand that different embodiments can have different execution orders, i.e., can be executed in parallel, can be exchanged, and the like. For example, steps S101 and S102 can be executed in parallel, i.e., simultaneously determining the target positioning mode and switching the base station communication, or step S101 can be executed first and then step S102 can be executed, or step S102 can be executed first and then step S101 can be executed. The present embodiment does not limit this.

[0082] For example, the positioning method based on multi-mode heterogeneous communication provided by the embodiment of the present application provides an application scenario of a multi-mode self-organizing network mutual recognition intelligent positioning badge. The multi-mode self-organizing network mutual recognition intelligent positioning badge comprises a main controller, a cellular communication module, an LPWA communication module, a BLE communication module, an acceleration sensor, a GNSS positioning module, and a server.

[0083] The main controller is the control center of all modules. The cellular communication module connects the server through the mobile network, the LPWA communication module can communicate between the LPWA gateway, and can also be used for ad hoc network communication between the badges, the BLE communication module is used for indoor RSSI and AOA positioning, clock-in and clock-out, and can also be used for mutual scanning and identification between the badges. The acceleration sensor is used for step counting and motion recognition, and can be used to identify whether the wearer is in motion. The GNSS positioning module is used to realize outdoor positioning.

[0084] By applying the positioning method based on multi-mode heterogeneous communication provided by the embodiments of the application to the intelligent positioning badge, the target positioning mode of the positioning terminal is determined according to the positioning requirement information; the multi-mode heterogeneous network is switched to the corresponding base station for communication according to the current network environment; the satellite receiver of the positioning terminal is started to receive satellite messages; the satellite messages are sent to the base station to perform positioning calculation at the base station or the server according to the target positioning mode, or the satellite messages are received by the base station to perform positioning calculation at the terminal; the satellite receiver of the positioning terminal is closed and enters the sleep state until the next positioning is started. By switching the multi-mode heterogeneous communication between different positioning modes and network environments, the positioning calculation can be performed at the terminal, the base station or the server as needed, and the satellite receiver can be started and put into sleep to realize low-power high-precision positioning, which can meet the positioning requirements of different outdoor scenes, such as being worn by outdoor personnel such as sanitation workers, security personnel, construction workers, forest rangers and firefighters, for recording personnel trajectories, attendance and other functions.

[0085] For example, one application scenario of the positioning method based on multi-mode heterogeneous communication provided by the embodiments of the application is a fall identification and automatic rescue system. The AI-based fall identification and automatic rescue system is a fall identification and unmanned automatic rescue system using video images and AI algorithms, which includes a main control unit, a ball machine or a panoramic camera, a remote control lifeboat, a lifeboat dock, a server. The main control unit includes an AI processor, a wireless communication unit with the lifeboat, a wired or wireless communication unit with the server, and a control unit. The ball machine or panoramic camera provides panoramic images for the main control unit. The lifeboat dock can charge the lifeboat, release and recover the lifeboat, receive the control of the main control unit, and send the status to the main control unit. The lifeboat has a controller, a rechargeable battery, a power system, a satellite positioning unit, a voice recognition unit, a load detection unit, and a wireless communication unit.

[0086] The AI-based falling-into-water recognition and automatic rescue system provides an application mode: a camera ball or panoramic camera continuously patrols the water surface, and whether a person falls into the water is recognized through an AI image recognition algorithm. A lifeboat is docked at a lifeboat pier, is automatically fully charged, and is in a standby state through wireless connection between the lifeboat and the main control box. When a person falls into the water is detected, the main control box issues an audible and visual alarm to remind nearby personnel to assist in rescue, and simultaneously sends alarm information and on-site images to the server. The video AI algorithm calculates the rough position of the person falling into the water according to the current camera pitch angle and the position of the person falling into the water in the picture. The lifeboat is released, and the lifeboat has a satellite positioning function, which can report its position to the main control unit, and the main control unit calculates the best driving route to control the lifeboat to drive to the falling point. The position of the falling point can also be sent to the lifeboat, and the lifeboat calculates the path to the falling point by itself. The camera continuously tracks the position of the person falling into the water and sends it to the lifeboat. Due to the possible deviation between the positioning calculation of the AI algorithm and the satellite positioning position, when the lifeboat and the rescue target are relatively close, the camera recognizes the distance and relative direction between the two through the AI algorithm, and controls the lifeboat to approach the target as much as possible. The lifeboat has a load detection function, and when it is detected that the person falling into the water has grabbed the body of the lifeboat, the lifeboat drags the person falling into the water to move to a safe area. The lifeboat has a loudspeaker and a microphone, and can prompt the person falling into the water to issue control commands through voice, such as: “The lifeboat supports voice control. You can issue the following commands: forward, stop, left turn, right turn. If you do not issue a control, the lifeboat will drive to the default landing point”, and the person falling into the water says “forward”, and the lifeboat drives forward, and other commands are similar.

[0087] By applying the positioning method based on multi-mode heterogeneous communication provided by the embodiment of the application on the lifeboat, the target positioning mode of the positioning terminal is determined according to the positioning requirement information; the multi-mode heterogeneous network is switched to the corresponding base station for communication according to the current network environment; the satellite receiver of the positioning terminal is started to receive satellite messages; the positioning terminal is positioned locally by receiving the auxiliary positioning data sent by the base station and combining the satellite messages according to the target positioning mode, or the satellite messages are sent to the base station or server for positioning calculation; the satellite receiver of the positioning terminal is closed and enters a sleep state until the next positioning is started. Through multi-mode heterogeneous communication switching of different positioning modes and network environments, the positioning calculation can be performed in the terminal, the base station or the server as needed, and the satellite receiver can be started and put into a sleep state to achieve low-power high-precision positioning, which can meet the positioning and rescue requirements of different outdoor scenes. In the sea area with poor network coverage, low-power and high-precision positioning can still be achieved, so that rescue can be performed in time and accurately.

[0088] It can be understood that the positioning method based on multi-mode heterogeneous communication provided by the embodiment of the application can also be applied to various outdoor scene environments, such as field work, forest fire prevention and rescue, etc., and can meet the high-precision positioning requirements in the absence of operator network environment.

[0089] Another embodiment of the present application provides a positioning device based on multi-mode heterogeneous communication, applied to a positioning terminal with multi-mode heterogeneous communication mode, such as Figure 4 As shown in the figure, the device 1 comprises:

[0090] A positioning mode switching module 11, configured to determine a target positioning mode of the positioning terminal according to positioning requirement information;

[0091] A multi-mode heterogeneous communication module 12, configured to switch to a corresponding base station of the positioning terminal through a multi-mode heterogeneous network for communication;

[0092] A receiver control module 13, configured to start a satellite receiver of the positioning terminal to receive satellite messages, and to stop the satellite receiver of the positioning terminal to enter a sleep state until the next positioning start;

[0093] A positioning module 14, configured to receive auxiliary positioning data sent by the base station according to the target positioning mode and network environment, and to combine the satellite messages to perform positioning calculation locally at the terminal, or to send the satellite messages to the base station to perform positioning calculation at the base station or a server.

[0094] The modules in the present application include but are not limited to a series of computer program instruction segments capable of completing specific functions, and are more suitable than programs for describing the positioning execution process based on multi-mode heterogeneous communication. The specific implementation of each module can refer to the corresponding method embodiments described above, and each module can also include related hardware devices, etc., which will not be described here.

[0095] Another embodiment of the present application provides a positioning system based on multi-mode heterogeneous communication, such as Figure 5 As shown in the figure, the system 10 comprises:

[0096] One or more processors 110 and memories 120, Figure 5 In an example, the processor 110 and the memory 120 can be connected through a bus or other means, Figure 5 In an example, the connection through the bus is taken as an example.

[0097] The processor 110 is configured to implement various control logic of the system 10, and can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip computer, an ARM (Acorn RISC Machine), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. In addition, the processor 110 can also be any conventional processor, microprocessor, or state machine. The processor 110 can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, and / or any other such configuration.

[0098] The memory 120 is a non-volatile computer-readable storage medium configured to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions corresponding to the positioning method based on multi-mode heterogeneous communication in the embodiments of the present application. The processor 110 executes various functional applications and data processing of the system 10 by running the non-volatile software programs, instructions, and units stored in the memory 120, i.e., implements the positioning method based on multi-mode heterogeneous communication in the above-mentioned method embodiments.

[0099] The memory 120 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; and the data storage area can store data created according to the use of the system 10, etc. In addition, the memory 120 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 120 can optionally include a memory remotely disposed relative to the processor 110, and these remote memories can be connected to the system 10 through a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0100] One or more units are stored in the memory 120 and implemented when executed by the one or more processors 110 to perform the following steps:

[0101] Determining a target positioning mode of the positioning terminal according to the positioning requirement information;

[0102] Switching the positioning terminal to a corresponding base station for communication through a multi-mode heterogeneous network; the network environment includes public network and private network base stations available for communication, connection quality, available bandwidth, power consumption per bit, etc.

[0103] Turning on a satellite receiver of the positioning terminal to receive satellite messages;

[0104] According to the target positioning mode and the network environment, receiving the auxiliary positioning data sent by the base station and combining the satellite message to perform positioning calculation locally at the terminal, or sending the satellite message to the base station to perform positioning calculation at the base station or server;

[0105] Turning off the satellite receiver of the positioning terminal and entering a sleep state until the next positioning is started.

[0106] In one embodiment, the target positioning mode of the positioning terminal is determined according to the positioning requirement information, specifically:

[0107] According to the positioning accuracy and the positioning frequency, the target positioning mode of the positioning terminal is determined as a normal positioning mode or a precise positioning mode.

[0108] In one embodiment, the target positioning mode of the positioning terminal is determined according to the positioning requirement information, specifically:

[0109] According to the current network environment, the multi-mode heterogeneous network is switched to a special network base station or a public network base station for communication.

[0110] In one embodiment, when the target positioning mode is a normal positioning mode, the receiving of the auxiliary positioning data sent by the base station and the combining of the satellite message to perform positioning calculation locally at the terminal includes:

[0111] Receiving the compressed ephemeris and almanac data sent by the base station;

[0112] According to the compressed ephemeris and almanac data and the satellite message, performing positioning calculation locally to obtain terminal positioning information.

[0113] In one embodiment, when the target positioning mode is a precise positioning mode, the receiving of the auxiliary positioning data sent by the base station and the combining of the satellite message to perform positioning calculation locally at the terminal includes:

[0114] Receiving the compressed ephemeris and almanac data and RTK differential data sent by the base station, the RTK differential data being directly from the base station or from a server, the data from the server being obtained after being aggregated, fused and virtually processed from other base stations;

[0115] According to the compressed ephemeris and almanac data, the satellite message and the RTK differential data, performing positioning calculation locally to obtain terminal positioning information.

[0116] In one embodiment, when the target positioning mode is a normal positioning mode, the sending of the satellite message to the base station to perform positioning calculation at the base station or server includes:

[0117] extracting valid original messages from the satellite messages;

[0118] sending the valid original messages to the base station, so that the base station or server performs positioning calculation according to the valid original messages to obtain terminal positioning information.

[0119] In one embodiment, when the target positioning mode is a precise positioning mode, the sending of the satellite messages to the base station for positioning calculation at the base station or server includes:

[0120] extracting valid original messages from the satellite messages;

[0121] sending the valid original messages to the base station, so that the base station or server performs positioning calculation according to the valid original messages and RTK differential data to obtain terminal positioning information, the RTK differential data being directly from the base station or from a server, the data from the server being obtained after being aggregated, fused and virtually processed from other base stations.

[0122] The embodiment of the present application provides a non-volatile computer readable storage medium, the computer readable storage medium stores computer executable instructions, the computer executable instructions are executed by one or more processors, for example, the method steps S101 to S105 in the above description Figure 2 are executed.

[0123] By way of example, non-volatile storage can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM), as external cache memory for a processor. By way of illustration, and not limitation, RAM can be available at many forms, such as synchronous RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), Sync Link DRAM (SLDRAM), and direct Rambus RAM (DRRAM). The disclosed memory components or memory of the operational environment described herein are intended to include one or more of these and / or any other suitable type of memory.

[0124] In summary, the positioning method, apparatus, system, and medium disclosed in this invention based on multi-mode heterogeneous communication involves: determining the target positioning mode of the positioning terminal based on positioning requirement information; switching to the corresponding base station of the positioning terminal for communication via a multi-mode heterogeneous network; activating the satellite receiver of the positioning terminal to receive satellite messages; receiving auxiliary positioning data sent by the base station and combining it with the satellite messages to perform positioning calculation locally on the terminal, or sending satellite messages to the base station for positioning calculation at the base station or server, based on the target positioning mode; and deactivating the satellite receiver of the positioning terminal, entering a sleep state until the next positioning activation. By switching between different positioning modes and network environments using multi-mode heterogeneous communication, positioning calculation can be performed on demand at the terminal, base station, or server. Furthermore, the activation and sleep states of the satellite receiver enable low-power, high-precision positioning, meeting the positioning requirements of various outdoor scenarios.

[0125] Figures 1-5 Examples of these embodiments can be applied to, for example Figure 6 The next generation of Internet of Things shown, and Figure 6 The technologies within the system support and integrate with each other, effectively solving many bottleneck problems in IoT applications, such as high latency, high power consumption, incomplete network coverage, low data capacity, different communication protocols, data insecurity, and application terminal allocation of communication resources. This invention significantly enhances the application value and user experience of IoT in various environments, improves application efficiency, and truly realizes the effective application of "Internet of Everything," achieving, but is not limited to, the following:

[0126] The next generation of the Internet of Things (IoT) is characterized by weakening the boundaries between sensing, communication, computing, control, and application in the traditional IoT, improving the interoperability between the layers, and promoting mutual promotion between the layers with the guidance of dynamic, on-demand, and rational resource allocation, so as to achieve overall system optimization.

[0127] Among these, the communication link is particularly crucial. Based on the multi-mode heterogeneous network, which is specially designed for smart twins / smart empowerment in various industries, the multi-mode heterogeneous network is an effective improvement and enhancement of existing wireless communication and networks. Through the dynamic coordination and allocation of communication parameters, multiple networking methods and network resources, it realizes ubiquitous, dynamic and real-time effective communication, improves spectrum utilization, network resource utilization, and increases network coverage and performance.

[0128] Multimode heterogeneous networks possess polymorphism, dynamically adjusting communication parameters based on physical location to establish a network. Besides mainstream communication modes, they also include advanced networking methods such as Mesh, relay, and SDN. They support flexible scheduling and scalable wireless link access and management technologies, support link self-healing, and provide highly utilized, highly stable, and easily recoverable professional wireless network services.

[0129] Multi-mode heterogeneous network is closely combined with industry, dynamically adjusts communication parameters according to industry requirements or / and physical location, for example, can adjust communication parameters such as source coding, channel coding, signal time slot, transmission power, carrier frequency, carrier bandwidth, modulation mode, transmission power, receiving sensitivity, etc.; different communication requirements use different communication strategies, such as high-bandwidth communication requirements can use data sending point splitting, multi-path concurrent transmission and receiving point convergence, and can combine high-service-quality deployment strategies, and for example, high-reliability communication requirements can use multi-path redundant transmission mode, which guarantees reliable delivery and reduces the delay caused by sequential switching of multiple communication modes;

[0130] Multi-mode heterogeneous network is deeply integrated with sensing terminal, and the sensing dynamically changes the sampling interval and sampling precision according to its own conditions such as power, sensing data value, sensing data change rate, preset threshold, network condition, etc., further adjusts parameters such as sending frequency, transmission power and modulation mode, so that the response time, overall power consumption and network bandwidth occupation can be considered at the same time. Sensing equipment combined with edge computing realizes edge correction and self-correction, and can also generate edge decision at the same time to directly drive the control terminal;

[0131] Multi-mode heterogeneous network has autonomous ability, the base station / gateway can have a distributed edge core network (or communication server), and can automatically switch to the edge core network when the connection with the server side core network is interrupted; in the case of network interruption, the base stations / gateways can be networked through wireless or wired means, with one base station / gateway as the core network. The edge core network provides hierarchical and regional communication in the case of network interruption, and provides necessary support for data exchange for domain edge computing;

[0132] Multi-mode heterogeneous network is assisted by artificial intelligence, the core network and the base station can collect link information of base stations, routing nodes and terminals, including communication standard, communication path, signal-to-noise ratio, packet loss rate, delay, channel occupancy rate, etc., make link prediction through deep learning, and further deduce more optimal networking and communication scheme, and adaptively adjust the connection mode (direct connection to base station, mesh network, point-to-point), transmission path (single path, multi-path), radio frequency parameters (modulation mode, rate, spectrum occupancy, receiving bandwidth) of the equipment according to the needs (data transmission rate, response time, reliability, connection distance, etc.);

[0133] Multi-mode heterogeneous network can enhance the cloud-edge coordination capability, the artificial intelligence industry algorithm center uniformly manages and operates the support of computing power and service resources, can dynamically allocate the computing power and algorithm tasks of the fog computing, edge computing and artificial intelligence industry algorithm center itself according to the industry application, computing power, network and communication condition, realizes automatic expansion and contraction according to the actual configuration scene, and improves the utilization rate of computing resources;

[0134] The next-generation artificial intelligence Internet of Things system covers multiple levels: from bottom to top, the terminal layer, the transmission layer, the support layer, the artificial intelligence service platform layer and the city operation comprehensive IOC layer;

[0135] The next-generation artificial intelligence Internet of Things system also includes a security management platform, a unified operation and maintenance management platform, and an IT resource service; wherein the security management platform and the unified operation and maintenance management platform run through all levels vertically, providing full-chain, end-to-end services;

[0136] The IT resource service provides services for the support layer, the artificial intelligence service platform layer and the city operation comprehensive IOC layer;

[0137] The multi-mode gateway transmits the position information of the low-power electronic terminal to the data intelligent fusion platform through the multi-mode heterogeneous Internet of Things sensing platform in the figure, and further pushes it to other blocks, thereby realizing the purposes of personnel positioning, track monitoring, abnormal alarm and rapid rescue;

[0138] The low-power wireless relay module enhances the coverage capability of the multi-mode heterogeneous base station and the gateway, and increases the coverage capability of the terminal

[0139] In the rescue process, the intelligent code rate switching wireless intercom system provides necessary support for command and dispatch;

[0140] And the variable mode satellite positioning device accurately identifies the position of personnel in the rescue process, providing accurate position information for visual command and dispatch.

[0141] Of course, those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by a computer program instructing related hardware (such as a processor, a controller, etc.), and the computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, it can include the processes of the above-mentioned method embodiments. The storage medium can be a memory, a disk, a floppy disk, a flash memory, an optical storage, etc.

[0142] It should be understood that the application of the present application is not limited to the above examples, and those skilled in the art can improve or change it according to the above description, and all these improvements and changes should belong to the protection scope of the claims of the present application.

Claims

1. A positioning method based on multi-mode heterogeneous network communication, characterized in that, Includes the following steps: (1) Determine the target positioning mode of the positioning terminal based on the positioning demand information; (2) Turn on the satellite receiver of the positioning terminal to receive satellite messages; (3) Based on the current network environment, the positioning terminal automatically switches to the corresponding base station or gateway through the multi-mode heterogeneous network for communication. (4) Receive the auxiliary positioning data sent by the base station and perform positioning calculation locally on the terminal in combination with the satellite message; Alternatively, the satellite message may be sent to the base station to perform positioning calculations at the base station or server; (5) After positioning is completed, turn off the satellite receiver of the positioning terminal and put the terminal into a sleep state until the next positioning task is started; In this configuration, a distributed edge core network or communication server is configured at the base station or gateway, and: (a) When the connection with the central core network is interrupted, communication automatically switches to the distributed edge core network; as well as (b) In the offline state, a local self-organizing network is formed by wireless or wired means, wherein the local self-organizing network operates as a temporary core network node through the base station or gateway.

2. The method of claim 1, wherein, The step of determining the target positioning mode of the positioning terminal based on the positioning requirement information specifically refers to: The target positioning mode of the positioning terminal is determined to be a normal positioning mode or a precise positioning mode, or a low-frequency positioning or a high-frequency positioning mode, based on the positioning accuracy and / or positioning frequency.

3. The method according to claim 1 or 2, wherein, The method further includes: transmitting RTK differential data via broadcast.

4. The method of claim 2, wherein, When the target positioning mode is normal positioning mode, the step of receiving the auxiliary positioning data sent by the base station and performing positioning calculation locally on the terminal in conjunction with the satellite message includes: Receive compressed ephemeris and / or almanac data sent by the base station; The terminal positioning information is obtained by performing local positioning calculations based on the compressed ephemeris and / or almanac data and / or satellite messages.

5. The method of claim 2, wherein, When the target positioning mode is precise positioning mode, receiving the auxiliary positioning data sent by the base station and performing positioning calculation locally on the terminal in conjunction with the satellite message includes: The system receives compressed ephemeris and almanac data, as well as RTK differential data, sent by the base station. The RTK differential data comes directly from the base station or from the server. The data from the server is obtained after aggregation, fusion, and virtual processing from other base stations. The terminal positioning information is obtained by performing local positioning calculations based on the compressed ephemeris and almanac data, satellite messages, and RTK differential data.

6. The method of claim 2, wherein, When the target positioning mode is normal positioning mode, sending the satellite message to the base station to perform positioning calculation at the base station or server includes: Extract valid original messages from the satellite messages; The valid original message is sent to the base station so that the base station or server can perform positioning calculations based on the valid original message to obtain the terminal positioning information.

7. The method of claim 2, wherein, When the target positioning mode is a precise positioning mode, sending the satellite message to the base station to perform positioning calculation at the base station or server includes: Extract valid original messages from the satellite messages; The valid original message is sent to the base station so that the base station or server can perform positioning calculation based on the valid original message and RTK differential data to obtain the final accurate positioning information of the terminal. The RTK differential data comes directly from the base station or from the server. The data from the server is obtained after aggregation, fusion and virtual processing from other base stations.

8. A positioning device based on multi-mode heterogeneous communication, characterized by The device includes: The positioning mode switching module is used to determine the target positioning mode of the positioning terminal based on the positioning requirement information. A multimode heterogeneous communication module is used to adjust the communication parameters of a multimode heterogeneous network; wherein the communication parameters include one or more of the following parameters: source coding, channel coding, signal time slot, carrier frequency, carrier bandwidth, modulation method, transmit power, and receive sensitivity; wherein, the multimode heterogeneous communication module is further configured to: switch the communication connection of the positioning terminal through the multimode heterogeneous network to a base station or gateway corresponding to the positioning terminal for communication; The receiver control module is used to turn on the satellite receiver of the positioning terminal to receive satellite messages; and to turn off the satellite receiver of the positioning terminal to enter a sleep state until the next positioning is turned on. The positioning module is used to receive auxiliary positioning data sent by the base station and perform positioning calculation locally on the terminal in combination with the satellite message, according to the target positioning mode and / or network environment, or to send the satellite message to the base station for positioning calculation at the base station or server. In this configuration, a distributed edge core network or communication server is configured at the base station or gateway, and: (a) When the connection with the central core network is interrupted, communication automatically switches to the distributed edge core network; and (b) In the offline state, a local self-organizing network is formed by wireless or wired means, wherein the local self-organizing network operates as a temporary core network node through the base station or gateway.

9. A positioning system based on multi-mode heterogeneous communication, characterized by The system includes at least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform the positioning method based on multimode heterogeneous network communication as described in any one of claims 1-7.

10. A non-transitory computer readable storage medium, comprising: The non-volatile computer-readable storage medium stores computer-executable instructions that, when executed by one or more processors, cause the one or more processors to perform the positioning method based on multimode heterogeneous network communication as described in any one of claims 1-7.

11. An RTK data processing method, characterized in that, Applications to positioning terminals include: The communication connection of the positioning terminal is switched to the base station or gateway corresponding to the positioning terminal through a multi-mode heterogeneous network; The system sends an RTK data request to the base station, carrying the currently available satellite numbers. The RTK data request instructs the base station to extract and compress corresponding data from the complete RTK data based on the currently available satellite numbers. Receive data sent by the base station; wherein, a distributed edge core network or communication server is configured at the base station or gateway, and: (a) When the connection with the central core network is interrupted, communication automatically switches to the distributed edge core network; and (b) In the offline state, a local self-organizing network is formed by wireless or wired means, wherein the local self-organizing network operates as a temporary core network node through the base station or gateway.

12. The RTK data processing method of claim 11, wherein, The method also includes: The available satellite numbers are limited based on network environment and / or location requirements.

13. The RTK data processing method of claim 12, wherein, The limitation based on available satellite numbers according to network environment and positioning requirements specifically includes: When network bandwidth is limited, satellites with poor signal strength are designated as unusable satellites.

14. The RTK data processing method of claim 11, wherein, Receiving extracted and compressed RTK data sent by the base station or server specifically includes: The system receives extracted and compressed RTK data sent by the base station through broadcast messages periodically sent by the base station.

15. The RTK data processing method of claim 11, wherein, The server supports all base station algorithms and receives extracted and compressed RTK data sent by the base station or server, specifically including: Receive RTK data processed by the base station closest to the positioning terminal, sent by the server.

16. The RTK data processing method of claim 11, wherein, The server supports all base station algorithms, and the process of receiving extracted and compressed RTK data sent by the base station or server specifically includes: Receive new virtual RTK data generated by combining RTK data from multiple base stations, sent by the server.

17. An RTK data processing apparatus, characterized by, include: The request sending module is used to send an RTK data request to the base station carrying the currently available satellite number. The RTK data request is used to instruct the base station to extract the corresponding data from the complete RTK data according to the currently available satellite number. A multimode heterogeneous communication module is used to adjust the communication parameters of a multimode heterogeneous network; wherein the communication parameters include one or more of the following: source coding, channel coding, signal time slot, carrier frequency, carrier bandwidth, modulation scheme, transmit power, and receive sensitivity. The data receiving module is used to receive data sent by the base station or server; The multimode heterogeneous communication module is further configured to: switch the communication connection of the positioning terminal to a base station or gateway corresponding to the positioning terminal through the multimode heterogeneous network; The distributed edge core network or communication server is configured at the corresponding base station or gateway of the positioning terminal, and: (a) When the connection with the central core network is interrupted, communication automatically switches to the distributed edge core network; as well as (b) In the offline state, a local self-organizing network is formed by wireless or wired means, wherein the local self-organizing network operates as a temporary core network node through a base station or gateway corresponding to the positioning terminal.

18. The RTK data processing apparatus of claim 17, wherein, The device also includes: The limiting module is used to limit the available satellite numbers based on network environment and positioning requirements.

19. The RTK data processing apparatus of claim 18, wherein, The limiting module is specifically used for: When network bandwidth is limited, satellites with poor signal strength are designated as unusable satellites.

20. The RTK data processing apparatus of claim 17, wherein, The data receiving module is specifically used for: The system receives extracted and compressed RTK data sent by the base station through broadcast messages periodically sent by the base station.

21. The RTK data processing apparatus of claim 17, wherein, The data receiving module is specifically used for: Receive RTK data processed by the base station closest to the positioning terminal, sent by the server.

22. The RTK data processing apparatus of claim 17, wherein, The data receiving module is specifically used for: Receive new virtual RTK data generated by combining RTK data from multiple base stations, sent by the server.

23. A multi-mode self-organizing network intelligent positioning badge, characterized in that, include: Main controller; BLE communication module for indoor RSSI and AOA positioning; GNSS positioning module, used for outdoor positioning; The main controller uses the positioning method based on multi-mode heterogeneous network communication as described in any one of claims 1-7.

24. The multi-mode self-organizing network smart positioning badge of claim 23, wherein, The BLE communication module is also used for mutual scanning and identification between employee badges.

25. The multi-mode self-organizing network smart positioning badge of claim 23, wherein, Also includes: An accelerometer is used to detect whether the wearer is in motion.

26. The intelligent positioning badge of a multi-mode ad hoc network according to any one of claims 23-25, wherein, It also includes one or more of the following: Cellular communication module, used to connect to the server via mobile network; The LPWA communication module is used for communication with the LPWA gateway and for self-organizing network communication between employee badges.

27. A falling into water recognition and automatic rescue system, characterized by include: Main control unit; A PTZ camera or panoramic camera is used to provide panoramic images to the main control unit; The main control unit is used to identify whether someone has fallen into the water using an AI image recognition algorithm, and to control the release of the lifeboat when someone is identified as having fallen into the water. The lifeboat is equipped with satellite positioning capabilities and uses the positioning method based on multi-mode heterogeneous network communication as described in any one of claims 1-7.

28. The fall identification and automatic rescue system of claim 27, wherein, Also includes: The lifeboat dock is used to receive control from the master control unit and send status information to the master control unit to charge, release, or recover the lifeboats.

29. The fall identification and automatic rescue system of claim 27, wherein, The main control unit is specifically used for: When someone is detected falling into the water, the system calculates the location of the person's fall into the water based on the current camera's tilt angle and the person's position in the image; it also controls the release of the lifeboat, receives feedback on its own position from the lifeboat, calculates the optimal route to guide the lifeboat to the point of fall, or sends the location of the fall to the lifeboat so that the lifeboat can calculate its own path to the point of fall.

30. The fall identification and automatic rescue system of claim 27, wherein, The PTZ camera or panoramic camera is also used to continuously track the location of the person who fell into the water and send it to the lifeboat, so as to identify the distance and relative direction between the lifeboat and the point of fall into the water through AI algorithms.

31. The fall identification and automatic rescue system of claim 27, wherein, The lifeboat is also used to, after detecting that the person in the water has grabbed the boat, prompt the person in the water to issue a control command via voice, and drag the person in the water in the corresponding direction according to the received control command.

32. A control method of a falling body recognition and automatic rescue system, characterized by, include: The water surface is surveyed using a PTZ camera or a panoramic camera, and panoramic images are collected and sent to the main control unit. The main control unit uses an AI image recognition algorithm to identify whether someone has fallen into the water. When someone is detected, it sends a command to the lifeboat to control the lifeboat to release. The method also includes the positioning method based on multi-mode heterogeneous network communication as described in any one of claims 1-7.

33. The control method of the fall identification and automatic rescue system according to claim 32, wherein The method also includes: When someone is detected falling into the water, the location of the person's fall into the water is calculated based on the current camera's pitch angle and the person's position in the frame. Control the release of the lifeboat, receive feedback on your own position from the lifeboat and calculate the best route to guide the lifeboat to the point of impact, or send the location of the point of impact to the lifeboat so that the lifeboat can calculate the route to the point of impact on its own.

34. The control method of the fall identification and automatic rescue system according to claim 32, wherein, The method also includes: The system continuously tracks the location of people who have fallen into the water and sends the information to the lifeboats, using AI algorithms to identify the distance and relative direction between the lifeboats and the point of fall.

35. The control method of the fall identification and automatic rescue system according to claim 32, wherein, The method also includes: Once the lifeboat detects that the person in the water has grabbed onto the back of the lifeboat, it outputs a voice prompt to encourage the person to issue a control command; the lifeboat then moves the person in the water in the corresponding direction based on the received control command.

36. An adaptive control system for a self-governing multi-mode heterogeneous communication network, the system comprising: include: • Edge computing units; as well as • Multimode heterogeneous communication module; The multimode heterogeneous communication module is deployed in multiple base stations or gateways of the multimode heterogeneous communication system to manage the communication connections of multiple IoT nodes. In this configuration, a distributed edge core network or a local communication server is configured in the base station or gateway; The multi-mode heterogeneous communication module is configured to adaptively switch communication connections between the plurality of IoT nodes and base stations or gateways according to the communication status; and: (a) When the connection with the central core network is interrupted, automatically switch to the distributed edge core network; and (b) In the offline state, a local self-organizing network is formed wirelessly or by wired means, wherein the local self-organizing network operates as a temporary core network node through the base station or gateway; The edge computing unit is configured to communicate with the plurality of IoT nodes and, through the collaborative computing capabilities of cloud computing and / or fog computing with edge computing, performs the following operations: (a) Collect link information from the multiple IoT nodes in real time, and perform link prediction and / or link optimization based on the link information to determine the optimal networking and / or communication strategy; (b) Based on the transmission rate, response time, reliability, and / or connection distance of the multimode heterogeneous communication network, adaptively and dynamically adjust one or more of the following: • Connection method; • Transmission path; • Radio frequency parameters; The link information includes communication standard, communication path, signal-to-noise ratio, packet loss rate, latency, and / or channel occupancy; the connection method includes direct connection to base station, mesh network, or point-to-point connection; the transmission path includes single path and / or multiple path; the radio frequency parameters include modulation method, transmission frequency, transmission power, receiver sensitivity, spectrum occupancy, and / or receiver bandwidth; and The distributed edge core network integrates data forwarding functions to provide low-latency data support and network autonomy for the edge computing units.

37. The multi-mode heterogeneous communication network adaptive control system according to claim 36, wherein, The system further includes a cloud-edge co-computing and algorithm platform management module, which is configured as follows: • Enhance the collaborative computing capabilities between cloud computing and / or fog computing and edge computing in a multi-mode heterogeneous network architecture; • Unified management and operation of computing and service resources through an AI industry algorithm platform; • Dynamically allocate fog computing nodes, edge computing nodes, and the computing tasks and algorithm models of the algorithm platform itself based on industry application type, real-time computing load, and / or network status and communication link conditions; and • Automatically perform expansion or contraction of computing resources based on the current configuration scenario to improve the overall utilization of computing resources and achieve on-demand supply of computing power.

38. The multi-mode heterogeneous communication network adaptive control system according to any one of claims 36 and 37, wherein, The system further includes a sensing and control terminal adaptive coordination module, which is configured to dynamically adjust the sensing strategy; wherein the sensing strategy includes at least one of sampling interval, sampling accuracy, transmission frequency, transmission power and modulation method.

39. The multimode heterogeneous communication network adaptive control system according to claim 38, wherein the sensing terminal is configured to perform local data correction and self-correction operations in conjunction with the edge computing unit.

40. The multi-mode heterogeneous communication network adaptive control system according to any one of claims 38-39, wherein the sensing terminal, in conjunction with an edge computing unit, is configured to generate an edge decision signal to drive the control terminal to perform a response action.

41. The adaptive control system for a multimode heterogeneous communication network according to any one of claims 36-40, wherein the adaptive control system for the multimode heterogeneous communication network is further configured to improve spectrum utilization, network resource utilization, and / or network coverage capability and coverage performance by adjusting communication parameters, multiple networking methods and / or dynamic coordinated allocation of network resources.

42. The multi-mode heterogeneous communication network adaptive control system according to any one of claims 36-41, wherein, The adaptive control system of the multimode heterogeneous communication network is configured to dynamically adjust communication parameters according to industry requirements and / or physical environment, through the collaborative computing capabilities of cloud computing and / or fog computing and edge computing, to improve spectrum utilization, network resource utilization, network coverage, and / or network coverage performance; wherein the communication parameters include: source coding, channel coding, signal time slot, carrier frequency, and / or carrier bandwidth.

43. A method for communication in multimode heterogeneous networks, characterized in that, include: Based on the communication status, adaptively switch communication connections between multiple IoT nodes and base stations or gateways; and: (a) When the connection with the central core network is interrupted, it automatically switches to the distributed edge core network; as well as (b) In the offline state, a local self-organizing network is formed wirelessly or by wired means, wherein the local self-organizing network operates as a temporary core network node through the base station or gateway; Leveraging the collaborative computing capabilities of cloud computing and / or fog computing with edge computing, the following operations can be performed: (a) Collect link information from the multiple IoT nodes in real time, and perform link prediction and / or link optimization based on the link information to determine the optimal networking and / or communication strategy; (b) Based on the transmission rate, response time, reliability, and / or connection distance of the multimode heterogeneous network communication, adaptively and dynamically adjust one or more of the following: • Connection method; • Transmission path; • Radio frequency parameters; The link information includes communication standard, communication path, signal-to-noise ratio, packet loss rate, latency, and / or channel occupancy; the connection method includes direct connection to base station, mesh network, or point-to-point connection; the transmission path includes single path and / or multiple path; the radio frequency parameters include modulation method, transmission frequency, transmission power, receiver sensitivity, spectrum occupancy, and / or receiver bandwidth; and The distributed edge core network integrates data forwarding functions to provide low-latency data support and network autonomy for edge computing.

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