Positioning Method and System Based on Multi-Source Fusion Communication

Abstract

This application relates to a positioning method and system based on multi-source fusion communication. The method first determines whether the target object has entered an indoor area using RTK and Bluetooth location data associated with it. If the target object is detected as having entered an indoor area, coarse positioning is performed using the Bluetooth location data associated with it to quickly determine the estimated location area of ​​the target object. Then, based on the estimated location area and the set coordinates of UWB beacons, at least three target UWB beacons are powered on and establish communication with the target object for high-precision positioning, thereby obtaining the precise location coordinates of the target object. Using this positioning method, the UWB beacons enter a sleep state when positioning is not needed to save energy. When positioning is required, the UWB beacons are woken up to perform the positioning operation, which reduces the number of UWB beacons operating simultaneously during high-precision indoor positioning, thereby reducing the overall power consumption of UWB beacons in the indoor area and extending battery life.

Description

Technical Field

[0001] This application relates to the field of communication and positioning technology, and in particular to a positioning method and positioning system based on multi-source fusion communication. Background Technology

[0002] In recent years, with the continuous maturation of wireless positioning technology, the location-based service industry has experienced rapid development, with fields such as smart city construction, IoT applications, and industrial monitoring all generating urgent demands. Among these, Real-time Dynamic Carrier Phase Differential (RTK) positioning technology has been widely applied in various fields of the surveying and mapping industry. Due to its ease of use outdoors and wide coverage, it is particularly suitable for outdoor environments such as industrial parks, meeting the demand for real-time, high-precision positioning. However, due to the obstruction of satellite signals by buildings, RTK technology struggles to obtain a fixed solution in indoor environments, leading to a significant decrease in positioning accuracy.

[0003] In contrast, in the field of indoor positioning, Bluetooth positioning technology and ultra-wideband (UWB) indoor positioning technology can provide stable positioning services in complex indoor environments, making up for the shortcomings of RTK technology in indoor applications. Bluetooth positioning technology can achieve meter-level positioning accuracy, but it cannot meet the needs of high-precision positioning. UWB positioning technology transmits ultra-narrow pulses with a time resolution of less than 1 nanosecond (ns) on a wide bandwidth channel exceeding 500MHz, replacing the sinusoidal signal carrier used in traditional positioning technologies. This allows it to accurately identify the main path when combating multipath effects in complex environments, largely overcoming the influence of complex indoor environments, and achieving higher positioning accuracy compared to other technologies, thus becoming the most widely used technology for indoor positioning applications.

[0004] However, compared to other indoor positioning technologies, UWB positioning technology may have higher hardware and system deployment costs. Furthermore, because UWB positioning technology requires real-time capabilities to achieve high-precision positioning, it results in a high wireless transmission frequency, which in turn increases power consumption over the same period of time. Therefore, improving the battery life of UWB devices is one of the problems that needs to be solved. Summary of the Invention

[0005] Therefore, it is necessary to provide a positioning method and system based on multi-source fusion communication to address the issue of how to improve the battery life of UWB devices in indoor positioning.

[0006] This application provides a positioning method based on multi-source fusion communication, including:

[0007] Obtain raw location data associated with the target object, including one or more of Bluetooth location data, UWB location data, and RTK location data;

[0008] Preprocess the raw location data;

[0009] Based at least on the RTK location data and Bluetooth location data associated with the target object, determine whether the target object has entered the indoor area;

[0010] If the target object enters the indoor area, the estimated location area of ​​the target object is calculated based on the Bluetooth location data associated with the target object.

[0011] Based on the estimated location area information and the set coordinates of the UWB beacons in the indoor area, at least three target UWB beacons are selected to transmit pulse signals.

[0012] The position coordinates of the target object can be calculated based on at least the UWB position data associated with the target UWB beacon.

[0013] Furthermore, preprocessing includes one or more of filtering, denoising, and calibration.

[0014] Furthermore, based at least on the RTK location data and Bluetooth location data associated with the target object, it is determined whether the target object has entered the indoor area, including:

[0015] Obtain the RTK location data sequence (R1, R2, ..., Rn) and RTK signal quality index sequence (Q1, Q2, ..., Qn) associated with the target object within a continuous time period, where Rt represents the RTK location data at time point t and Qt represents the RTK signal quality at time point t.

[0016] Obtain the Bluetooth location data sequence (B1, B2, ..., Bn) and Bluetooth signal quality index sequence (S1, S2, ..., Sn) associated with the target object within a continuous time period, where Bt represents the Bluetooth location data at time point t, and St represents the Bluetooth signal quality at time point t.

[0017] Determine whether Qt is less than the first preset quality threshold and whether St is greater than the second preset quality threshold;

[0018] If Qt is less than the first preset quality threshold and St is greater than the second preset quality threshold, then the counter is incremented once.

[0019] Determine whether the cumulative count of the counter exceeds a preset counting threshold;

[0020] If the cumulative count of the counter exceeds the preset counting threshold, it is determined that the target object has entered the indoor area;

[0021] If Qt is greater than or equal to the first preset quality threshold and St is greater than the second preset quality threshold, then reset the counter to 0;

[0022] If Qt is greater than or equal to the first preset quality threshold and St is less than or equal to the second preset quality threshold, it means that the target object has not entered the indoor area.

[0023] Furthermore, if the target object enters an indoor area, the estimated location area of ​​the target object is calculated based on the Bluetooth location data associated with the target object, including:

[0024] Obtain the IDs, coordinates, and corresponding signal strengths of several Bluetooth beacons currently communicating with the target object;

[0025] It iterates through all Bluetooth beacons communicating with the target object and converts the signal strength into distance information based on the theory of wireless signal propagation.

[0026] Create a feature vector from the set coordinates and distance information of the Bluetooth beacon;

[0027] Input the feature vectors corresponding to all Bluetooth beacons communicating with the target object into a data analysis model so that the data analysis model outputs a preset number of representative Bluetooth beacons;

[0028] Based on the weighted centroid positioning method, the estimated location area of ​​the target object is calculated using the set coordinates and distance information representing the Bluetooth beacon.

[0029] The data analysis model is the K-means clustering model.

[0030] Furthermore, based on the estimated location area's regional information and the set coordinates of the UWB beacons in the indoor area, at least three target UWB beacons are selected to transmit pulse signals, including:

[0031] Traverse the set coordinates of all UWB beacons in the indoor area and calculate the spatial distance between each UWB beacon and the estimated location area;

[0032] Compare the spatial distances between all UWB beacons and the estimated location area, and select at least three target UWB beacons with the closest spatial distance to transmit pulse signals.

[0033] Furthermore, based on the estimated location area's regional information and the set coordinates of the UWB beacons in the indoor area, at least three target UWB beacons are selected to transmit pulse signals, including:

[0034] Based on the area information of the estimated location area, obtain the ID and set coordinates of the pre-selected UWB beacons that can cover the estimated location area;

[0035] The historical positioning data of the pre-selected UWB beacon is obtained based on its ID, and the signal strength of several points in the estimated location area is parsed based on the historical positioning data.

[0036] The estimated location area information, the set coordinates of several pre-selected UWB beacons, and the signal strength of several corresponding area points are input into a signal prediction model so that the signal prediction model outputs a sequence list consisting of the IDs of at least three target UWB beacons.

[0037] Three target UWB beacons are selected from the sequence list according to preset rules to transmit pulse signals.

[0038] Furthermore, according to preset rules, three target UWB beacons are selected from the sequence list to transmit pulse signals, including:

[0039] Obtain the power-on status and remaining power value of each target UWB beacon in the sequence list;

[0040] The comprehensive weight value is calculated based on the priority of the sequence list, the power-on status of the target UWB beacon, and the remaining power of the target UWB beacon. The formula for calculating the comprehensive weight value is shown in Equation 1:

[0041] W i =P i ×w P +E i ×w E +S i ×w S Formula 1

[0042] W i P represents the overall weight value of beacon i in the sequence list. i Indicates the priority of the sequence list, w P E represents the weight coefficient representing the priority of the corresponding sequence list. i Indicates the power-on state of the target UWB beacon, w E S represents the weighting coefficient corresponding to the power-on state. i This represents the remaining battery power of the target UWB beacon, w. S This represents the weighting coefficient corresponding to the remaining battery power value;

[0043] Three target UWB beacons are selected to transmit pulse signals based on the comprehensive weight value.

[0044] Furthermore, positioning methods based on multi-source fusion communication also include:

[0045] Determine whether the target object exceeds the preset permission area based on its location coordinates;

[0046] If the target object exceeds the preset permission area, then it is further determined whether the time exceeded is greater than the first preset time.

[0047] If the timeout exceeds the first preset time, an alarm signal will be output to the designated personnel or designated personnel group.

[0048] Furthermore, positioning methods based on multi-source fusion communication also include:

[0049] If the target object does not exceed the preset permission area, then it is further determined whether the number of target objects in the preset permission area exceeds the preset number threshold.

[0050] If the number of target objects in the preset permission area exceeds the preset number range, an alarm signal will be output to the designated personnel or designated personnel group.

[0051] This application also provides a positioning system based on multi-source fusion communication, comprising:

[0052] The control center is used to execute the aforementioned positioning method based on multi-source fusion communication;

[0053] The tag device is bound to the target object. The tag device includes a Bluetooth interaction module, a UWB interaction module, and an RTK interaction module.

[0054] Several UWB beacons are used to send UWB signals to the tag device;

[0055] Several Bluetooth beacons are used to send Bluetooth signals to the tag device;

[0056] Several RTK base stations are used to send differential signals to the tag devices;

[0057] The communication gateway, Bluetooth beacon, UWB beacon, and RTK base station are respectively connected to the control center via the communication gateway.

[0058] This application relates to a positioning method and system based on multi-source fusion communication. The method first determines whether the target object has entered an indoor area using RTK location data and Bluetooth location data associated with the target object. If the target object is detected as having entered an indoor area, coarse positioning is performed using the Bluetooth location data associated with the target object to quickly determine the estimated location area of ​​the target object. Then, based on the estimated location area and the set coordinates of UWB beacons, at least three target UWB beacons are powered on and establish communication with the target object for high-precision positioning, thereby obtaining the precise location coordinates of the target object. Using this positioning method, the UWB beacons enter a sleep state when positioning is not needed to save energy. When positioning is required, the UWB beacons are woken up to perform the positioning operation, which reduces the number of UWB beacons operating simultaneously during high-precision indoor positioning, thereby reducing the overall power consumption of UWB beacons in the indoor area, extending battery life, and achieving a balance between positioning accuracy and power consumption, thus improving the overall performance of the system. Attached Figure Description

[0059] Figure 1This is a flowchart illustrating a positioning method based on multi-source fusion communication provided in an embodiment of this application.

[0060] Figure 2 This is a schematic diagram of the structure of a positioning system based on multi-source fusion communication provided in an embodiment of this application.

[0061] Figure label:

[0062] 10. Positioning system based on multi-source fusion communication; 11. Control center; 12. Tag device; 13. UWB beacon; 14. Bluetooth beacon; 15. RTK base station; 16. Communication gateway. Detailed Implementation

[0063] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0064] like Figure 1 As shown, in one embodiment of this application, the positioning method based on multi-source fusion communication includes the following steps S100 to S600:

[0065] S100: Acquire raw location data associated with the target object. The raw location data includes one or more of Bluetooth location data, UWB location data, and RTK location data.

[0066] It is understandable that the target objects can be personnel, vehicles, materials, equipment, etc. By attaching tags to the target objects and deploying several UWB beacons, Bluetooth beacons, and RTK base stations in a certain layout within the positioning area (such as an industrial park), the Bluetooth location data, UWB location data, and RTK location data of the target objects can be obtained through communication between the tags and the UWB beacons, Bluetooth beacons, and RTK base stations. Furthermore, the tags, UWB beacons, Bluetooth beacons, and RTK base stations establish communication with the control center through a communication gateway, transmitting the location data of the target objects to the control center. This not only enables location data visualization but also drives various business applications using location data, including functions such as secure area control, on-duty and off-duty management, historical trajectory query, electronic roll call, electronic inspection, agile task scheduling optimization, camera-linked monitoring and recording, work hour statistics, and attendance tracking.

[0067] Specifically, Bluetooth location data includes the set coordinates of the Bluetooth beacon and the spatial distance between the tag device to which the target object is attached and the Bluetooth beacon.

[0068] UWB location data includes the set coordinates of the UWB beacon and the spatial distance from the tag device to which the target object is attached to the UWB beacon.

[0069] RTK location data includes the set coordinates of the RTK base station and the spatial distance between the tag device to which the target object is attached and the RTK base station.

[0070] S200 preprocesses the raw location data.

[0071] Specifically, preprocessing includes one or more of filtering, denoising, and calibration.

[0072] The S300 determines whether a target object has entered an indoor area based at least on the RTK location data and Bluetooth location data associated with the target object.

[0073] Specifically, the positioning area of ​​this application includes outdoor areas and indoor areas.

[0074] S400: If the target object enters the indoor area, the estimated location area of ​​the target object is calculated based on the Bluetooth location data associated with the target object.

[0075] S500 selects at least three target UWB beacons to transmit pulse signals, based on the estimated location area's regional information and the set coordinates of the UWB beacons in the indoor area.

[0076] S600, calculates the position coordinates of the target object based at least on the UWB position data associated with the target UWB beacon.

[0077] Specifically, the distance from the target object to each UWB beacon can be calculated, and then combined with the positioning algorithm (such as trilateration algorithm) and the set coordinates of each UWB beacon, the position coordinates of the target object in the indoor area can be obtained.

[0078] In this embodiment, the system determines whether the target object has entered an indoor area by using RTK location data and Bluetooth location data associated with the target object. If the target object is detected to have entered an indoor area, coarse positioning is performed using the Bluetooth location data associated with the target object to quickly determine the estimated location area of ​​the target object. Then, based on the estimated location area and the set coordinates of the UWB beacons, at least three target UWB beacons are powered on and establish communication with the target object for high-precision positioning, thereby obtaining the precise location coordinates of the target object. Using this positioning method, the UWB beacons enter a sleep state when positioning is not needed to save energy. When positioning is required, the UWB beacons are woken up to perform the positioning operation, which reduces the number of UWB beacons operating simultaneously during high-precision indoor positioning, thereby reducing the overall power consumption of UWB beacons in the indoor area, extending battery life, and achieving a balance between positioning accuracy and power consumption, thus improving the overall performance of the system.

[0079] In one embodiment of this application, the position coordinates of a target object can be verified by estimating the position area. If the position coordinates of the target object are within the estimated position area, the position coordinates can be accepted. If the position coordinates of the target object are outside the estimated position area, the position coordinates of the target object need to be recalculated.

[0080] RTK positioning technology is convenient for outdoor use, covering the outdoor areas of industrial parks and meeting the need for real-time high-precision positioning in outdoor environments. However, due to building obstruction of satellite signals, RTK positioning cannot obtain a fixed solution in indoor environments, resulting in low positioning accuracy. During the transition from an outdoor area to an indoor area, it is necessary to accurately determine whether the target object has entered the indoor area to switch between different positioning methods and meet the requirements of high-precision real-time positioning.

[0081] In one embodiment of this application, S300 includes the following steps:

[0082] S310, acquire the RTK location data sequence (R1,R2,…,Rn) and RTK signal quality index sequence (Q1,Q2,…,Qn) associated with the target object within a continuous time period, where Rt represents the RTK location data at time point t and Qt represents the RTK signal quality at time point t.

[0083] Specifically, RTK signal quality includes RTK signal strength.

[0084] S320, acquire the Bluetooth location data sequence (B1, B2, ..., Bn) and Bluetooth signal quality index sequence (S1, S2, ..., Sn) associated with the target object within a continuous time period, where Bt represents the Bluetooth location data at time point t, and St represents the Bluetooth signal quality at time point t.

[0085] Specifically, Bluetooth signal quality includes Bluetooth signal strength.

[0086] S330, determine whether Qt is less than the first preset quality threshold and whether St is greater than the second preset quality threshold.

[0087] S340, if Qt is less than the first preset quality threshold and St is greater than the second preset quality threshold, then the counter is incremented once.

[0088] S350, determine whether the cumulative count of the counter is greater than the preset counting threshold.

[0089] S360, if the cumulative count of the counter is greater than the preset counting threshold, it is determined that the target object has entered the indoor area.

[0090] It is understandable that if Qt is continuously less than the first preset quality threshold and St is greater than the second preset quality threshold, it means that the target object is continuously moving indoors. At this time, it is necessary to switch the positioning to obtain the target object's location coordinates using Bluetooth location data and / or UWB location data.

[0091] S370, if Qt is greater than or equal to the first preset quality threshold and St is greater than the second preset quality threshold, then reset the counter to 0.

[0092] It is understandable that the above situation may be due to people staying in the transition area between indoors and outdoors.

[0093] S380, if Qt is greater than or equal to the first preset quality threshold and St is less than or equal to the second preset quality threshold, it means that the target object has not entered the indoor area.

[0094] It is understandable that the above situation indicates that the target object has not entered the indoor area. In this case, there is no need to switch the positioning, and the location coordinates of the target object can continue to be obtained using RTK location data.

[0095] In this embodiment, the state transitions of the RTK and Bluetooth signals are obtained by comparing the quality of the RTK and Bluetooth signals over a continuous time period with corresponding preset quality thresholds. The movement trend of the target object is then determined by combining the enhancement or attenuation of both signals. This allows for accurate determination of the target object's location during the transition from an outdoor area to an indoor area, enabling a switch from RTK positioning to indoor positioning to meet the requirements of high-precision real-time positioning.

[0096] Because Bluetooth signals are significantly affected by obstructions during propagation, especially metal structures and human figures, signal attenuation and increased interference can occur. This reduces the accuracy and stability of Bluetooth positioning in obstructed environments. Furthermore, it is necessary to ensure that Bluetooth beacons used for target location are spatially uniform to minimize the error between the estimated location area determined by the Bluetooth beacons and the actual coordinates of the target.

[0097] In one embodiment of this application, S400 includes the following steps:

[0098] S410: Obtain the IDs, set coordinates, and corresponding signal strengths of several Bluetooth beacons currently communicating with the target object.

[0099] The S420 iterates through all Bluetooth beacons communicating with the target object, converting signal strength into distance information based on the theory of wireless signal propagation.

[0100] The S430 creates a feature vector from the set coordinates and distance information of the Bluetooth beacon.

[0101] S440 inputs the feature vectors corresponding to all Bluetooth beacons communicating with the target object into a data analysis model so that the data analysis model outputs a preset number of representative Bluetooth beacons.

[0102] Specifically, the data analysis model is a K-means clustering model with a preset number of clusters greater than or equal to 3.

[0103] The data analysis model is constructed as follows: A representative test area is selected within the indoor environment, encompassing different environmental conditions (e.g., environments with obstructions such as metal structures and walls, as well as unobstructed environments) and signal propagation characteristics. Using tag devices, the IDs, coordinates, and corresponding signal strengths of several Bluetooth beacons communicating with the tag devices are collected at multiple test points. Feature vectors are created, and a predetermined number of representative Bluetooth beacons matching the test points are labeled. The feature vectors are used as input data for the training set, and the predetermined number of representative Bluetooth beacons are used as output data for the training set. The data analysis model is then trained. The accuracy of the model's output representing representative Bluetooth beacons can be compared with the labeled representative Bluetooth beacons, and the data analysis model is corrected based on the comparison results.

[0104] This can be understood as representing that Bluetooth beacons are evenly distributed in space relative to the target object. For example, if a planar coordinate system is established with the target object as the center, the Bluetooth beacons are distributed in at least the first quadrant and the third quadrant at the same time, or at least in the second quadrant and the fourth quadrant at the same time.

[0105] The S450 uses a weighted centroid positioning method to calculate the estimated location area of ​​the target object based on the set coordinates and distance information of the Bluetooth beacon.

[0106] Specifically, the estimated location area can be one of the following: a circular area, a rectangular area, or a triangular area.

[0107] In this embodiment, cluster analysis effectively filters out location data of Bluetooth beacons with significant signal attenuation and interference, improving the positioning accuracy and stability of Bluetooth positioning in obstructed environments. Furthermore, clustering ensures that the acquired representative Bluetooth beacons are spatially uniformly distributed, resulting in more comprehensive location data and reducing the error between the estimated location area determined by the Bluetooth beacons and the actual coordinates of the current object.

[0108] Since multiple UWB beacons are deployed in the indoor area, if all UWB beacons transmit signals to communicate with the tag device of the target object, it will result in a waste of UWB beacon resources.

[0109] In one embodiment of this application, S500 includes the following steps:

[0110] S511, iterate through the set coordinates of all UWB beacons in the indoor area, and calculate the spatial distance between each UWB beacon and the estimated location area.

[0111] Specifically, the spatial distance between the UWB beacon and the estimated location area can be the distance between the UWB beacon and the center point of the estimated location area, or the distance between the UWB beacon and the nearest boundary of the estimated location area.

[0112] S512, compare the spatial distances of all UWB beacons with the estimated location area, and select at least three target UWB beacons with the closest spatial distance to transmit pulse signals.

[0113] In this embodiment, at least three spatially closest target UWB beacons are selected to transmit pulse signals based on the principle of shortest distance. This reduces the number of UWB beacons communicating with the target object simultaneously, avoids the waste of UWB beacon resources, and further reduces the overall power consumption of UWB beacons in the indoor area.

[0114] Although UWB signals have strong penetrating power, they are still significantly affected by obstructions such as solid walls and steel plates, which may even lead to positioning failure. Therefore, the selection of a target UWB beacon needs to consider not only the spatial position of the UWB beacon relative to the estimated location area, but also the impact of signal attenuation.

[0115] In one embodiment of this application, S500 includes the following steps:

[0116] S521, based on the area information of the estimated location area, obtain the ID and set coordinates of the preselected UWB beacon that can cover the estimated location area.

[0117] Specifically, the regional information includes the coordinates of the center point of the estimated location region and the region's outline.

[0118] S522: Obtain historical positioning data of the pre-selected UWB beacon according to its ID, and parse the signal strength of several regional points in the estimated location area based on the historical positioning data.

[0119] Specifically, historical trajectory points calculated from pre-selected UWB beacons are obtained from historical positioning data. These historical trajectory points are located within the estimated location area. The signal strength of the pre-selected UWB beacons at these historical trajectory points is obtained and used as regional points within the estimated location area.

[0120] S523, input the area information of the estimated location area, the set coordinates of several pre-selected UWB beacons and the signal strength of several corresponding area points into a signal prediction model, so that the signal prediction model outputs a sequence list consisting of the IDs of at least 3 target UWB beacons.

[0121] The signal prediction model is constructed as follows: A representative test area is selected within the indoor region, encompassing different environmental conditions (e.g., environments with obstruction such as metal structures and walls, and unobstructed environments) and signal propagation characteristics. Using tagging devices, the estimated location areas are simulated at multiple test points. The IDs and coordinates of pre-selected UWB beacons, along with the signal strength of corresponding points in several areas, are collected as input data for the training set. A sequence list composed of the IDs of the target UWB beacons is used as the output data for the training set. The signal prediction model is then trained. The accuracy of the model's output sequence list can be compared with a calibrated sequence list, and the signal prediction model is corrected based on the comparison results.

[0122] S524 selects three target UWB beacons from the sequence list according to preset rules to transmit pulse signals.

[0123] In this embodiment, by combining the relative spatial position of the pre-selected UWB beacon and the estimated location area, as well as the signal strength of the pre-selected UWB beacon in the estimated location area, a sequence list that can simultaneously reflect location information and signal attenuation information is generated. Thus, the target UWB beacon selected according to the priority of the sequence list can significantly improve the accuracy of UWB indoor positioning in this application.

[0124] Considering that when there are multiple target objects indoors, some UWB beacons are already communicating with the tag devices of other target objects and are in a powered-on state. If the target UWB beacon is selected only by the priority of the sequence list, it may result in an increase in the number of UWB beacons that are powered on at the same time under the same positioning accuracy, which will lead to an increase in the overall power consumption of UWB beacons in the indoor area.

[0125] In one embodiment of this application, S524 includes the following steps:

[0126] S524a: Obtain the power-on status and remaining power value of each target UWB beacon in the sequence list.

[0127] Specifically, based on the communication between the target UWB beacon and the control center, the power-on status and remaining power value of each target UWB beacon can be obtained.

[0128] S524b calculates a comprehensive weight value based on the priority of the sequence list, the power-on status of the target UWB beacon, and the remaining power of the target UWB beacon. The formula for calculating the comprehensive weight value is shown in Equation 1:

[0129] W i =P i ×w P +E i ×w E +S i ×w S Formula 1

[0130] W i P represents the overall weight value of beacon i in the sequence list. i This indicates the priority of the sequence list (e.g., beacon 1 has a priority of 1, beacon 2 has a priority of 0.9, and so on, decreasing sequentially), w P E represents the weight coefficient representing the priority of the corresponding sequence list. i Indicates the power-on state of the target UWB beacon (e.g., 0 for not powered on, 1 for powered on), w E S represents the weighting coefficient corresponding to the power-on state. i This indicates the remaining battery level of the target UWB beacon (remaining battery level is expressed as a percentage, such as 90%, 60%, etc.), w S This represents the weighting coefficient corresponding to the remaining battery level.

[0131] Furthermore, the weighting coefficient w of the priority of the sequence list. P Greater than the weighting coefficient w corresponding to the power-on state E The weighting coefficient w corresponding to the power-on state E The weighting coefficient w corresponding to the remaining battery power value S For example, the weighting coefficient w of the priority of the sequence list. P The weighting coefficient w corresponding to the power-on state is set to 0.6. E The weighting coefficient w corresponding to the remaining battery power value is set to 0.3. S Take 0.1.

[0132] The S524c selects three target UWB beacons to transmit pulse signals based on a comprehensive weight value.

[0133] In this embodiment, when selecting a target UWB beacon, the appropriate target UWB beacon is selected based on the acquired sequence list, taking into account the power-on status and remaining power, so as to meet the principle of minimum number of power-on beacons while improving the power balance of each UWB beacon in the indoor area.

[0134] In one embodiment of this application, the positioning method based on multi-source fusion communication further includes the following steps:

[0135] S710 determines whether the target object exceeds the preset permission area based on the target object's location coordinates.

[0136] S720, if the target object exceeds the preset permission area, then further determine whether the time exceeded is greater than the first preset time.

[0137] Specifically, the definition of the preset permission zone is related to the attributes and permissions of the target object. For example, when the target object is a vehicle, a tag device is issued to the vehicle entering the factory, and an authorized driving zone is set. If the vehicle exceeds the authorized zone, an alarm signal is output. When the target object is a temporary visitor, a tag device is issued to the temporary visitor, and a permitted passage zone is set. If the visitor exceeds the permitted passage zone, an alarm signal is output.

[0138] S730: If the timeout exceeds the first preset time, an alarm signal will be output to the designated personnel or designated personnel group.

[0139] It is understandable that the designated personnel can be the target or the supervisory personnel, and the designated personnel group can be the group to which the target belongs or the supervisory department.

[0140] In this embodiment, real-time monitoring of the target object is achieved by setting a preset permission area for the target object and determining whether the target object exceeds the preset permission area based on the obtained location coordinates of the target object. Furthermore, to avoid false alarms, a timeout period is set for determining whether the target object exceeds the preset permission area.

[0141] In one embodiment of this application, the positioning method based on multi-source fusion communication further includes:

[0142] S740, if the target object does not exceed the preset permission area, then further determine whether the number of target objects in the preset permission area exceeds the preset quantity threshold.

[0143] It is understandable that the preset quantity threshold can be either the maximum or the minimum quantity.

[0144] S750: If the number of target objects in the preset permission area exceeds the preset number range, an alarm signal will be output to the designated personnel or designated personnel group.

[0145] This solution enables alarms to be triggered for overcrowding or undercrowding in designated areas, ensuring safe operation.

[0146] In one embodiment of this application, the positioning method based on multi-source fusion communication further includes:

[0147] S810, obtain the position coordinates of all target objects in the same group;

[0148] S820 calculates the distance between target objects pairwise;

[0149] S830, determine whether the distance between target objects is greater than the maximum allowed distance;

[0150] S840: If the distance between target objects is greater than the maximum allowable distance, an alarm signal is output to the designated personnel or designated personnel group.

[0151] This approach monitors the distance between team members, enabling team-wide alarms and ensuring safe operation.

[0152] In one embodiment of this application, a positioning system 10 based on multi-source fusion communication is also provided.

[0153] In one embodiment of this application, the positioning system 10 based on multi-source fusion communication includes: a control center 11, a tag device 12, a UWB beacon 13, a Bluetooth beacon 14, an RTK base station 15, and a communication gateway 16.

[0154] Specifically, the control center 11 is used to execute the aforementioned positioning method based on multi-source fusion communication; the tag device 12 is bound to the target object, and the tag device 12 includes a Bluetooth interaction module, a UWB interaction module, and an RTK interaction module; multiple UWB beacons 13 are deployed according to certain rules to send UWB signals to the tag device 12; multiple Bluetooth beacons 14 are deployed according to certain rules to send Bluetooth signals to the tag device 12; multiple RTK base stations 15 are deployed according to certain rules to send differential signals to the tag device 12; the Bluetooth beacons 14, UWB beacons 13, and RTK base stations 15 are respectively connected to the control center 11 via a communication gateway 16.

[0155] The technical features of the above embodiments can be combined arbitrarily, and the execution order of the method steps is not restricted. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0156] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A positioning method based on multi-source fusion communication, characterized in that, The positioning method based on multi-source fusion communication includes: Obtain raw location data associated with the target object, wherein the raw location data includes one or more of Bluetooth location data, UWB location data, and RTK location data; The original location data is preprocessed; Based at least on the RTK location data and Bluetooth location data associated with the target object, it can be determined whether the target object has entered the indoor area; If the target object enters the indoor area, the estimated location area of ​​the target object is calculated based on the Bluetooth location data associated with the target object. Based on the regional information of the estimated location area and the set coordinates of the UWB beacons in the indoor area, at least three target UWB beacons are selected to transmit pulse signals. The position coordinates of the target object are calculated based at least on the UWB position data associated with the target object and the target UWB beacon; The step of selecting at least three target UWB beacons to transmit pulse signals, based at least on the regional information of the estimated location area and the set coordinates of the UWB beacons in the indoor area, includes: Based on the area information of the estimated location area, obtain the ID and set coordinates of the preselected UWB beacon that can cover the estimated location area; The historical positioning data of the preselected UWB beacon is obtained according to the ID of the preselected UWB beacon, and the signal strength of several regional points in the estimated location area is parsed based on the historical positioning data. The estimated location area information, the set coordinates of several pre-selected UWB beacons, and the signal strength of several corresponding area points are input into a signal prediction model so that the signal prediction model outputs a sequence list consisting of the IDs of at least three target UWB beacons. Three target UWB beacons are selected from the sequence list according to preset rules to transmit pulse signals; The step of selecting three target UWB beacons from the sequence list according to preset rules to transmit pulse signals includes: Obtain the power-on status and remaining power value of each target UWB beacon in the sequence list; The comprehensive weight value is calculated based on the priority of the sequence list, the power-on status of the target UWB beacon, and the remaining power of the target UWB beacon. The formula for calculating the comprehensive weight value is shown in Equation 1: W i = P i × w P + E i × w E + S i × w S Formula 1 W i This represents the overall weight value of beacon i in the sequence list. P i Indicates the priority of the sequence list. w P The weight coefficients represent the priority of the corresponding sequence list. E i Indicates the power-on status of the target UWB beacon. w E This represents the weighting coefficient corresponding to the power-on state. S i This indicates the remaining battery level of the target UWB beacon. w S This represents the weighting coefficient corresponding to the remaining battery power value; Three target UWB beacons are selected to transmit pulse signals based on the comprehensive weight value.

2. The positioning method based on multi-source fusion communication according to claim 1, characterized in that, The preprocessing includes one or more of filtering, denoising, and calibration.

3. The positioning method based on multi-source fusion communication according to claim 1, characterized in that, The step of determining whether the target object has entered the indoor area based at least on the RTK location data and Bluetooth location data associated with the target object includes: Obtain the RTK location data sequence (R1, R2, ..., Rn) and RTK signal quality index sequence (Q1, Q2, ..., Qn) associated with the target object within a continuous time period, where Rt represents the RTK location data at time point t and Qt represents the RTK signal quality at time point t. Obtain the Bluetooth location data sequence (B1, B2, ..., Bn) and Bluetooth signal quality index sequence (S1, S2, ..., Sn) associated with the target object within a continuous time period, where Bt represents the Bluetooth location data at time point t, and St represents the Bluetooth signal quality at time point t. Determine whether Qt is less than a first preset quality threshold and whether St is greater than a second preset quality threshold; If Qt is less than the first preset quality threshold and St is greater than the second preset quality threshold, then the counter is incremented once. Determine whether the cumulative count of the counter exceeds a preset counting threshold; If the cumulative count of the counter is greater than the preset counting threshold, it is determined that the target object has entered the indoor area; If Qt is greater than or equal to the first preset quality threshold and St is greater than the second preset quality threshold, then the counter is reset to 0; If Qt is greater than or equal to the first preset quality threshold and St is less than or equal to the second preset quality threshold, it indicates that the target object has not entered the indoor area.

4. The positioning method based on multi-source fusion communication according to claim 1, characterized in that, If the target object enters the indoor area, then based on the Bluetooth location data associated with the target object, the estimated location area of ​​the target object is calculated, including: Obtain the IDs, set coordinates, and corresponding signal strengths of several Bluetooth beacons currently communicating with the target object; It iterates through all Bluetooth beacons communicating with the target object and converts the signal strength into distance information based on the theory of wireless signal propagation. Create a feature vector from the set coordinates and distance information of the Bluetooth beacon; The feature vectors corresponding to all Bluetooth beacons communicating with the target object are input into a data analysis model so that the data analysis model outputs a preset number of representative Bluetooth beacons; Based on the weighted centroid positioning method, the estimated location area of ​​the target object is calculated using the set coordinates and distance information representing the Bluetooth beacon; The data analysis model is a K-means clustering model.

5. The positioning method based on multi-source fusion communication according to claim 1, characterized in that, The positioning method based on multi-source fusion communication also includes: Based on the location coordinates of the target object, determine whether the target object exceeds the preset permission area; If the target object exceeds the preset permission area, it is further determined whether the time of exceeding the limit is greater than the first preset time. If the timeout exceeds the first preset time, an alarm signal will be output to the designated personnel or designated personnel group.

6. The positioning method based on multi-source fusion communication according to claim 5, characterized in that, The positioning method based on multi-source fusion communication also includes: If the target object does not exceed the preset permission area, then it is further determined whether the number of target objects in the preset permission area exceeds the preset number threshold. If the number of target objects in the preset permission area exceeds the preset number range, an alarm signal will be output to the designated personnel or the designated personnel group.

7. A positioning system based on multi-source fusion communication, characterized in that, include: A control center for executing the positioning method based on multi-source fusion communication as described in any one of claims 1 to 6; A tag device is bound to the target object, and the tag device includes a Bluetooth interaction module, a UWB interaction module, and an RTK interaction module. Several UWB beacons are used to send UWB signals to the tag device; Several Bluetooth beacons are used to send Bluetooth signals to the tag device; Several RTK base stations are used to send differential signals to the tag device; The Bluetooth beacon, UWB beacon, and RTK base station are respectively connected to the control center via the communication gateway.

Images