Position tracking method, device and storage medium based on satellite communication

Abstract

The present invention discloses a location tracking method, device and storage medium based on satellite communication, which belongs to the field of satellite positioning technology, including: obtaining historical positioning information in a target area, generating a standard route of the target area based on the historical positioning information; obtaining measurement results of multiple satellites and a target object within a first time period, the measurement results including a first distance between multiple satellites and the target object, the coordinates of the satellites and the time point of measurement; establishing a first coordinate system with the time point as the horizontal axis and the first distance as the vertical axis, plotting the measurement results in the first coordinate system in the form of coordinate points, determining the best coordinate point, and obtaining the measurement results at the best coordinate point as the standard result of the satellite; locating the ground position of the target object based on the standard result of the satellite, judging whether the ground position is located on the standard route, and generating an alarm signal if it is not located on the standard route. The present invention solves the problem of low object positioning accuracy in the prior art.

Description

Technical Field

[0001] The present invention belongs to the field of satellite positioning technology, and in particular relates to a location tracking method, device and storage medium based on satellite communication. Background Art

[0002] With the rapid development of the Beidou satellite navigation system, location tracking services can be realized in communication blind spots such as mountainous areas, forests and deserts through the Beidou platform combined with Beidou satellite-specific equipment.

[0003] For example, a Chinese patent document with publication number CN112198538A discloses a Beidou-based field survey personnel safety monitoring method and system, the method includes the following steps: issuing field survey tasks to Beidou monitoring terminals through monitoring servers; real-time positioning of field survey personnel carrying Beidou monitoring terminals through Beidou monitoring terminals; real-time monitoring of the status of field survey personnel when performing field survey tasks through Beidou monitoring terminals; Beidou monitoring terminals send alarm information to monitoring servers under the triggering of field survey personnel; monitoring servers generate activity trajectories based on the received positioning information; and viewing the activity trajectories of field survey personnel through the Web terminal. This technical solution can record the real-time positioning and equipment information of field survey personnel based on the Beidou satellite navigation system, effectively improving the adaptability of field survey personnel safety supervision in engineering projects.

[0004] However, due to the occurrence of obstacles and other situations, the satellite positioning results will be inaccurate. Therefore, there is an urgent need for a satellite positioning method that can accurately locate the target object even if there are obstacles blocking the way. Summary of the invention

[0005] To solve the above problems, the present invention provides a location tracking method, device and storage medium based on satellite communication to solve the problems in the prior art.

[0006] In order to achieve the above-mentioned object of the invention, the present invention proposes a location tracking method based on satellite communication, comprising:

[0007] Acquire historical positioning information in a target area, and generate a standard route for the target area based on the historical positioning information;

[0008] When the target object enters the target area, a first time period is set, and measurement results of multiple satellites and the target object are obtained within the first time period, wherein the measurement results include first distances between the multiple satellites and the target object, coordinates of the satellites themselves, and a measurement time point;

[0009] Establishing a first coordinate system with the time point as the horizontal axis and the first distance as the vertical axis, plotting the first distance and the time point in the measurement result in the form of coordinate points in the first coordinate system, analyzing the coordinate points, determining the best coordinate point therein, obtaining the time point corresponding to the best coordinate point, using the measurement result corresponding to the time point as the standard result of the satellite within the first time period, continuing to extract measurement results of other satellites, and processing them to generate the standard result of each satellite;

[0010] The ground position of the target object within the first time period is located based on the standard result of the satellite, and it is determined whether the ground position is located on the standard route. If the ground position is not located on the standard route, an alarm signal is generated.

[0011] Furthermore, generating a standard route for the target area includes the following steps:

[0012] The historical positioning information includes a plurality of past positioning information of the target objects, the target area is divided into a plurality of basic grids, a first grid is positioned in the basic grids, a first label is set for each of the first grids, the first label includes the number of the positioning information in the first grid, and a first processing is performed on the first label to obtain a second label;

[0013] According to the second label, the first grids whose number of positioning information is less than the first threshold are eliminated, the retained first grids are defined as second grids, one of the second grids is located as a target grid, a first detection area is generated with the target grid as the center, and the first number of the second grids other than the target grid in the first detection area is counted. If the first number is less than the second threshold, the target grid is eliminated, otherwise the target grid is retained and defined as a third grid, and this step is repeated until the processing of all the second grids is completed;

[0014] Connectivity detection is performed on the third grids to identify interruption areas between the third grids, and the third grids are supplemented in the interruption areas to obtain a plurality of interconnected standard routes.

[0015] Further, performing a first processing on the first label to obtain a second label includes the following steps:

[0016] Determine the multiple positioning information appearing in the first grid. If the positioning information belongs to the same target object and the time interval between the positioning information is less than a third threshold, modify the number of the positioning information in the first tag, count the multiple positioning information as once, and define the modified first tag as the second tag.

[0017] Further, determining the optimal coordinate point includes the following steps:

[0018] The coordinate points are classified to obtain a plurality of classification results, and the difference between the longitudinal coordinates of the coordinate points in the same classification result is determined. If the difference is less than a fourth threshold, the classification result is subjected to straight line fitting to obtain a plurality of straight lines, and the correlation coefficient of each straight line is calculated. The straight line with the correlation coefficient greater than a fifth threshold is selected as the first straight line and drawn in the first coordinate system. The straight line with the shortest distance to the X-axis among the first straight lines is taken as the second straight line, and the coordinate point located between the second straight line and the X-axis and closest to the second straight line is defined as the optimal coordinate point.

[0019] Further, performing connectivity detection on the third grid includes the following steps:

[0020] Only the third grids are marked in the map of the target area, one of the third grids is selected as the starting grid, and whether there is an adjacent grid with the starting grid as the center is determined. If there is, the adjacent grid is used as the starting grid, and whether there is an adjacent grid other than the starting grid around it is determined again, and this step is repeated until an endpoint grid is obtained, and no adjacent grid exists around the endpoint grid;

[0021] A second detection area is formed with the endpoint grid as the center. If there are other endpoint grids except the current endpoint grid in the second detection area, the two endpoint grids are connected to form an interrupted connection line, and the basic grid covered by the interrupted connection line is completed as the third grid.

[0022] Further, determining whether the ground position is located on the standard route comprises the following steps:

[0023] A second duration is set, each standard route is divided into a plurality of basic line segments, the second duration of each basic line segment is the same, a number is set for each basic line segment, the ground position of the target object is marked in the map in the form of coordinate points, each time a new ground position of the target object is generated, the newly generated ground position is connected with the previous ground position to generate a real-time route, and the number of overlaps between the real-time route and the basic line segments within the second duration is calculated, the number of overlaps being the number of grids where the third grid where the real-time route is located overlaps with the third grid where the basic line segment is located, and if the number of overlaps is less than a sixth threshold, the ground position of the real-time route is not on the standard route.

[0024] Furthermore, determining whether the target object is located on the standard route further includes the following steps:

[0025] If the number of overlaps is greater than or equal to the sixth threshold, the number of the basic route is assigned to the real-time route, and a first character string representing each standard route and a second character string of the real-time route are formed based on the number. All the first character strings are compared with the second character strings, and if there is no first character string that is exactly the same as the second character string, an alarm signal is issued to the target object.

[0026] The present invention also provides a position tracking device based on satellite communication, which is used to implement the above-mentioned position tracking method based on satellite communication. The device mainly includes:

[0027] an acquisition module, configured to acquire historical positioning information in a target area. When a target object enters the target area, a first time period is set to acquire measurement results of a plurality of satellites and the target object within the first time period, wherein the measurement results include first distances between the plurality of satellites and the target object, coordinates of the satellites themselves, and a time point of measurement;

[0028] A generation module generates a standard route for the target area based on the historical positioning information, establishes a first coordinate system with the time point as the horizontal axis and the first distance as the vertical axis, plots the first distance and the time point in the measurement result in the form of coordinate points in the first coordinate system, analyzes the coordinate points, determines the best coordinate point therein, obtains the time point corresponding to the best coordinate point, uses the measurement result corresponding to the time point as the standard result of the satellite within the first time period, continues to extract measurement results of other satellites, and processes them to generate the standard result of each satellite;

[0029] A judgment module locates the ground position of the target object within the first time period based on the standard result of the satellite, determines whether the ground position is located on the standard route, and generates an alarm signal if the ground position is not located on the standard route.

[0030] The present invention also provides a computer storage medium, which stores program instructions. When the program instructions are executed, the device where the computer storage medium is located is controlled to execute the above-mentioned satellite communication-based position tracking method.

[0031] Compared with the prior art, the beneficial effects of the present invention are at least as follows:

[0032] The present invention obtains historical positioning information of a target area, marks the historical positioning information in a map in the form of coordinate points, forms a standard route of the target area by grids that meet the conditions, abandons the traditional method of determining the standard route by comparing historical routes, and improves the accuracy of obtaining the standard route; obtains measurement results of a satellite and a target object in the target area, classifies a plurality of measurement results, fits each classification result to form a straight line, finds the best coordinate point based on the straight line, the first distance at the best coordinate point is the best distance for the satellite to communicate with the target object, and the ground position obtained is also the optimal position, avoids the deviation of the measurement result caused by obstacles in the target area, and fails to accurately obtain the ground position of the target object, thereby improving the accuracy of the ground position of the target object.

[0033] The present invention also determines whether the ground position of the target object is on the standard route by calculating the number of grid overlaps, thereby more accurately locating the real-time position of the target object and giving an alarm signal when the target object deviates from the standard route according to the real-time route. The target object can adjust the current direction of travel in real time, thereby improving the driving efficiency of the target object in the target area. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A flowchart of the steps of the satellite communication-based location tracking method of the present invention;

[0035] Figure 2 The third grid screening diagram of the present invention;

[0036] Figure 3 It is a correction diagram of the number of positioning information of the present invention;

[0037] Figure 4 is a straight line fitting diagram of the present invention;

[0038] Figure 5 It is the interruption area connectivity graph of the present invention;

[0039] Figure 6 It is a route comparison diagram of the present invention;

[0040] Figure 7 It is a structural diagram of the position tracking device based on satellite communication of the present invention. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0042] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, without departing from the scope of this application, a first xx script may be referred to as a second xx script, and similarly, a second xx script may be referred to as a first xx script.

[0043] like Figure 1 As shown, the location tracking method based on satellite communication includes:

[0044] Step S1: Acquire historical positioning information in a target area, and generate a standard route for the target area based on the historical positioning information.

[0045] Specifically, the target area includes communication blind spots such as mountainous areas and forests. The target area in this embodiment is a rectangular forest-covered area. The historical positioning information within the past year is captured from the database. There is positioning data 1 in the historical positioning information. There are 30 pieces of location information in the positioning data 1. The location information includes longitude, latitude and altitude. The location information is updated once a minute. The driving route for this time is generated based on the positioning data 1. Finally, the driving routes of all positioning data are integrated to generate a standard route for the target area.

[0046] Step S2: When the target object enters the target area, a first time period is set to obtain measurement results of multiple satellites and the target object within the first time period, wherein the measurement results include first distances between the multiple satellites and the target object, the coordinates of the satellites themselves, and the time point of measurement.

[0047] Specifically, the target object is a vehicle or person carrying a positioning terminal, and is the target to be monitored this time. A first duration is set, for example, 1 minute, and the first duration is divided into 10 time points, such as 6s, 12s, 18s, etc.; then measurement results at multiple time points are obtained, and the measurement results include a first distance, the coordinates of the satellite, and the time points of the measurement, where the first distance is the physical distance between the target object and the satellite. The specific calculation method is the product of the time required for the target object to receive the satellite signal and the speed of light, and the coordinates of the satellite also include the longitude, latitude and altitude of the satellite.

[0048] Step S3: Establish a first coordinate system with the time point as the horizontal axis and the first distance as the vertical axis, plot the first distance and time point in the measurement result in the form of coordinate points in the first coordinate system, analyze the coordinate points, determine the best coordinate point among them, obtain the time point corresponding to the best coordinate point, use the measurement result corresponding to the time point as the standard result of the satellite within the first time length, continue to extract the measurement results of other satellites, and process them to generate the standard result of each satellite.

[0049] Specifically, taking the first time length of 1 minute as an example, 10 coordinate points are marked in the first coordinate system, and the best coordinate point is located therefrom. The best coordinate point corresponds to a time point, and the first distance obtained at this time point is the most accurate, so the corresponding satellite coordinates are also the most accurate. In addition, since the position of the target object needs to be calculated through the coordinates of multiple satellites themselves and the first distance, the best positioning time point of each satellite within 1 minute is determined by finding the standard distance between each satellite and the target object, and then the ground position of the target object is calculated by combining the coordinates of each satellite at the best positioning time point, and the calculated ground position is used as the position of the target object within this 1 minute, thereby achieving accurate determination of the position of the target object.

[0050] Step S4: Locate the ground position of the target object within the first time period based on the standard result of the satellite, and determine whether the ground position is on the standard route. If the ground position is not on the standard route, generate an alarm signal.

[0051] Specifically, four satellites are selected, and the ground position of the target object is calculated based on the standard distance of the satellites and the positions of the four satellites. The real-time route of the target object is formed according to the ground position. By comparing the real-time route with the standard route, it is determined whether the ground position is on the standard route. If not, an alarm signal is generated and sent to the target object to adjust the route in real time.

[0052] In this embodiment, generating a standard route for a target area includes the following steps:

[0053] The historical positioning information includes the past positioning information of multiple target objects, the target area is divided into multiple basic grids, a first grid is positioned in the basic grid, a first label is set for each first grid, the first label includes the amount of positioning information in the first grid, and a first process is performed on the first label to obtain a second label;

[0054] According to the second label, the first grid whose number of positioning information is less than the first threshold is eliminated, and the retained first grid is defined as the second grid. One of the second grids is located as the target grid, and a first detection area is generated with the target grid as the center. The first number of other second grids except the target grid in the first detection area is counted. If the first number is less than the second threshold, the target grid is eliminated, otherwise the target grid is retained and defined as the third grid, and this step is repeated until the processing of all second grids is completed;

[0055] Connectivity detection is performed on the third grids, interruption areas between the third grids are identified, and the third grids are supplemented in the interruption areas to obtain a plurality of interconnected standard routes.

[0056] Specifically, in this embodiment, the positioning information of the target object is distributed in the form of coordinate points in the map of the target area. The map is composed of multiple basic grids. The basic grid with coordinate points is defined as a first grid. Each first grid has a first label. The first label is used to record the number of coordinate points in the first grid. The larger the number, the more times the target object passes through the first grid in multiple travel tasks. The first label is processed first to obtain the second label. The second label refers to the correction of the first grid with an abnormal first label to obtain the correct number of positioning information of the first grid, thereby improving the accuracy of the standard route. The first processing process will be explained later.

[0057] For example, there are 20 first grids, numbered 1-20, and the number of positioning information in the 20 first grids is 8, 7, 6, 9, 5, 2, 6, 7, 3, 1, etc., and the first grids 6, 9, 10, 19, and 20 whose values ​​are less than the first threshold value 4 are eliminated. Figure 2 As shown, it is a third grid screening diagram, the retained first grids 1, 2, 3, 4, 5, 7, 8, etc. are defined as second grids, one of the second grids 3 is located as the target grid, and the first detection area is generated with the target grid 3 as the center point. The first detection area is a square area, and the side length of the square is set in advance based on the area size of the second grid, for example, the side length is 3, and the first number of second grids other than the target grid 3 in the first detection area is counted, including three second grids 1, 2, and 4. The first number is 3 and is greater than the second threshold 2, then the target grid 3 is retained and defined as the third grid. Similarly, the second grid 1, the second grid 2, etc. are detected until all the second grids are traversed. When moving to the second grid 17, there is only the second grid 18 in the first detection area of ​​the second grid 17, and the first number is 1, which is less than the second threshold 2, so the second grid 17 is eliminated. The second grid 18 is eliminated the same as the second grid 17.

[0058] The third grid is subjected to a connectivity check to determine whether there are adjacent grids around the third grid. If so, it indicates connectivity, and the third grid and the adjacent grid are connected. If not, it indicates that there is an interruption area in the third grid. A second detection area is set to detect the area around the third grid to determine whether the interruption connection can be performed. The grids in the interruption area are also supplemented as the third grid to obtain multiple connected standard routes.

[0059] Performing a first processing on the first label to obtain a second label includes the following steps:

[0060] Determine multiple positioning information appearing in the first grid. If the positioning information belongs to the same target object and the time interval between the positioning information is less than the third threshold, modify the number of positioning information in the first tag, count the multiple positioning information as once, and define the modified first tag as the second tag.

[0061] Specifically, in this embodiment, the target object in the target area may stay for a long time, causing the position information to stagnate for a certain period of time, such as Figure 3 As shown in the figure, it is a correction diagram of the number of positioning information. The time intervals between the seven time points t1, t2, t3, t4, t5, t6, and t7 do not exceed the third threshold value, i.e., 1 minute, and the location information at the seven time points are all in the same first grid. At this time, the number of positioning information of the first grid is 7. However, this number of positioning information is not the number of the same first grid at multiple time points in a driving task, but the number of times the first grid is passed during multiple driving processes. This situation is an abnormal situation and needs to be corrected. The number of positioning information of the first grid is counted as once to improve the screening accuracy of the second grid and avoid screening errors due to abnormal factors.

[0062] Determining the best coordinates includes the following steps:

[0063] The coordinate points are classified to obtain multiple classification results, and the difference between the vertical coordinates of the coordinate points in the same classification result is determined. If the difference is less than the fourth threshold, the classification results are fitted with a straight line to obtain multiple straight lines, and the correlation coefficient of each straight line is calculated. The straight line with a correlation coefficient greater than the fifth threshold is selected as the first straight line and plotted in the first coordinate system. The straight line with the shortest distance to the X-axis in the first straight line is taken as the second straight line, and the coordinate point located between the second straight line and the X-axis and closest to the second straight line is defined as the optimal coordinate point.

[0064] Specifically, Figure 4As shown in FIG. 1 , it is a straight line fitting graph. Taking the time point 60s as the benchmark, the time point as the horizontal axis, and the first distance as the vertical axis, the satellite measurement results are plotted in the first coordinate system in the form of coordinate points. The coordinate points are classified to obtain three classification results, including classification result 1: B, G, the difference between the vertical coordinates of B and G is 0, classification result 2: C, D, F, H, the difference between the vertical coordinates of any two coordinate points is 1, 5, 6, 4, 6, 3, classification result 3: A, E, I, J, the difference between the vertical coordinates of any two coordinate points is 1, 4, 1, 5, 1, 3, and the differences between the vertical coordinates of the three classification results are all less than the fourth threshold value 7, then the least squares method is used to classify. The three classification results are fitted into straight line 1, straight line 2 and straight line 3. Each straight line has a correlation coefficient (0-1). The closer the vertical coordinate distance of the coordinate points, the larger the correlation coefficient and the better the classification result. The correlation coefficients of straight line 1, straight line 2 and straight line 3 are 0.9, 0.5 and 0.8 respectively. The correlation coefficient between straight line 1 and straight line 3 is greater than the fifth threshold value 0.6, which is defined as the first straight line. However, straight line 3 is closest to the X-axis as the second straight line. The first distance of the first straight line closest to the X-axis is smaller, which improves the accuracy of the standard distance calculation. The coordinate point closest to the second straight line and point I between the second straight line and the X-axis is defined as the best coordinate point.

[0065] The principle is that multiple first distances fluctuate on a straight line, indicating that the target object is in the same state at these moments. For example, at the moment included in classification result 1, the satellite signals may be interfered by leaves, making the first distance larger. In classification result 3, the target object is in an open position, making the first distance smaller. Therefore, combined with the satellite data at this time, more accurate positioning information can be obtained.

[0066] Connectivity detection of the third grid includes the following steps:

[0067] Only the third grid is marked in the map of the target area, and one of the third grids is selected as the starting grid. With the starting grid as the center, it is determined whether there is an adjacent grid. If so, the adjacent grid is used as the starting grid, and it is determined again whether there is an adjacent grid other than the starting grid around it. This step is repeated until an endpoint grid is obtained, and there is no adjacent grid around the endpoint grid.

[0068] A second detection area is formed with the endpoint grid as the center. If there are other endpoint grids except the current endpoint grid in the second detection area, the two endpoint grids are connected to form an interrupted connection line, and the basic grid covered by the interrupted connection line is completed as a third grid.

[0069] Specifically, in this embodiment, Figure 5As shown, it is a connectivity map of the interrupted area. The third grid 1 located on the edge of the map is selected as the starting grid. There can be many starting grids, and it can also be the starting grid 10. It is determined whether there are other third grids adjacent to or diagonally opposite the starting grid 1. Such grids are defined as adjacent grids. If there is an adjacent grid 2, the adjacent grid 2 is used as the starting grid. It is determined whether there is an adjacent grid for the starting grid 2. This operation is repeated until the endpoint grid 5 and the endpoint grid 6 are obtained. Then, the second detection area is formed with the center of the endpoint grid 5. The second detection area is a circular area with the endpoint grid 5 as the center and 2.5 times the grid width as the radius (which can be set according to actual conditions). When the endpoint grid 6 is detected in the second detection area, the endpoint grid 5 and the endpoint grid 6 are connected to establish an interrupted connectivity line, and the basic grid 11 and the basic grid 12 covered by the interrupted connectivity line are also completed as the third grid.

[0070] Determining whether the ground position is located on the standard route includes the following steps:

[0071] A second duration is set, and each standard route is divided into multiple basic line segments. The second duration of each basic line segment is the same. A number is set for each basic line segment, and the ground position of the target object is marked in the map in the form of coordinate points. Every time a new ground position of the target object is generated, the newly generated ground position is connected with the previous ground position to generate a real-time route. The number of overlaps between the real-time route and the basic line segments within the second duration is calculated. The number of overlaps is the number of grids where the third grid where the real-time route is located overlaps with the third grid where the basic line segment is located. If the number of overlaps is less than a sixth threshold, the ground position of the real-time route is not on the standard route.

[0072] Specifically, in this embodiment, Figure 6 As shown in the figure, it is a route comparison diagram. The second duration is set to 3s. The standard route is composed of three basic line segments of the second duration, namely, the basic line segment 1-2-3 (numbered 1) of 1-3s, the basic line segment 4-5-6-7-8-9 (numbered 2) of 4-6s, and the basic line segment 10-11-12-22 (numbered 3) of 7-9s. The real-time route of the target object includes: the real-time route 1-13-2-14 of 1-3s, the real-time route 15-4-16-6-17 of 4-6s, and the real-time route 18-19-20 of 7-9s. -21-22, within the second time length of 1-3s, the overlapping grids of the two routes are 1 and 2, and the number of overlaps is 2 (equal to the sixth threshold value 2); within the second time length of 4-6s, the overlapping grids are 4 and 6, and the number of overlaps is 2 (equal to the sixth threshold value 2); within the second time length of 7-9s, the overlapping grids are 22, and the number of overlaps is 1, which is less than the sixth threshold value 2. This indicates that the ground position of the real-time route within the second time length of 7-9s is not on the basic line segment. When compared with other basic line segments, if there is no overlap number greater than 1, an alarm signal is issued to the target object.

[0073] In this embodiment, the traditional positioning method is abandoned, that is, judging that the target object's driving route is correct only by determining that the position information is on the preset route. Instead, the present invention determines the degree of route overlap by setting a comparison between the basic line segment and the real-time route in the grid, thereby improving the accuracy of locating the object. Only when the number of overlaps is less than a preset threshold, an alarm signal is issued to the target object.

[0074] Determining whether the target object is located on the standard route also includes the following steps:

[0075] If the number of overlaps is greater than or equal to a sixth threshold, the number of the basic route is assigned to the real-time route, and a first character string representing each standard route and a second character string of the real-time route are formed based on the number. All first character strings are compared with second character strings, and if there is no first character string that is exactly the same as the second character string, an alarm signal is issued to the target object.

[0076] Specifically, in this embodiment, the numbers 1 and 2 of the basic line segments of the second duration 1-3s and 4-6s are respectively assigned to the real-time routes corresponding to the second duration. The above is only a comparison diagram of a standard route and a real-time route. The first character string of standard route 1 is 1-2-3, and there is also a standard route 2 with a first character string of 4-5-6. The number of overlaps between the basic line segments of standard route 2 at 7-9s and the third grid of the real-time route is greater than 1, then the basic line segments of standard route 2 at 7-9s are assigned the number 6 of the real-time route, and the second character string of the real-time route is 1-2-6. Due to the uniqueness of the character string, there is no first character string that is exactly the same as the second character string 1-2-6, then an alarm signal is issued to the target object. This embodiment not only takes into account the phased real-time route, but also controls the overall route status, which can help the target object adjust to the standard route in time and improve the task execution efficiency.

[0077] like Figure 7 As shown, the present invention also provides a position tracking device based on satellite communication, the system is used to implement the above method, and the device mainly includes:

[0078] The acquisition module is used to obtain historical positioning information in the target area. When the target object enters the target area, a first time period is set to obtain measurement results of multiple satellites and the target object within the first time period. The measurement results include the first distances between the multiple satellites and the target object, the coordinates of the satellites themselves, and the time point of the measurement.

[0079] A generation module generates a standard route for a target area based on historical positioning information, establishes a first coordinate system with the time point as the horizontal axis and the first distance as the vertical axis, plots the first distance and time point in the measurement result in the form of coordinate points in the first coordinate system, analyzes the coordinate points, determines the best coordinate point among them, obtains the time point corresponding to the best coordinate point, uses the measurement result corresponding to the time point as the standard result of the satellite within the first time period, continues to extract the measurement results of other satellites, and processes them to generate the standard result of each satellite.

[0080] The judgment module locates the ground position of the target object within the first time period based on the standard result of the satellite, and judges whether the ground position is located on the standard route. If the ground position is not located on the standard route, an alarm signal is generated.

[0081] The present invention also provides a computer storage medium, which stores program instructions. When the program instructions are executed, the device where the computer storage medium is located is controlled to execute the above-mentioned location tracking method based on satellite communication.

[0082] The present invention obtains historical positioning information of a target area, marks the historical positioning information in a map in the form of coordinate points, forms a standard route of the target area by grids that meet the conditions, abandons the traditional method of determining a standard route by comparing historical routes, improves the accuracy of obtaining the standard route, and simultaneously obtains measurement results of a satellite and a target object in the target area. The present invention classifies a plurality of measurement results, fits each classification result to form a straight line, finds the best coordinate point based on the straight line, and the first distance at the best coordinate point is the best distance for the satellite to communicate with the target object, so that the obtained ground position is also the optimal position, avoids the deviation of the measurement result caused by obstacles in the target area, and fails to accurately obtain the ground position of the target object, thereby improving the accuracy of the ground position of the target object.

[0083] The present invention also determines whether the ground position of the target object is on the standard route by utilizing the number of grid overlaps, thereby more accurately locating the real-time position of the target object, and giving an alarm signal when the target object deviates from the standard route according to the real-time route. The target object can adjust the current direction of travel in real time, thereby improving the driving efficiency of the target object in the target area.

[0084] It should be understood that, although each step in the flow chart of each embodiment of the present invention is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0085] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. The above-mentioned program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0086] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned 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.

[0087] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for those of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

[0088] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A location tracking method based on satellite communication, characterized in that: The method comprises the following steps: Acquire historical positioning information in a target area, and generate a standard route for the target area based on the historical positioning information; The step of generating a standard route for the target area includes the following steps: The historical positioning information includes past positioning information of multiple target objects, the target area is divided into multiple basic grids, a first grid is positioned in the basic grid, a first label is set for each of the first grids, the first label includes the amount of the positioning information in the first grid, and a first process is performed on the first label to obtain a second label; According to the second label, the first grids whose number of positioning information is less than the first threshold are eliminated, the retained first grids are defined as second grids, one of the second grids is located as a target grid, a first detection area is generated with the target grid as the center, and the first number of the second grids other than the target grid in the first detection area is counted. If the first number is less than the second threshold, the target grid is eliminated, otherwise the target grid is retained and defined as a third grid, and this step is repeated until the processing of all the second grids is completed; Performing connectivity detection on the third grids, identifying interruption areas between the third grids, and supplementing the third grids in the interruption areas to obtain a plurality of interconnected standard routes; When the target object enters the target area, a first time period is set, and measurement results of multiple satellites and the target object are obtained within the first time period, wherein the measurement results include first distances between the multiple satellites and the target object, coordinates of the satellites themselves, and a measurement time point; Establishing a first coordinate system with the time point as the horizontal axis and the first distance as the vertical axis, plotting the first distance and the time point in the measurement result in the form of coordinate points in the first coordinate system, analyzing the coordinate points, determining the best coordinate point therein, obtaining the time point corresponding to the best coordinate point, using the measurement result corresponding to the time point as the standard result of the satellite within the first time period, continuing to extract measurement results of other satellites, and processing them to generate the standard result of each satellite; The ground position of the target object within the first time period is located based on the standard result of the satellite, and it is determined whether the ground position is located on the standard route. If the ground position is not located on the standard route, an alarm signal is generated.

2. The method according to claim 1, characterized in that Performing a first process on the first label to obtain a second label comprises the following steps: Determine the multiple positioning information appearing in the first grid. If the positioning information belongs to the same target object and the time interval between the positioning information is less than a third threshold, modify the number of the positioning information in the first tag, count the multiple positioning information as once, and define the modified first tag as the second tag.

3. The method according to claim 1, characterized in that Determining the best coordinates includes the following steps: The coordinate points are classified to obtain a plurality of classification results, and the difference between the longitudinal coordinates of the coordinate points in the same classification result is determined. If the difference is less than a fourth threshold, the classification result is subjected to straight line fitting to obtain a plurality of straight lines, and the correlation coefficient of each straight line is calculated. The straight line with the correlation coefficient greater than a fifth threshold is selected as the first straight line and drawn in the first coordinate system. The straight line with the shortest distance to the X-axis among the first straight lines is taken as the second straight line, and the coordinate point located between the second straight line and the X-axis and closest to the second straight line is defined as the optimal coordinate point.

4. The method according to claim 1, characterized in that Performing connectivity detection on the third grid includes the following steps: Only the third grids are marked in the map of the target area, one of the third grids is selected as the starting grid, and whether there is an adjacent grid with the starting grid as the center is determined. If there is, the adjacent grid is used as the starting grid, and whether there is an adjacent grid other than the starting grid around it is determined again, and this step is repeated until an endpoint grid is obtained, and no adjacent grid exists around the endpoint grid; A second detection area is formed with the endpoint grid as the center. If there are other endpoint grids except the current endpoint grid in the second detection area, the two endpoint grids are connected to form an interrupted connection line, and the basic grid covered by the interrupted connection line is completed as the third grid.

5. The method according to claim 4, characterized in that Determining whether the ground position is located on the standard route comprises the following steps: A second duration is set, each standard route is divided into a plurality of basic line segments, the second duration of each basic line segment is the same, a number is set for each basic line segment, the ground position of the target object is marked in the map in the form of coordinate points, each time a new ground position of the target object is generated, the newly generated ground position is connected with the previous ground position to generate a real-time route, and the number of overlaps between the real-time route and the basic line segments within the second duration is calculated, the number of overlaps being the number of grids where the third grid where the real-time route is located overlaps with the third grid where the basic line segment is located, and if the number of overlaps is less than a sixth threshold, the ground position of the real-time route is not on the standard route.

6. The method according to claim 5, characterized in that Determining whether the target object is located on the standard route also includes the following steps: If the number of overlaps is greater than or equal to the sixth threshold, the number of the basic line segment is assigned to the real-time route, and a first character string representing each standard route and a second character string of the real-time route are formed based on the number. All the first character strings are compared with the second character strings, and if there is no first character string that is exactly the same as the second character string, an alarm signal is issued to the target object.

7. A position tracking device based on satellite communication, used to implement the method according to any one of claims 1 to 6, characterized in that: The device comprises the following modules: an acquisition module, configured to acquire historical positioning information in a target area. When a target object enters the target area, a first time period is set to acquire measurement results of a plurality of satellites and the target object within the first time period, wherein the measurement results include first distances between the plurality of satellites and the target object, coordinates of the satellites themselves, and a measurement time point; A generation module generates a standard route for the target area based on the historical positioning information, establishes a first coordinate system with the time point as the horizontal axis and the first distance as the vertical axis, plots the first distance and the time point in the measurement result in the form of coordinate points in the first coordinate system, analyzes the coordinate points, determines the best coordinate point therein, obtains the time point corresponding to the best coordinate point, uses the measurement result corresponding to the time point as the standard result of the satellite within the first time period, continues to extract measurement results of other satellites, and processes them to generate the standard result of each satellite, wherein generating the standard route for the target area includes the following steps: the historical positioning information includes the past positioning information of multiple target objects, divides the target area into multiple basic grids, locates a first grid in the basic grid, sets a first label for each of the first grids, and the first A label includes the number of positioning information in the first grid, and the first label is processed in a first way to obtain a second label; according to the second label, the first grids whose number of positioning information is less than a first threshold are eliminated, and the retained first grids are defined as second grids, one of the second grids is located as a target grid, and a first detection area is generated with the target grid as the center, and the first number of the second grids other than the target grid in the first detection area is counted, and if the first number is less than the second threshold, the target grid is eliminated, otherwise the target grid is retained and defined as a third grid, and this step is repeated until all the second grids are processed; connectivity detection is performed on the third grids, and interruption areas existing between the third grids are identified, and the third grids are supplemented in the interruption areas to obtain a plurality of interconnected standard routes; A judgment module locates the ground position of the target object within the first time period based on the standard result of the satellite, determines whether the ground position is located on the standard route, and generates an alarm signal if the ground position is not located on the standard route.

8. A computer storage medium, characterized in that: The computer storage medium stores program instructions, wherein when the program instructions are executed, the device where the computer storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

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