A method and device for positioning a mobile terminal

Abstract

The present invention belongs to the field of mobile positioning technology, and specifically discloses a positioning method and device for a mobile terminal. The positioning method comprises the following steps: setting a mobile terminal to be searched and a target scene for searching the mobile terminal; setting a monitoring terminal and a positioning beacon in the target scene, and building a communication link between the monitoring terminal and all the positioning beacons; defining a search range, and judging whether there are any mobile terminals outside the search range; when at least one mobile terminal is outside the search range, expanding the search range, and moving the positioning beacon within the search range until all mobile terminals appear inside the coverage range; the positioning beacon generates the location information of the mobile terminal at each moment and sends it to the monitoring terminal; the method has the following advantages: by dynamically adjusting the search range, optimizing resource use, and flexibly adapting to different modes, accurate positioning is achieved, and the search and rescue efficiency and practicality are improved.

Description

Technical Field

[0001] The present invention relates to the field of mobile positioning technology, and in particular to a positioning method and device for a mobile terminal. Background Art

[0002] When it comes to detecting missing persons or people in group activities, current technologies mainly rely on active identification and search methods, such as RFID tags, Bluetooth beacons, and video surveillance face recognition systems. These technologies enable real-time monitoring and high-precision positioning, and are suitable for specific scenarios. However, these methods also face many technical problems. The first is that they take up too many resources, especially in large-scale events, requiring a large amount of equipment and manpower support. Secondly, in the event of a sudden disappearance, it is difficult for existing technologies to switch quickly to meet the needs of large-scale searches, and the response capacity is insufficient. In addition, real-time monitoring in a small area becomes complicated when the participants change dynamically and there are a large number of people, resulting in unsatisfactory monitoring results. Finally, these technologies often rely on participants to actively wear equipment, which may cause monitoring blind spots and fail to fully cover all people.

[0003] Therefore, a method and device for positioning a mobile terminal are proposed to solve the above-mentioned problem. Summary of the invention

[0004] The present invention aims to provide a positioning method and device for a mobile terminal, so as to solve or improve at least one of the above-mentioned technical problems.

[0005] In view of this, a first aspect of the present invention is to provide a positioning method for a mobile terminal.

[0006] A second aspect of the present invention is to provide a positioning device.

[0007] The first aspect of the present invention provides a positioning method for a mobile terminal, comprising the following steps: setting a mobile terminal to be searched, and a target scene for searching the mobile terminal; setting a monitoring terminal and at least one positioning beacon in the target scene, and building a communication link between the monitoring terminal and all the positioning beacons; defining a search range based on the coverage range of the positioning beacon with the monitoring terminal as the center, and judging in real time whether there are mobile terminals outside the search range; when all the mobile terminals are inside the search range, maintaining the size of the search range through the coverage range; when at least one mobile terminal is outside the search range, expanding the search range through the effective range of the communication link, and the positioning beacon moves within the search range until all the mobile terminals appear inside the coverage range; the positioning beacon generates the location information of the mobile terminal at each moment, and sends the location information to the monitoring terminal through the communication link.

[0008] In any of the above technical solutions, the step of defining the search range based on the coverage range of the positioning beacon with the monitoring end as the center specifically includes: taking the positioning beacon as the center and a spherical range with a preset length as the radius as the coverage range; setting the preset length according to the distance at which the mobile terminal can transmit the wireless detection signal; obtaining the intersection area between the coverage range and the ground according to the height of the positioning beacon from the ground, and taking the intersection area as the search range.

[0009] In any of the above technical solutions, the step of determining in real time whether there are mobile terminals located outside the search range specifically includes: setting the mobile terminals to be searched as target units, and setting a preset list containing all the target units; obtaining the names of all mobile devices corresponding to the wireless detection signals according to the positioning beacon at the previous moment, and generating a search list; determining whether the search list completely contains the names of the preset list, and if not, determining that at least one of the mobile terminals is located outside the search range.

[0010] In any of the above technical solutions, the step of the positioning beacon generating the location information of the mobile terminal at each moment specifically includes: according to the names contained in the preset list, traversing the names of the target units in the search list at each moment; at the same moment, obtaining the number of occurrences of each target unit in the search list and the corresponding receiving strength of the wireless detection signal; generating the location information of the target unit according to the number of occurrences and / or the receiving strength.

[0011] In any of the above technical solutions, the search list is generated by obtaining the name of the mobile device corresponding to the wireless detection signal obtained by the positioning beacon in a mobile state; and at the same time, the number of occurrences is also used to represent the arrangement priority of the target unit in the preset list.

[0012] In any of the above technical solutions, the location information is generated through the following situations: Scenario 1, when the number of appearances of the target unit at the current moment is greater than 1, the current location information of the target unit is generated through the receiving strength and the map coordinates of the positioning beacon; Scenario 2, when the number of appearances of the target unit at the current moment is equal to 1, the current location information of the target unit is generated through the receiving strength at the previous moment and the current moment and the map coordinates of the positioning beacon.

[0013] In any of the above technical solutions, the location information includes the point coordinates of the target unit and the receiving strength of the wireless detection signal at the current moment.

[0014] In any of the above technical solutions, in multiple consecutive moments, when the sum of all occurrences of the target unit is equal to 1, the circular arc trajectory coordinates of the current target unit are generated by the map coordinates of the positioning beacon and the receiving strength of the wireless detection signal; the circular arc trajectory coordinates are used to generate the location information.

[0015] In any of the above technical solutions, the step of generating the location information from the arc trajectory coordinates includes: moving the positioning beacon along the arc trajectory coordinates, acquiring and storing the receiving strength of all coordinate points on the arc trajectory coordinates; and transmitting the highest receiving strength and the map coordinates corresponding to the positioning beacon as the location information to the monitoring end.

[0016] A second aspect of the present invention provides a positioning device for implementing the positioning method in any of the above technical solutions, wherein the positioning device includes the monitoring terminal, the positioning beacon and a carrier for driving the positioning beacon to move.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] By building a communication link between the monitoring end and the positioning beacon, the search range can be adjusted dynamically in real time. When at least one mobile terminal is detected outside the search range, the search range will be automatically expanded to ensure that all possible mobile terminals are covered. This dynamic adjustment mechanism enables flexible response to environmental changes and constant changes in personnel positions, improves the adaptability and efficiency of search and rescue, and ensures that strategies can be quickly adjusted in emergencies to minimize search blind spots.

[0019] By setting up a monitoring terminal and multiple positioning beacons, the present invention significantly optimizes the use of resources. In traditional search methods, a large amount of manpower and material resources are often required to conduct on-site searches. However, this method uses technical means to automatically generate location information through positioning beacons, and does not conflict with existing search methods such as video image search. It can achieve passive search and greatly reduce the need for manual intervention. This not only reduces the labor cost in the search process, but also improves work efficiency, allowing resources to be more reasonably allocated, thereby achieving more effective personnel search and rescue.

[0020] It can flexibly adapt to different search modes, including the search for a single missing person and real-time monitoring in group activities. Through the cooperation of the monitoring terminal and the positioning beacon, it can quickly switch the working mode in different situations. When targeting a single missing person, resources can be concentrated for in-depth search; while in group activities, the location status of all participants can be monitored in real time to ensure that no one is forgotten. This highly adaptable search mode not only improves practicality, but also enhances the ability to respond to different scenarios.

[0021] Additional aspects and advantages of embodiments according to the present invention will become apparent in the following description or may be learned through practice of embodiments according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0023] Figure 1 is a flow chart of the method steps of the present invention;

[0024] Figure 2 A schematic diagram of a search state of the present invention;

[0025] Figure 3 It is another schematic diagram of the search state of the present invention;

[0026] Figure 4 It is a logic block diagram of the positioning device of the present invention;

[0027] Figure 5 The figure is a schematic diagram of the structure of an electronic device of the present invention. DETAILED DESCRIPTION

[0028] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0030] See also Figure 1-Figure 5 , the following describes a positioning method and device for a mobile terminal according to some embodiments of the present invention.

[0031] The embodiments of the first aspect of the present invention provide a method and device for positioning a mobile terminal. In some embodiments of the present invention, such as Figure 1-Figure 3 As shown, the positioning method includes the following steps:

[0032] S101, set the mobile terminal to be searched, which may be the mobile phone held by the person being searched, and the target scene for searching the mobile terminal, which may be the area where the person being searched is missing or the area of ​​collective activities; set a monitoring terminal and at least one positioning beacon in the target scene, and build a communication link between the monitoring terminal and all positioning beacons. During normal collective activities, the positioning beacon is placed together with the monitoring terminal, and when someone is missing, the positioning beacon can be moved by a mobile vehicle carrying the positioning beacon.

[0033] Here, first set the mobile terminal to be searched, which can be a mobile phone or other mobile device held by the person being searched. At the same time, determine the target scene of the search, including the area where the person being searched is missing or the activity area of ​​the collective activity; set a monitoring terminal and at least one positioning beacon in the target scene. The monitoring terminal is responsible for receiving the data transmitted by the positioning beacon and establishing a communication link with all positioning beacons to ensure real-time data transmission; during normal collective activities, the positioning beacons and the monitoring terminal are usually placed together to form a stable monitoring network. These beacons monitor the location of the participants in real time and transmit the data to the monitoring terminal; once a person is missing, the positioning beacon can be carried by a mobile vehicle (such as a drone or a mobile robot) and moved to the missing area. In this way, the beacon can cover a wider area and improve the search efficiency; the monitoring terminal receives data from the beacon, processes the data through an algorithm, and updates the location of the person being searched in real time. If the mobile terminal of the person being searched sends a signal, its precise location can be quickly located and provided to the search personnel; the distribution of people in the target area can be monitored in real time and provide immediate feedback when people are missing. The monitoring terminal can send an alarm or notify relevant personnel to indicate the last known location of the missing person.

[0034] As mentioned above, these beacons usually use wireless communication technologies (such as Bluetooth, Wi-Fi or Zigbee) to exchange data with mobile terminals. The beacon periodically sends its own location and status information to the monitoring end; the monitoring end builds a real-time location map of the participants by receiving data from the beacon. It can also be integrated with other systems through cloud servers to provide more extensive support and data analysis; when a missing incident occurs, the mobile vehicle can be dispatched to a specific area. The beacon works on a mobile vehicle and can transmit and receive signals over a larger range to ensure that no possible location clues are missed; a variety of data analysis algorithms are used within the system to process the received location data. These algorithms can perform positioning based on information such as distance measurement, signal strength and time difference to improve accuracy and response speed.

[0035] S102, with the monitoring end as the center, the search range is defined according to the coverage range of the positioning beacon. The coverage range of the positioning beacon is the range that can detect the wireless detection signal emitted by the mobile phone held by the searched person. The wireless detection signal can be a wifi connection signal, a Bluetooth connection signal, and a 5G / 4G connection signal. It is used to determine in real time whether there is a mobile terminal outside the search range.

[0036] Here, the monitoring end sets an effective search area based on the coverage of the positioning beacon. The coverage range is defined as the effective radius of the wireless signal that the beacon can detect. These signals can include Wi-Fi, Bluetooth or 5G / 4G signals; real-time monitoring of whether the mobile terminal (such as a mobile phone) of the person being searched is within the search range. By continuously receiving and analyzing wireless detection signals, it is determined whether the target device is within the signal coverage area; when the monitoring end receives a signal from a mobile terminal, the system will update the location information of the terminal and display it in real time on the user interface. If no signal is detected, an alarm or notification will be issued so that further search measures can be taken in time.

[0037] As can be seen from the above, the mobile terminal of the person being searched periodically transmits wireless signals to surrounding devices, and the beacon receives these signals through a specific frequency. A stable communication connection is established between the monitoring end and the positioning beacon to ensure the timely transmission of data; the coverage of the positioning beacon is usually calculated based on its signal strength and propagation characteristics. Different types of signals (such as Wi-Fi, Bluetooth) have different propagation characteristics, and the coverage range will be dynamically adjusted according to environmental factors (such as obstacles, interference); specific algorithms (such as signal strength indication RSSI or arrival time difference TDOA) are used to determine the specific location of the mobile terminal. If the signal strength exceeds the set threshold, the terminal is considered to be within the search range; otherwise, it is considered to be outside; as the search range is adjusted or the position of the mobile vehicle changes, the monitoring area will be dynamically updated to ensure that the possible location of the missing person can be covered. This dynamic adjustment improves the search efficiency and accuracy.

[0038] Specifically, the steps of defining the search range based on the coverage of the positioning beacon with the monitoring end as the center include:

[0039] The coverage area is a spherical range with the positioning beacon as the center and a preset length as the radius.

[0040] The preset length is set according to the distance at which the mobile terminal can transmit the wireless detection signal.

[0041] The intersection area between the coverage area and the ground is obtained according to the height of the positioning beacon from the ground, and the intersection area is used as the search range.

[0042] In view of the above specific description, the positioning beacon is regarded as the center of the sphere, and the coverage range is a spherical area with a preset length as the radius. This spherical range represents the spatial range of wireless signals that the beacon can effectively detect; according to the effective distance of wireless detection signals (such as Wi-Fi, Bluetooth, 5G / 4G) that can be transmitted by different types of mobile terminals, a suitable preset length (radius) is set. This length is adjusted according to environmental factors (such as signal interference and obstacles) to ensure the accuracy of the coverage range; the intersection area between the coverage range and the ground is calculated by the height of the positioning beacon (that is, the vertical distance between the beacon and the ground). This intersection area is the area where the signal can actually cover the ground, and it is also the core part of the search range; the calculated intersection area is regarded as the actual search range. Within this range, it will be monitored in real time whether there is a mobile terminal of the person being searched transmitting a wireless signal.

[0043] As can be seen from the above, in three-dimensional space, the positioning beacon is the center of the sphere, and its coverage range can be represented by a mathematical model as a sphere. The preset length (radius) represents the effective detection distance of the beacon; the wireless signal strength of the mobile terminal decays with distance. According to the propagation characteristics of different signal types, an appropriate radius is set to ensure that the target device is detected to the maximum extent; through geometric calculation, the intersection area of ​​the sphere and the ground is determined. The part that intersects with the ground can be calculated using a three-dimensional geometric formula to obtain an accurate search area; when the position of the mobile vehicle or the monitoring end changes, the coverage range and intersection area will be recalculated in real time to adapt to the new environment. This dynamic adjustment ensures that the search range always matches the actual location of the target device.

[0044] Specifically, the step of determining in real time whether a mobile terminal is located outside the search range specifically includes:

[0045] Set the mobile terminal to be searched as the target unit. The type of mobile phone used can be found by the name of the missing person. If in a remote mountainous area, any type of mobile phone can be used as the target unit for the search. Set a preset list containing all target units.

[0046] Obtain the names of all mobile devices corresponding to the wireless detection signals according to the last positioning beacon, and generate a search list;

[0047] It is determined whether the search list completely contains the name of the preset list. If it is not completely contained, it is determined that at least one mobile terminal is located outside the search range.

[0048] In view of the above specific description, first set the mobile terminal to be searched as the target unit. This can be achieved by entering the name of the missing person or other identification information; through the name of the missing person, the type of mobile phone associated with the name can be queried. This process may involve connecting to a database or service platform to obtain relevant information to identify the target device; in remote mountainous areas, any type of mobile phone is allowed to be the target unit for the search. This is to adapt to the situation of wide signal coverage and diverse devices, ensuring that as many wireless signals as possible can be captured; set a preset list of all target units. This list includes not only the mobile phone type of a specific missing person, but also other mobile devices related to it, ensuring that all possible targets are covered.

[0049] The positioning beacon collects information about surrounding wireless detection signals at a specific time point, including Wi-Fi, Bluetooth and mobile network signals. These signals contain relevant data about mobile devices (such as mobile phones, tablets, etc.) within the coverage area of ​​the beacon; by analyzing the collected signal data, the name and other relevant information of each device are extracted. This may involve the MAC address, device type, brand, etc. of the signal; all extracted device names and related information will be integrated into a search list. This list contains all valid mobile devices detected by the positioning beacon at the last moment, providing a basis for subsequent searches.

[0050] The search list is compared with the preset list to check whether the device names in the search list completely contain all the names in the preset list; if the search list does not completely contain the names in the preset list, this status will be marked and the subsequent judgment step will be triggered; further judgment will be made whether at least one mobile terminal is outside the search range. If it is found that a device is not within the coverage area, the possible location of the missing person is confirmed.

[0051] As can be seen from the above, through the database query function, relevant information is retrieved according to the name of the missing person entered. This may involve the integration of multiple data sources to ensure that accurate mobile phone models and related information are obtained; in remote mountainous areas, the selection of target units is dynamically adjusted according to environmental conditions. By setting any type of mobile phone as a valid target, it can adapt to possible signal changes and device diversity; the created preset list is a dynamically updated database that can be adjusted according to new input or information changes. Target units can be added, deleted or modified in real time to ensure that the list is always up to date; once the target unit is determined, wireless signals matching the target unit will be detected within the set search range. By matching with the devices in the preset list, it can be identified whether there are relevant mobile terminals in the search area.

[0052] The positioning beacon uses a built-in wireless receiving module to scan the surrounding wireless signals in real time. The device maintains connection by transmitting signals (such as Wi-Fi signals), and the beacon can capture these signals and record their strength and other parameters; the collected wireless signal data is parsed to identify the mobile device corresponding to each signal. Through specific algorithms, the signal data can be converted into identifiable device information, including device name, type and status, etc.; based on the extracted device information, a search list will be dynamically generated. This list can be updated in real time, and as the signal changes, devices are added or removed, the list will also be adjusted accordingly; the generated search list will be stored in the database for subsequent retrieval and analysis. A historical record of the search list can be provided to help users understand the dynamic changes of the device.

[0053] Use hash tables or set operations to compare two lists. By matching one by one, determine whether any name in the preset list is missing from the search list; if incomplete inclusion is found, the current status (such as "incomplete inclusion") will be recorded and the missing device name will be identified for subsequent processing; the coverage of the monitoring terminal will be compared with the device location in the search list, and the previously collected location information will be used to determine whether there is a device outside the search range. This can be analyzed through parameters such as signal strength and arrival time; if it is confirmed that at least one mobile terminal is outside the search range, an alarm or notification will be sent to the relevant personnel to indicate the possible disappearance and recommend further search actions.

[0054] S103, when all mobile terminals are located within the search range, the size of the search range is maintained through the coverage range, which can be used for personnel statistics of collective activities such as tour groups, so as to check at any time whether there are people.

[0055] Here, the size of the search range remains unchanged when all mobile terminals are confirmed to be within the search range. This function ensures that participants can be continuously and effectively monitored during group activities, such as when counting the number of people in a tour group; the number of people within the search range can be counted in real time. By monitoring the mobile terminals connected to the coverage area, the exact number of people currently present is provided; regular or real-time checks are made to see if anyone has left the search range. If a mobile terminal signal disappears or is found to be weak, feedback is immediately provided and possible missing persons are marked.

[0056] As can be seen from the above, the signal information from the positioning beacon is continuously received to monitor the status of each mobile terminal. If all devices are within the set search range, this range will continue to be maintained to ensure the stability of the data; the number of people present is updated in real time by analyzing the received wireless signals. This can be achieved by counting the devices connected to the signal to ensure that the current number of participants is accurately reflected; if the signal of a mobile terminal disappears or drops to a preset threshold, it will be marked as possibly leaving the search range. An alarm will be issued to prompt staff to check to ensure that no one is missed; the statistical results and personnel status are visualized, and a graphical interface is provided to facilitate staff to check and manage the presence of personnel at any time. Relevant data can also be generated into reports for subsequent analysis and reference.

[0057] S104, when at least one mobile terminal is outside the search range, it can be regarded as a case of a single missing person or a case of loss of contact of at least one person in a collective activity, and the search range can be expanded through the effective range of the communication link. At this time, the restriction condition of the search range is the effective communication distance between the monitoring end and the positioning beacon. The positioning beacon moves within the search range until all mobile terminals appear inside the coverage range.

[0058] Here, at least one mobile terminal signal is detected outside the search range, which identifies a possible single missing person or a missing person in a group activity; based on the communication link between the monitoring terminal and the positioning beacon, the search range will be expanded to cover more possible missing areas. This expansion is to increase the chance of capturing the signal; the positioning beacon can move within the new search range. The beacon will be instructed to move along a specific path or randomly to detect new signals and ensure maximum coverage of the target area; the location of all mobile terminals is continuously monitored, and when all devices appear within the expanded coverage area, the normal search state is restored.

[0059] As can be seen from the above, the existing signal data is analyzed to determine which mobile terminals are not within the search range. This process relies on real-time signal strength and location data to determine the location of the missing person; the search range is dynamically adjusted according to the effective communication distance between the monitoring terminal and the positioning beacon. This distance depends on the signal type (such as Wi-Fi, Bluetooth, etc.) and environmental conditions; the positioning beacon moves according to the preset path or algorithm within the extended search range. Through signal feedback, the position of the beacon is updated in real time to ensure that more mobile terminal signals are detected; when the beacon moves, the signal is monitored again. If all mobile terminal signals in the new location are captured, it will be marked as "coverage completed" and the normal monitoring state will be restored.

[0060] S105, the positioning beacon generates the location information of the mobile terminal at each moment, and sends the location information to the monitoring end through the communication link.

[0061] Here, the positioning beacon continuously monitors the surrounding wireless signals, and by receiving signals from mobile terminals, it calculates and generates the location information of each terminal in real time. This information includes the specific coordinates of the device (such as longitude and latitude) and signal strength; once the location information is generated, the beacon will package this data into a transmittable information format (such as JSON or XML). The data packet contains key information such as timestamp, device ID, location information and signal strength; the positioning beacon uses the communication link established with the monitoring end (such as Wi-Fi, Bluetooth or mobile network) to send the packaged location information to the monitoring end. It will ensure the stability and real-time nature of information transmission.

[0062] As mentioned above, positioning beacons use signal processing algorithms (such as triangulation or signal strength analysis) to determine the location of mobile terminals. These algorithms calculate the exact location of the device by comparing multiple received signals; to ensure the effective transmission of information, positioning beacons use reliable data transmission protocols (such as MQTT or HTTP) and encrypt data during transmission to prevent information loss or tampering; positioning beacons generate and send location information at fixed time intervals (such as every second or every minute) to ensure that the monitoring end can obtain the latest device location, thereby achieving real-time monitoring; after receiving the location information, the monitoring end stores it in the database and updates the display interface in real time to reflect the latest location and status of each mobile terminal. These data can be used for subsequent analysis and reporting.

[0063] Specifically, the steps of the positioning beacon generating the location information of the mobile terminal at each moment specifically include:

[0064] According to the names contained in the preset list, the name of the target unit in the list is traversed and searched at each moment.

[0065] At the same time, the number of occurrences of each target unit in the search list and the receiving strength of the corresponding wireless detection signal are obtained.

[0066] Generates location information of target units based on number of occurrences and / or reception strength.

[0067] In view of the above specific description, according to the device names included in the preset list, the current search list is traversed one by one to check whether each device matches the target unit in the preset list; during the traversal process, the name of each mobile terminal is checked to determine whether it is in the preset list. If a match is found, the device will be marked as a valid target unit; all matching device names and their status will be recorded, and the current matching results will be fed back to the user. If a missing device is found, an alarm will be issued to prompt the relevant personnel to pay attention.

[0068] Traverse the search list and count the number of times each target unit appears in the list. This helps to confirm the connection status of a specific device and its participation in the activity; at the same time, record the strength of the wireless detection signal received by each target unit. These signals can come from Wi-Fi, Bluetooth or mobile networks, and the signal strength is usually expressed in dBm (decibel milliwatts); integrate the counting results and signal strength information into a comprehensive data structure (such as a dictionary or table) for subsequent processing and display.

[0069] The location information of each device is generated using the number of occurrences of each target unit in the search list and the strength of the received wireless detection signal. This information helps to confirm the actual location of the device; when generating the location information, a weighted algorithm can be used to assign a weight to each target unit based on the signal strength. The higher the signal strength, the greater the weight, indicating that the device is more likely to be located closer to the positioning beacon; combining the number of occurrences and signal strength, the actual location of the target unit is calculated through triangulation, weighted average or other positioning algorithms. This may involve the cooperation of multiple beacons to improve positioning accuracy; the generated location information will be integrated into a clear report for users to view and analyze. At the same time, the location information will be updated in real time to reflect the dynamic changes of the device.

[0070] As can be seen from the above, efficient data structures (such as hash tables or sets) are usually used to store preset lists to speed up the search. When traversing the search list, you can quickly determine whether the device name is in the preset list; through a simple loop algorithm, check each name in the search list one by one. The time complexity of this process is usually O(n), where n is the number of devices in the search list; strict judgment is made on the name match to ensure that the device names are exactly the same. If necessary, fuzzy matching algorithms can be considered to deal with possible spelling errors or different naming rules; after the match is completed, a matching result list will be generated, including all devices found in the search list. The list will be updated in real time and displayed on the monitoring interface for easy viewing by users.

[0071] Use a loop to traverse the search list and count each target unit. Each time the name of the target unit is found, the counter is increased by one. The time complexity of this operation is O(n), where n is the length of the search list; during the traversal process, the signal strength of each target unit is read at the same time. Signal strength information is usually provided by positioning beacons or related hardware when wireless signals are received and stored in numerical form; in order to efficiently store and access results, dictionaries are usually used (the key is the target unit name, and the value is a tuple or object containing counts and signal strengths). This method allows fast lookups and updates; the final results will be formatted and output to the monitoring interface, showing the number of occurrences and signal strengths of each target unit. Real-time updates can be provided to ensure that users get the latest data.

[0072] Analyze the received signal strength, usually in dBm. The stronger the signal strength, the closer the target unit is to the positioning beacon, and the corresponding distance estimate will be generated based on this data; the number of occurrences reflects the activity of the device in the search list. Devices with high occurrences are considered more reliable positioning references, especially when the signal strength is weak, the number of occurrences can be used as an auxiliary judgment basis; a weighted average algorithm can be used to calculate the position; the generated location information will be displayed on the monitoring interface in a map or other graphical form, so that users can intuitively understand the distribution of devices. A real-time update function will also be provided to ensure the accuracy of the location information.

[0073] In any of the above embodiments, the search list is generated by obtaining the name of the mobile device corresponding to the wireless detection signal from the positioning beacon in a mobile state. The mobile state can be achieved by carrying the positioning beacon on a vehicle, and the vehicle can be a rotary-wing UAV or a vehicle.

[0074] At the same time, the number of appearances is also used to represent the priority of the target unit in the preset list. The more times it appears, the greater the possibility of search and acquisition. In a limited time, the easiest missing persons should be searched and rescued as much as possible.

[0075] In this embodiment, the positioning beacon collects the surrounding wireless detection signals in real time while in motion (for example, carried by a rotorcraft drone or vehicle) to obtain information about mobile devices connected to it; through the positioning beacon, it is possible to scan and record the wireless detection signals of surrounding devices (such as Wi-Fi, Bluetooth, 5G, etc.), and extract the device name, signal strength and other relevant information; the collected wireless detection signals are integrated with the device information to generate a dynamic search list, listing the names of all currently detectable devices and their status.

[0076] The vehicle (such as a drone or a vehicle) moves within a set area, and the positioning beacon runs with the vehicle. During this process, the positioning beacon will continuously update its location information in order to accurately record the wireless signals of surrounding devices; the positioning beacon is equipped with a wireless receiving module to scan the signals in the environment in real time. These signals are captured through specific protocols (such as Wi-Fi detection, Bluetooth scanning, etc.). These signals will be processed to extract valid device information, including device name and signal strength; during the movement, each collected device will be judged and the device name that meets the conditions will be added to the search list. Whenever the beacon detects a new device or a signal change, the search list will be automatically updated; all collected device information will be stored in the database and classified and managed. The data can be queried and analyzed as needed for subsequent use; the dynamically generated search list will be presented in a graphical interface, and users can view all currently detected devices in real time. The status of each device (such as connection status, signal strength, etc.) will also be updated in a timely manner to ensure the accuracy of the information.

[0077] According to the number of times each target unit appears in the search list, its order in the preset list is dynamically adjusted. The more times it appears, the higher the priority of the target unit in the list; the number of appearances reflects the possibility of the target unit being found, and the number of appearances will be used as a key indicator to prioritize the search for those missing persons who are most likely to be rescued within a limited time; based on priority sorting, the search strategy can be optimized, and resources and energy can be concentrated on searching high-priority target units first, thereby improving search efficiency and success rate.

[0078] Continuously collect and count the number of appearances of each target unit, and use wireless signal monitoring data to update this information. Every time the signal of a target unit is captured, the number of appearances will increase; a simple sorting algorithm is used to sort the target units according to the number of appearances. Efficient algorithms such as quick sort and merge sort can be used to update priorities in real time; after each signal monitoring update, the priority of the target unit will be re-evaluated and adjusted. This dynamic adjustment ensures that in a constantly changing environment, the missing persons who are most likely to be rescued are always given priority; the results of the priority arrangement will be presented in a list on the monitoring interface, and the user can intuitively see the current priority setting and the corresponding target unit. This information helps commanders develop quick and effective action plans.

[0079] Specifically, location information is generated by:

[0080] In the first scenario, when the target unit appears more than 1 times at the current moment, the location information of the current target unit is generated through the reception strength and the map coordinates of the positioning beacon; when more than two positioning beacons simultaneously detect the wireless detection signal of the same mobile terminal, triangulation positioning can be performed through the map coordinates of the two positioning beacons and the detected reception strength.

[0081] In the second scenario, when the number of occurrences of the target unit at the current moment is equal to 1, the location information of the current target unit is generated through the reception strength at the previous moment and the current moment and the map coordinates of the positioning beacon. When only one positioning beacon obtains the reception strength of the current target unit at more than one moment, triangulation is performed through the different map coordinates and reception strength of the positioning beacon at each moment.

[0082] In view of the description of the above situation 1, first check the number of occurrences of the target unit at the current moment. If the number of occurrences is greater than 1, continue to generate location information; use the received signal strength and the map coordinates of the positioning beacon to generate the location information of the target unit. When the signal strength is strong, it can be inferred that the target unit is close to the beacon; when more than two positioning beacons detect the wireless detection signal of the same mobile terminal at the same time, triangulation will be performed through the coordinates of the two beacons and the received signal strength to calculate the precise location of the target unit.

[0083] As can be seen above, the signal strength received by each positioning beacon will be analyzed first to determine the relative distance between the target unit and each beacon. Signal strength is usually measured in dBm. The higher the strength, the closer the beacon. The following formula can be used to estimate the distance between the target unit and each beacon: ; RSSI is the received signal strength, A is the reference signal strength, and n is the environmental attenuation factor (usually between 2 and 4); when two or more positioning beacons receive signals from the same device at the same time, a triangulation positioning algorithm will be used to calculate the actual location of the target unit; based on the coordinates of each beacon and the calculated distance, a circular area is drawn to find the intersection of these circles, which is the estimated location of the target unit; the generated location information will be updated in real time and displayed on the monitoring interface. Users can view the latest location of the target unit to help make subsequent search and rescue decisions.

[0084] In view of the description of the above situation 2, first determine the number of occurrences of the target unit at the current moment. If the number of occurrences is equal to 1, continue to generate location information; use the reception strength of the previous moment and the current moment, as well as the map coordinates of the positioning beacon, to generate the location information of the target unit; when only one positioning beacon obtains the reception strength of the target unit at multiple moments, the position is estimated by the beacon coordinates and the corresponding reception strength at each moment.

[0085] As can be seen from the above, the received signal strength is recorded at each moment, and the map coordinates of the positioning beacon are obtained at the same time. These data will be used in subsequent calculations; in the case of only one positioning beacon, the received strength will be used to estimate the distance between the target unit and the beacon; when the received strength and corresponding coordinates at different times are available, the time series analysis method can be used to combine the signal strength changes at each moment to generate the position trajectory of the target unit during the movement; through linear interpolation or weighted average method, combined with the signal strength and map coordinates at each moment, the current position of the target unit can be estimated. This method can improve the accuracy of the estimate, especially in the case of large signal fluctuations; the generated location information will be updated in real time and displayed on the monitoring interface. Users can view the latest location of the target unit to help make subsequent search and rescue decisions.

[0086] In any of the above embodiments, the location information includes the point coordinates of the target unit and the receiving strength of the wireless detection signal at the current moment.

[0087] In this embodiment, the point coordinates of the target unit are generated to indicate its specific location on the map. These coordinates are usually determined by the geographical location of the positioning beacon and the received wireless signal strength; the wireless detection signal reception strength at the current moment is recorded in real time. These strength data provide a basis for subsequent signal quality evaluation and location confirmation; the point coordinates of the target unit and the corresponding wireless signal reception strength are integrated to form a complete location information record, which is convenient for subsequent data processing and display.

[0088] When the location information of the target unit is calculated through the positioning beacon, it is usually expressed in geographic coordinates (such as longitude and latitude); the received signal strength and the coordinates of the positioning beacon are used for calculation. For multiple beacons, the precise coordinates of the target unit are obtained through triangulation or weighted average. The wireless receiving module of the positioning beacon monitors the wireless signal (such as Wi-Fi, Bluetooth, etc.) emitted by the target unit in real time. The received signal strength is usually in dBm, and the value is recorded to reflect the quality of the signal. The change in signal strength can be used to determine the activity status and relative position of the target unit. The higher the strength, the closer the device is to the beacon; the point coordinates and signal strength are integrated into a data structure (such as an object or dictionary), which contains the following information:

[0089] location: The point coordinates of the target unit (for example: {latitude:xx, longitude:xx}).

[0090] signal_strength: The received signal strength at the current moment.

[0091] Ultimately, this information will be displayed in an intuitive way on the monitoring interface to facilitate user understanding and application.

[0092] Specifically, in multiple consecutive moments, when the sum of all the occurrence times of the target unit is equal to 1, it indicates that the signal of the current target unit is very weak, and the circular arc trajectory coordinates of the current target unit are generated by the map coordinates of the positioning beacon and the receiving strength of the wireless detection signal; the circular arc trajectory coordinates are a circular arc trajectory in which the target unit may appear, with the positioning beacon as the center and the radius set according to the receiving strength.

[0093] The arc trajectory coordinates are used to generate position information.

[0094] In view of the above specific description, when the sum of all occurrences of the target unit is equal to 1, it indicates that its signal is weak, and the arc trajectory coordinates will be generated according to the map coordinates of the positioning beacon and the received wireless detection signal strength; the positioning beacon is regarded as the center of the circle, and the radius is set according to the current received signal strength to generate the arc trajectory where the target unit may appear. This trajectory reflects the possible movement range of the target unit in the case of weak signal; based on the arc trajectory coordinates, the location information of the target unit is generated to provide a reference for subsequent monitoring and analysis.

[0095] As can be seen from the above, the received wireless detection signal strength is converted into a radius. Generally speaking, the stronger the signal strength, the closer the target unit is to the beacon, and vice versa. The signal strength can be mapped to a radius using the following formula: ; Where k is the adjustment factor, A is the reference signal strength, RSSI is the received signal strength, and n is the environmental attenuation factor; with the map coordinates of the positioning beacon as the center of the circle, a possible arc trajectory is generated based on the calculated radius. This trajectory consists of multiple points and can be expressed by a parametric equation: , ; (xc, yc) is the beacon coordinate, r is the radius, and θ is the angle (from 0 to 2π); the generated arc trajectory coordinates will be integrated and stored. These trajectory data can be combined with other related information to form a complete location information record, including: arc_trajectory: arc trajectory coordinate array, center: the coordinates of the positioning beacon, signal_strength: the current received signal strength.

[0096] Specifically, the steps of generating position information from arc trajectory coordinates include:

[0097] The positioning beacon moves along the arc track coordinates to obtain and store the receiving strength of all coordinate points on the arc track coordinates.

[0098] The highest receiving intensity and the map coordinates of the corresponding positioning beacon are transmitted to the monitoring end as location information.

[0099] In response to the above specific description, the positions of multiple coordinate points on the circular arc trajectory generated according to the signal strength of the target unit are determined; the positioning beacon moves according to the set circular arc trajectory, gradually passing through each coordinate point on the trajectory; when the beacon passes through each coordinate point, the wireless detection signal reception strength of the point is collected in real time and stored.

[0100] All signal strength data collected on the arc trajectory will be analyzed to find the highest receiving strength; the positioning beacon map coordinates corresponding to the highest receiving strength will be recorded to ensure accurate transmission of location information; the highest receiving strength and corresponding coordinate information will be transmitted to the monitoring end in the form of structured data.

[0101] From the above, we can see that, first, the coordinate points on the trajectory are generated according to the aforementioned arc trajectory formula. These coordinate points will be passed in sequence when the beacon moves; when the positioning beacon moves along the trajectory, its position will be continuously updated. The movement of the beacon can be linear advancement on the trajectory at a set speed; when the beacon passes each coordinate point, the signal receiving module will scan the surrounding wireless signals. At this time, the received signal strength (RSSI) is read and recorded; the received signal strength is stored together with the current coordinate point. A data structure will be created to record each coordinate point and the corresponding signal strength, for example:

[0102] {

[0103] "trajectory_points":[

[0104] {"coordinate":{"x":x1,"y":y1},"signal_strength":RSSI1},

[0105] {"coordinate":{"x":x2,"y":y2},"signal_strength":RSSI2}, ... ]

[0107] }

[0108] During the movement of the beacon, the recorded data is updated in real time, and the trajectory and signal strength changes can be displayed graphically on the monitoring interface to help users understand the current signal environment.

[0109] Traverse the collected signal strength data and use a simple comparison algorithm to find the highest received strength value. This process can be implemented by the following pseudo code:

[0110] max_signal=max(signal_strengths)

[0111] max_index=signal_strengths.index(max_signal)

[0112] corresponding_coordinate=trajectory_points[max_index].coordinate

[0113] Generate a data structure containing the highest received intensity and its corresponding coordinates, for example:

[0114] {

[0115] "highest_signal_strength":max_signal,

[0116] "coordinate":{"latitude":lat,"longitude":lon}

[0117] }

[0118] The above data structure is sent to the monitoring end through the established communication link (such as Wi-Fi, Bluetooth or mobile network). The transmission protocol can use HTTP POST, WebSocket and other methods to ensure the real-time and reliability of the data; at the monitoring end, the transmitted data is received and parsed, the user interface is updated, and the location information and signal strength of the current target unit are displayed. This can help decision makers quickly understand the situation and take corresponding actions.

[0119] The positioning method of the mobile terminal provided by the present invention optimizes the use of resources, reduces the dependence on manual search, and significantly reduces resource consumption by setting the monitoring terminal and the positioning beacon.

[0120] In group activities, it is often difficult to monitor the status and location changes of people. This method realizes effective monitoring of group activities, can determine in real time whether the mobile terminal is within the search range, and find missing people in time, thus improving the effectiveness and response speed of monitoring.

[0121] In traditional technology, the search range is fixed and difficult to adapt to environmental changes. The present invention expands the search range through a communication link, allowing the positioning beacon to dynamically adjust according to actual conditions, thereby improving the flexibility of the search, being more adaptable, and being able to cope with emergencies.

[0122] Through the communication between the monitoring end and multiple positioning beacons, the location of the mobile terminal can be obtained in real time, which improves the accuracy of positioning, thereby effectively reducing the time of search and rescue and improving efficiency.

[0123] Positioning and monitoring through technical means reduces the risk of manpower investment in the search process, especially in complex or dangerous environments, and improves the safety of personnel. The location information generated by the positioning beacon is transmitted to the monitoring end in real time, enabling relevant personnel to respond quickly, improving rescue efficiency and ensuring timely acquisition of key information.

[0124] The second embodiment of the present invention provides a positioning device 2, such as Figure 4 As shown, for implementing the positioning method of any of the above embodiments, the positioning device 2 includes a monitoring terminal 201, a positioning beacon 202 and a carrier 203 for driving the positioning beacon to move.

[0125] The positioning device proposed in the present invention is the core component of the system. The monitoring end is responsible for receiving data from the positioning beacon, processing and analyzing the location information in real time, and displaying the relevant information to the user through a visual interface; the positioning beacon is used to transmit and receive wireless detection signals, mark the location within a specific area, and generate location information related to the mobile terminal. Each beacon has a specific coverage range; the vehicle is used to move the positioning beacon to ensure that the beacon can cover more areas within the target scene. The vehicle can be a rotary-wing drone, a ground vehicle or other mobile platform that can move flexibly in various environments.

[0126] Embodiments of the third aspect of the present invention provide electronic devices. In some embodiments of the present invention, such as Figure 5 As shown, an electronic device is provided, which includes: electronic devices such as desktop computers, notebooks, handheld computers, and cloud servers. The electronic device 3 may include but is not limited to a processor 301 and a memory 302. Those skilled in the art will understand that Figure 5 The electronic device 3 is merely an example and does not limit the electronic device 3 , and may include more or less components than those shown in the figure, or different components.

[0127] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0128] The memory 302 may be an internal storage unit of the electronic device 3, for example, a hard disk or memory of the electronic device 3. The memory 302 may also be an external storage device of the electronic device 3, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 3. The memory 302 may also include both an internal storage unit of the electronic device 3 and an external storage device. The memory 302 is used to store computer programs and other programs and data required by the electronic device.

[0129] The embodiment of the fourth aspect of the present invention proposes a computer-readable storage medium. In some embodiments of the present invention, a computer-readable storage medium is provided, and when the computer-readable storage medium is executed by the processor 301, the steps of the above method are implemented. Therefore, the computer-readable storage medium provided by the fourth aspect of the present invention has all the technical effects of the above steps, which will not be repeated here.

[0130] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0131] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0132] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. Multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection of devices or units, which may be electrical, mechanical or other forms.

[0133] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present disclosure implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. The computer program may include computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electric carrier signals and telecommunication signals.

[0134] The above embodiments are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present disclosure, and should all be included in the protection scope of the present disclosure.

Claims

1. A method for positioning a mobile terminal, characterized in that: include: Setting a mobile terminal of a missing person to be searched, and a target scene for searching the mobile terminal, wherein the target scene includes the missing area of ​​the missing person; A monitoring terminal and at least one positioning beacon for searching the missing person by a mobile vehicle are arranged in the target scene, and a communication link between the monitoring terminal and all the positioning beacons is established; Defining a search range based on the coverage of the positioning beacon with the monitoring terminal as the center, and determining in real time whether there is a mobile terminal outside the search range; The method includes: taking a spherical range with the positioning beacon as the center and a preset length as the radius as the coverage range; setting the preset length according to the distance at which the mobile terminal can transmit the wireless detection signal; obtaining the intersection area between the coverage range and the ground according to the height of the positioning beacon from the ground, and taking the intersection area as the search range; When all the mobile terminals are located within the search range, maintaining the size of the search range through the coverage range; When at least one of the mobile terminals is outside the search range, the search range is expanded through the effective range of the communication link, and the positioning beacon moves within the search range until all the mobile terminals appear within the coverage range; including: expanding the search range based on the communication link between the monitoring terminal and the positioning beacon to cover more possible missing areas; the positioning beacon moves along a specific path or randomly within the new search range to detect new signals and ensure maximum coverage of the target area; continuously monitoring the positions of all mobile terminals, and confirming that when all mobile terminals appear within the expanded coverage range, the size of the search range is restored; According to the number of occurrences of the mobile terminal in the search list and the corresponding wireless detection signal strength, the positioning beacon generates the location information of the mobile terminal at each moment, and sends the location information to the monitoring end through the communication link.

2. The positioning method according to claim 1, characterized in that: The step of determining in real time whether a mobile terminal is located outside the search range specifically includes: Setting the mobile terminals to be searched as target units, and setting a preset list containing all the target units; Obtain the names of all mobile devices corresponding to the wireless detection signals according to the positioning beacon at the last moment, and generate a search list; Determine whether the search list completely contains the names of the preset list; if not, determine that at least one of the mobile terminals is outside the search range.

3. The positioning method according to claim 2, characterized in that: The step of generating the location information of the mobile terminal at each moment by the positioning beacon specifically includes: According to the names included in the preset list, traverse the names of the target units in the search list at each moment; At the same time, obtaining the number of occurrences of each target unit in the search list and the corresponding reception strength of the wireless detection signal; The location information of the target unit is generated according to the number of occurrences and / or the reception strength.

4. The positioning method according to claim 3, characterized in that: The search list is generated by obtaining the name of the mobile device corresponding to the wireless detection signal obtained by the positioning beacon in the mobile state; and At the same time, the number of occurrences is also used to represent the ranking priority of the target unit in the preset list.

5. The positioning method according to claim 3, characterized in that: At the same time, the location information is generated by the following situations: Scenario 1: when the number of occurrences of the target unit at the current moment is greater than 1, the current position information of the target unit is generated by using the reception strength and the map coordinates of the positioning beacon; Scenario 2: When the number of occurrences of the target unit at the current moment is equal to 1, the current position information of the target unit is generated by the receiving strength at the previous moment and the current moment and the map coordinates of the positioning beacon.

6. The positioning method according to claim 5, characterized in that: The location information includes the point coordinates of the target unit and the receiving strength of the wireless detection signal at the current moment.

7. The positioning method according to claim 5, characterized in that: When the sum of all occurrence times of the target unit is equal to 1 in a plurality of consecutive moments, the arc trajectory coordinates of the current target unit are generated by the map coordinates of the positioning beacon and the receiving strength of the wireless detection signal; The arc trajectory coordinates are used to generate the position information.

8. The positioning method according to claim 7, characterized in that: The step of generating the position information from the arc trajectory coordinates comprises: The positioning beacon moves along the circular arc track coordinates to obtain and store the receiving strength of all coordinate points on the circular arc track coordinates; The highest receiving intensity and the map coordinates corresponding to the positioning beacon are transmitted to the monitoring end as the location information.

9. A positioning device, characterized in that: The positioning method for implementing any one of claims 1 to 8 comprises the monitoring terminal, the positioning beacon and a vehicle for moving the positioning beacon.

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