Beidou positioning method and system of intelligent wearable device, and storage medium

Abstract

The invention provides a Beidou positioning method and system for an intelligent wearable device and a storage medium, and the method comprises the steps: firstly, adjusting a gain parameter of voltage signal filtering and amplification according to first voltage information, so as to improve the stability of second voltage information, and obtaining first communication data; analyzing the first communication data to obtain first signal strength information and first coordinate information; finally, whether the first signal strength information reaches a preset first strength threshold value or not is judged; if yes, the first coordinate information is subjected to data processing, and second coordinate information is obtained and used for obtaining positioning information; and if not, obtaining third coordinate information according to the base station information, and obtaining positioning information in combination with the second coordinate information. According to the invention, the Beidou satellite signal is preprocessed, the stability of the satellite signal is improved, the signal data is processed and calculated, and the Beidou satellite positioning precision of the intelligent wearable device is improved with the assistance of base station positioning.

Description

Technical Field

[0001] The present invention relates to the field of Beidou positioning, and more specifically, to a Beidou positioning method, system and storage medium for a smart wearable device. Background Art

[0002] With the continuous development of science and technology, positioning technology has been widely used in various fields, such as transportation, logistics management, surveying and mapping engineering, precision agriculture, etc. At present, the Global Positioning System (GPS) occupies a dominant position in the field of positioning, but because it is controlled by foreign countries, there are problems such as security risks and accuracy limitations. As a satellite navigation system independently developed by my country, the Beidou Satellite Navigation System has higher security and reliability, and also has great potential for improvement in positioning accuracy.

[0003] At present, the functions of smart wearable devices are becoming more and more abundant. For example, positioning services have become standard in devices such as watches and bracelets. However, when smart wearable devices follow users through areas such as indoors and in the woods that affect satellite signals, the positioning accuracy is not high. Therefore, a positioning method that can improve the positioning accuracy of smart wearable devices is urgently needed. Summary of the invention

[0004] In view of the above problems, the purpose of the present invention is to provide a Beidou positioning method, system and storage medium for a smart wearable device. First, the Beidou satellite signal is preprocessed, including filtering, amplification, demodulation and other operations to improve the stability of the Beidou satellite signal; then the signal data is processed and calculated to improve the positioning accuracy; in addition, base station positioning is used as an aid to improve the positioning accuracy in an environment with weak satellite signals.

[0005] A first aspect of the present invention provides a Beidou positioning method for a smart wearable device, the method comprising:

[0006] Acquiring first voltage information;

[0007] According to the first voltage information, adjusting a gain parameter of a voltage signal filtering and amplification to obtain second voltage information;

[0008] obtaining first communication data according to the second voltage information;

[0009] Parsing the first communication data, and obtaining first signal strength information and first coordinate information according to a preset keyword search;

[0010] Determining whether the first signal strength information reaches a preset first strength threshold;

[0011] If yes, performing data processing on the first coordinate information according to a preset processing algorithm to obtain second coordinate information;

[0012] If not, obtaining base station information, and obtaining third coordinate information according to the base station information;

[0013] The positioning information is obtained according to the second coordinate information or the third coordinate information.

[0014] In this solution, the gain parameter of the voltage signal filtering and amplification is adjusted to obtain the second voltage information, specifically:

[0015] Collect and record second voltage information obtained after filtering and amplifying the first voltage information according to a preset first time period;

[0016] Obtaining third voltage information and fourth voltage information according to a preset extraction strategy based on the second voltage information;

[0017] Determining whether the third voltage information exceeds a preset first voltage threshold;

[0018] If so, adjusting the gain parameter downward;

[0019] If not, calculating the difference between the third voltage information and the fourth voltage information to obtain first voltage difference information;

[0020] Determining whether the first voltage difference information exceeds a preset first voltage difference threshold;

[0021] If yes, the gain parameter adjustment is stopped to obtain the second voltage information.

[0022] In this solution, obtaining the first communication data according to the second voltage information is specifically:

[0023] determining a second voltage threshold according to the third voltage information and the fourth voltage information;

[0024] Acquiring second voltage information according to a preset second time period;

[0025] Determining whether the second voltage information is higher than the second voltage threshold;

[0026] If yes, set the level information to high level;

[0027] If not, the level information is set to low level;

[0028] The first communication data is composed according to the level information.

[0029] In this solution, the first coordinate information is processed according to a preset processing algorithm to obtain the second coordinate information, specifically:

[0030] Obtain covariance information and process noise information;

[0031] updating covariance information according to the process noise information;

[0032] Obtain measurement noise information;

[0033] Obtaining gain information according to the covariance information and the measurement noise information;

[0034] Get the coordinate information of the previous wheel;

[0035] According to the first coordinate information and the gain information, the upper wheel coordinate information is updated as the

[0036] Second coordinate information;

[0037] The covariance information is updated according to the gain information.

[0038] In this solution, the base station information is obtained, and the third coordinate information is obtained according to the base station information, specifically:

[0039] According to the country code information, network code information, base station area code information, and base station identification code information of the base station information, a first positioning request instruction information is formed;

[0040] Obtaining first positioning feedback instruction information according to the first positioning request instruction information;

[0041] parsing the first positioning feedback instruction information to obtain second signal strength information;

[0042] Determining whether the second signal strength information reaches a preset second strength threshold;

[0043] If so, the third coordinate information is obtained according to the first positioning feedback instruction information.

[0044] In this solution, obtaining positioning information according to the second coordinate information or the third coordinate information is specifically:

[0045] Determining first weight information and second weight information according to the first signal strength information;

[0046] Obtain fourth coordinate information according to the first weight information, the second weight information, the second coordinate information and the third coordinate information;

[0047] The positioning information is obtained according to the fourth coordinate information.

[0048] A second aspect of the present invention provides a Beidou positioning system for a smart wearable device, including a Beidou positioning method program for a smart wearable device, wherein the Beidou positioning method program for the smart wearable device implements the following steps when executed by the processor:

[0049] Acquiring first voltage information;

[0050] According to the first voltage information, adjusting a gain parameter of a voltage signal filtering and amplification to obtain second voltage information;

[0051] obtaining first communication data according to the second voltage information;

[0052] Parsing the first communication data, and obtaining first signal strength information and first coordinate information according to a preset keyword search;

[0053] Determining whether the first signal strength information reaches a preset first strength threshold;

[0054] If yes, performing data processing on the first coordinate information according to a preset processing algorithm to obtain second coordinate information;

[0055] If not, acquiring base station information, and obtaining third coordinate information according to the base station information;

[0056] The positioning information is obtained according to the second coordinate information or the third coordinate information.

[0057] In this solution, the gain parameter of the voltage signal filtering and amplification is adjusted to obtain the second voltage information, specifically:

[0058] Collect and record second voltage information obtained after filtering and amplifying the first voltage information according to a preset first time period;

[0059] Obtaining third voltage information and fourth voltage information according to a preset extraction strategy based on the second voltage information;

[0060] Determining whether the third voltage information exceeds a preset first voltage threshold;

[0061] If so, adjusting the gain parameter downward;

[0062] If not, calculating the difference between the third voltage information and the fourth voltage information to obtain first voltage difference information;

[0063] Determining whether the first voltage difference information exceeds a preset first voltage difference threshold;

[0064] If yes, the gain parameter adjustment is stopped to obtain the second voltage information.

[0065] In this solution, obtaining the first communication data according to the second voltage information is specifically:

[0066] determining a second voltage threshold according to the third voltage information and the fourth voltage information;

[0067] Acquiring second voltage information according to a preset second time period;

[0068] Determining whether the second voltage information is higher than the second voltage threshold;

[0069] If yes, set the level information to high level;

[0070] If not, the level information is set to low level;

[0071] The first communication data is composed according to the level information.

[0072] The third aspect of the present invention provides a computer-readable storage medium, which includes a Beidou positioning method program for a smart wearable device. When the Beidou positioning method program for the smart wearable device is executed by a processor, the steps of the Beidou positioning method for the smart wearable device as described in any one of the above items are implemented.

[0073] The present invention provides a Beidou positioning method, system and storage medium for an intelligent wearable device. First, the gain parameter of the voltage signal filtering and amplification is adjusted according to the first voltage information to improve the stability of the second voltage information, which is used to obtain the first communication data; then, the first communication data is parsed to obtain the first signal strength information and the first coordinate information; finally, it is determined whether the first signal strength information reaches the preset first strength threshold; if so, the first coordinate information is processed to obtain the second coordinate information to obtain the positioning information; if not, the third coordinate information is obtained according to the base station information, and the positioning information is obtained in combination with the second coordinate information. The present invention improves the accuracy of Beidou satellite positioning of intelligent wearable devices by preprocessing Beidou satellite signals to improve the stability of satellite signals, and then performs data processing and calculation on the signal data, and supplemented by base station positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and should not be regarded as limiting the scope.

[0075] Figure 1 A flowchart of a Beidou positioning method for a smart wearable device according to the present invention is shown;

[0076] Figure 2 A satellite signal adjustment flow chart provided by an embodiment of the present invention is shown;

[0077] Figure 3 A flow chart for acquiring signal data provided by an embodiment of the present invention is shown;

[0078] Figure 4A block diagram of a Beidou positioning system for a smart wearable device of the present invention is shown. DETAILED DESCRIPTION

[0079] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0080] Unless otherwise defined, all terms (including technical and scientific terms) used in the embodiments of the present invention have the same meanings as commonly understood by those of ordinary skill in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be interpreted as having meanings consistent with their meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formal sense, unless the embodiments of the present invention are clearly defined in this way.

[0081] The words "first", "second" and similar words used in the embodiments of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Words such as "one", "an" or "the" and similar words do not indicate a quantity limitation, but indicate the existence of at least one. Similarly, words such as "include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Words such as "connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The steps before or after the method of the embodiment of the present invention are not necessarily carried out in order. On the contrary, various steps can be processed in reverse order or simultaneously. At the same time, other operations can also be added to these processes, or a step or several steps can be removed from these processes.

[0082] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0083] Figure 1 A flow chart of a Beidou positioning method for a smart wearable device of the present invention is shown.

[0084] like Figure 1 As shown, the present invention discloses a Beidou positioning method for a smart wearable device, the method comprising:

[0085] S102, obtaining first voltage information;

[0086] S104, adjusting a gain parameter of a voltage signal filtering and amplification according to the first voltage information to obtain second voltage information;

[0087] S106, obtaining first communication data according to the second voltage information;

[0088] S108, parsing the first communication data, and obtaining first signal strength information and first coordinate information according to a preset keyword search;

[0089] S110, determining whether the first signal strength information reaches a preset first strength threshold;

[0090] S112, if yes, performing data processing on the first coordinate information according to a preset processing algorithm to obtain second coordinate information;

[0091] S114, if not, obtaining base station information, and obtaining third coordinate information according to the base station information;

[0092] S116, obtaining positioning information according to the second coordinate information or the third coordinate information

[0093] It should be noted that the first voltage information is the analog electrical signal converted from the acquired Beidou satellite signal; the second voltage information is the analog electrical signal after the first voltage information is filtered and amplified; the first communication data is the digital electrical signal obtained by quantizing the second voltage information according to a preset time period, reflecting the data transmitted by the satellite signal; the first signal strength information is the strength of the satellite signal displayed in the communication data; the first coordinate information is the longitude and latitude coordinate value obtained under the first signal strength information; the second coordinate information is the longitude and latitude coordinate value obtained after data processing of the first coordinate information; the third coordinate information is the longitude and latitude coordinate value obtained through the operator base station signal; the positioning information includes but is not limited to longitude and latitude, detailed address and other information used to indicate the location.

[0094] In this embodiment, first, after collecting Beidou satellite signals through the Beidou satellite navigation module, they are converted into analog electrical signals to obtain first voltage information; based on the principle of amplifying the difference between the peak value and the valley value of the first voltage information as much as possible and ensuring that the peak value of the first voltage information does not exceed the preset voltage value, the gain parameter of the filter amplifier is adjusted to improve the stability of the second voltage information obtained after the first voltage information is adjusted by the filter amplifier; wherein, after the second voltage information is quantified and compared, the first communication data, i.e., the satellite communication data, is obtained, that is, the stability and accuracy of the satellite communication data can be improved through the stability of the second voltage information. Secondly, the satellite communication data is parsed according to the preset rules. In practical applications, the data is usually converted into string data according to the ANSI standard; the satellite communication data is queried according to the keywords, and the first signal strength information and the first coordinate information are extracted therefrom. Then, compare the size relationship between the first signal strength information and the preset first strength threshold; when the first signal strength information reaches the preset first strength threshold, it means that the positioning information reflected by the strength of the currently received satellite signal meets the set positioning accuracy requirement, that is, the latitude and longitude information obtained from the satellite communication data at this time can reflect the location of the device, therefore, after performing data processing such as denoising on the first coordinate information, the second coordinate information is obtained; when the first signal strength information does not reach the preset first strength threshold, it means that the positioning information reflected by the current satellite signal strength is insufficient to meet the set positioning accuracy requirement, at this time, the third coordinate information is obtained by obtaining the base station information of the operator, and searching the background positioning database according to the base station information. Finally, by analyzing the first signal strength information, the weight ratio of Beidou satellite positioning to base station positioning in calculating the positioning information is obtained, and then the positioning information is obtained by combining the second coordinate information or the third coordinate information; wherein, the detailed address corresponding to the longitude and latitude can be obtained by searching the background server according to the longitude and latitude coordinate information.

[0095] Figure 2 A satellite signal adjustment flow chart provided by an embodiment of the present invention is shown.

[0096] According to an embodiment of the present invention, Figure 2 As shown, the gain parameter of the adjusted signal filtering and amplification is obtained to obtain the second voltage information, specifically:

[0097] S202, collecting and recording second voltage information obtained after signal filtering and amplification of the first voltage information according to a preset first time period;

[0098] S204, obtaining third voltage information and fourth voltage information according to a preset extraction strategy based on the second voltage information;

[0099] S206, determining whether the third voltage information exceeds a preset first voltage threshold;

[0100] S208, if yes, adjusting the gain parameter downward;

[0101] S210, if not, calculating the difference between the third voltage information and the fourth voltage information to obtain first voltage difference information;

[0102] S212, determining whether the first voltage difference information exceeds a preset first voltage difference threshold;

[0103] S214: If yes, stop adjusting the gain parameter to obtain the second voltage information.

[0104] It should be noted that the third voltage information is the maximum value of the second voltage information obtained according to the set rules; the fourth voltage information is the minimum value of the second voltage information obtained according to the set rules. In this embodiment, the first voltage information obtains the second voltage information through a filter amplifier, collects and records the second voltage information according to a preset first time period, and adjusts the gain parameter of the filter amplifier according to the size of the second voltage information to improve the amplitude distinction between high voltage and low voltage. First, traverse the recorded second voltage information sequence and extract several front maximum and minimum values; for example, the first 5 maximum values ​​and the first 5 minimum values ​​are proposed in the sequence; the third voltage information and the fourth voltage information are obtained by performing mean operations on the extracted maximum and minimum values. The difference between the third voltage information and the fourth voltage information can reflect the amplitude distinction between the second voltage information when it is high voltage and low voltage. Then, determine whether the third voltage information exceeds the preset first voltage threshold; if so, it means that the second voltage information may be distorted due to transitional amplification, and therefore, the gain parameter needs to be lowered until the third voltage information is lower than the preset first voltage threshold; if not, calculate the difference between the third voltage information and the fourth voltage information to obtain the first voltage difference information. When the first voltage difference information exceeds the preset first voltage difference threshold, it means that the amplitude distinction between the second voltage information when it is high voltage and low voltage meets the set requirements, and can meet the requirements of quantizing the second voltage information into the first communication data; at this time, it means that the adjustment of the gain parameter is completed.

[0105] Figure 3 A signal data acquisition flow chart provided by an embodiment of the present invention is shown.

[0106] According to an embodiment of the present invention, Figure 3 As shown, the first communication data is obtained according to the second voltage information, specifically:

[0107] S302, determining a second voltage threshold according to the third voltage information and the fourth voltage information;

[0108] S304, acquiring second voltage information according to a preset second time period;

[0109] S306, determining whether the second voltage information is higher than the second voltage threshold;

[0110] S308, if yes, setting the level information to a high level;

[0111] S310, if not, setting the level information to a low level;

[0112] S312: compose first communication data according to the level information.

[0113] It should be noted that the second voltage information is an analog electrical signal, which is converted into a digital electrical signal after sampling and quantization to obtain the first communication data, that is, the satellite communication data. First, according to the third voltage information and the fourth voltage information, the voltage interval for distinguishing high and low levels, that is, the second voltage threshold, is determined; wherein, the second voltage threshold can be a voltage value, or a voltage range, for example, when the second voltage threshold is 2.5 volts, when the second voltage information is higher than 2.5 volts, the level information is a high level, when the second voltage information is lower than 2.5 volts, the level information is a low level; when the second voltage threshold is in the range of 1.0 volts to 2.0 volts, when the second voltage information is higher than 2.0 volts, the level information is a high level, when the second voltage information is lower than 1.0 volts, the level information is a low level. According to the preset communication transmission rate, the second time period is determined to sample and quantize the second voltage information to obtain the first communication data.

[0114] According to an embodiment of the present invention, the first coordinate information is processed according to a preset processing algorithm to obtain the second coordinate information, specifically:

[0115] Obtain covariance information and process noise information;

[0116] updating covariance information according to the process noise information;

[0117] Obtain measurement noise information;

[0118] Obtaining gain information according to the covariance information and the measurement noise information;

[0119] Get the coordinate information of the previous wheel;

[0120] According to the first coordinate information and the gain information, updating the upper wheel coordinate information as the second coordinate information;

[0121] The covariance information is updated according to the gain information.

[0122] It should be noted that the covariance information is the covariance in the data processing algorithm; the process noise information is an adjustment coefficient in the data processing algorithm, which is used to adjust the corresponding speed of data processing; the measurement noise information is another adjustment coefficient in the data processing algorithm, which is used to adjust the corresponding speed of data processing; and the gain information is the calculation gain in the data processing algorithm.

[0123] P N =P N-1 +Q

[0124] G N =P N / (P N +R)

[0125] Y N =Y N-1 +G N *(X 1 –Y N-1 )

[0126] P N =(1-G N )*P N

[0127] in:

[0128] P N is the covariance in this round of operation;

[0129] P N-1 is the covariance in the previous round of operations;

[0130] Q is the process noise covariance;

[0131] R is the measurement noise covariance;

[0132] G N is the gain information in this round of operation;

[0133] Y N is the result of the operation in this round, that is, the second coordinate information of this round;

[0134] Y N-1 is the result of the previous round of calculation, that is, the second coordinate information of the previous round of calculation;

[0135] X 1 is the input in the round operation, that is, the first coordinate information of this round operation;

[0136] In this embodiment, it can be known from the above formula that the output Y of this round is N With this round input X 1 and upper wheel output Y N-1The correlation is high, thus achieving the purpose of filtering and denoising. In addition, the process noise covariance Q and the measurement noise covariance R, and then adjust the gain information G N , used to change the input X of this round 1 and upper wheel output Y N-1 Output Y for this round N Furthermore, the process noise covariance and the measurement noise covariance are adjustable values. According to the input or output of data processing, the process noise covariance or the measurement noise covariance is adjusted in real time to improve the filtering processing effect.

[0137] According to an embodiment of the present invention, the base station information is obtained, and the third coordinate information is obtained according to the base station information, specifically:

[0138] According to the country code information, network code information, base station area code information, and base station identification code information of the base station information, a first positioning request instruction information is formed;

[0139] Obtaining first positioning feedback instruction information according to the first positioning request instruction information;

[0140] parsing the first positioning feedback instruction information to obtain second signal strength information;

[0141] Determining whether the second signal strength information reaches a preset second strength threshold;

[0142] If so, the third coordinate information is obtained according to the first positioning feedback instruction information.

[0143] It should be noted that, first, the base station information fed back by the operator is read according to the preset instructions, and the country code MCC, network code MNC, base station area code LAC, and base station identification number CI in the base station information are extracted. Secondly, the base station area code LAC and the base station identification number CI are converted according to the preset base system; then combined with the country code MCC and the network code MNC to form the first positioning request instruction information, which is sent to the background server; in actual applications, the base station area code LAC and the base station identification number CI fed back by the operator are decimal numbers, and the background server only recognizes hexadecimal. Then, according to the first positioning feedback instruction information fed back by the background server, the second signal strength information is parsed. Finally, when it is determined that the second signal strength information reaches the preset second strength threshold, it means that the base station signal meets the positioning requirements. At this time, the third coordinate information is parsed from the first positioning feedback instruction information.

[0144] According to an embodiment of the present invention, obtaining positioning information according to the second coordinate information or the third coordinate information is specifically:

[0145] Determining first weight information and second weight information according to the first signal strength information;

[0146] Obtain fourth coordinate information according to the first weight information, the second weight information, the second coordinate information and the third coordinate information;

[0147] The positioning information is obtained according to the fourth coordinate information.

[0148] It should be noted that the fourth coordinate information is the longitude and latitude value for obtaining positioning information. According to the first signal strength information, the preset weight correspondence table is searched to obtain the first weight information and the second weight information; in actual applications, the sum of the first weight information and the second weight information is equal to 1, and the stronger the first signal strength information, the larger the first weight information. The product of the first weight information and the second coordinate information is combined with the product of the second weight information and the third coordinate information, and the sum of the two is calculated to obtain the fourth coordinate information. Finally, the fourth coordinate information is sent to the server background according to the preset instructions, and the detailed address corresponding to the longitude and latitude can be obtained according to the background feedback instructions.

[0149] It is worth mentioning that it also includes:

[0150] When it is determined that the first signal strength information is lower than a preset third signal strength, and the second signal strength information does not reach a preset second strength threshold;

[0151] Obtain fifth coordinate information and first time information;

[0152] Determining whether the first time information is lower than a preset time threshold;

[0153] If so, the positioning information is obtained according to the fifth coordinate information.

[0154] It should be noted that when the satellite signal strength and base station signal strength are both lower than the positioning requirement, it means that the current situation cannot obtain positioning information. Find the latitude and longitude values ​​of the most recent successful positioning, that is, the fifth coordinate information and the time from the most recent successful positioning to the current moment, that is, the first time information; when the first time information is lower than the preset time threshold, it is determined that the last positioning coordinates can be used to estimate the current positioning information.

[0155] It is worth mentioning that it also includes:

[0156] Obtain first moment information and location information;

[0157] Sending the first time information and the positioning information to the background;

[0158] According to the background feedback instructions, the movement trajectory and movement distance are displayed.

[0159] It should be noted that the first moment information is the moment when the positioning information is successfully calculated. The first moment information and the positioning information are sent to the background, and the movement trajectory information and movement distance can be obtained according to the feedback from the background, and then the trajectory and distance are displayed through the display unit of the wearable device.

[0160] Figure 4 A block diagram of a Beidou positioning system for a smart wearable device of the present invention is shown.

[0161] like Figure 4 As shown, the present invention discloses a Beidou positioning system 4 for a smart wearable device, including a memory 41 and a processor 42, wherein the memory includes a Beidou positioning method program for the smart wearable device, and when the Beidou positioning method program for the smart wearable device is executed by the processor, the following steps are implemented:

[0162] Acquiring first voltage information;

[0163] According to the first voltage information, adjusting a gain parameter of a voltage signal filtering and amplification to obtain second voltage information;

[0164] obtaining first communication data according to the second voltage information;

[0165] Parsing the first communication data, and obtaining first signal strength information and first coordinate information according to a preset keyword search;

[0166] Determining whether the first signal strength information reaches a preset first strength threshold;

[0167] If yes, performing data processing on the first coordinate information according to a preset processing algorithm to obtain second coordinate information;

[0168] If not, acquiring base station information, and obtaining third coordinate information according to the base station information;

[0169] According to the second coordinate information or the third coordinate information, the positioning information is obtained.

[0170] It should be noted that the first voltage information is the analog electrical signal converted from the acquired Beidou satellite signal; the second voltage information is the analog electrical signal after the first voltage information is filtered and amplified; the first communication data is the digital electrical signal obtained by quantizing the second voltage information according to a preset time period, reflecting the data transmitted by the satellite signal; the first signal strength information is the strength of the satellite signal displayed in the communication data; the first coordinate information is the longitude and latitude coordinate value obtained under the first signal strength information; the second coordinate information is the longitude and latitude coordinate value obtained after data processing of the first coordinate information; the third coordinate information is the longitude and latitude coordinate value obtained through the operator base station signal; the positioning information includes but is not limited to longitude and latitude, detailed address and other information used to indicate the location.

[0171] In this embodiment, first, after collecting Beidou satellite signals through the Beidou satellite navigation module, they are converted into analog electrical signals to obtain first voltage information; based on the principle of amplifying the difference between the peak value and the valley value of the first voltage information as much as possible and ensuring that the peak value of the first voltage information does not exceed the preset voltage value, the gain parameter of the filter amplifier is adjusted to improve the stability of the second voltage information obtained after the first voltage information is adjusted by the filter amplifier; wherein, after the second voltage information is quantified and compared, the first communication data, i.e., the satellite communication data, is obtained, that is, the stability and accuracy of the satellite communication data can be improved through the stability of the second voltage information. Secondly, the satellite communication data is parsed according to the preset rules. In practical applications, the data is usually converted into string data according to the ANSI standard; the satellite communication data is queried according to the keywords, and the first signal strength information and the first coordinate information are extracted therefrom. Then, compare the size relationship between the first signal strength information and the preset first strength threshold; when the first signal strength information reaches the preset first strength threshold, it means that the positioning information reflected by the strength of the currently received satellite signal meets the set positioning accuracy requirement, that is, the latitude and longitude information obtained from the satellite communication data at this time can reflect the location of the device, therefore, after performing data processing such as denoising on the first coordinate information, the second coordinate information is obtained; when the first signal strength information does not reach the preset first strength threshold, it means that the positioning information reflected by the current satellite signal strength is insufficient to meet the set positioning accuracy requirement, at this time, the third coordinate information is obtained by obtaining the base station information of the operator, and searching the background positioning database according to the base station information. Finally, by analyzing the first signal strength information, the weight ratio of Beidou satellite positioning to base station positioning in calculating the positioning information is obtained, and then the positioning information is obtained by combining the second coordinate information or the third coordinate information; wherein, the detailed address corresponding to the longitude and latitude can be obtained by searching the background server according to the longitude and latitude coordinate information.

[0172] According to an embodiment of the present invention, the gain parameter of adjusting the signal filtering and amplification to obtain the second voltage information is specifically:

[0173] Collect and record second voltage information obtained after signal filtering and amplification of the first voltage information according to a preset first time period;

[0174] Obtaining third voltage information and fourth voltage information according to a preset extraction strategy based on the second voltage information;

[0175] Determining whether the third voltage information exceeds a preset first voltage threshold;

[0176] If so, adjusting the gain parameter downward;

[0177] If not, calculating the difference between the third voltage information and the fourth voltage information to obtain first voltage difference information;

[0178] Determining whether the first voltage difference information exceeds a preset first voltage difference threshold;

[0179] If yes, the gain parameter adjustment is stopped to obtain the second voltage information.

[0180] It should be noted that the third voltage information is the maximum value of the second voltage information obtained according to the set rules; the fourth voltage information is the minimum value of the second voltage information obtained according to the set rules. In this embodiment, the first voltage information obtains the second voltage information through a filter amplifier, collects and records the second voltage information according to a preset first time period, and adjusts the gain parameter of the filter amplifier according to the size of the second voltage information to improve the amplitude distinction between high voltage and low voltage. First, traverse the recorded second voltage information sequence and extract several front maximum and minimum values; for example, the first 5 maximum values ​​and the first 5 minimum values ​​are proposed in the sequence; the third voltage information and the fourth voltage information are obtained by performing mean operations on the extracted maximum and minimum values. The difference between the third voltage information and the fourth voltage information can reflect the amplitude distinction between the second voltage information when it is high voltage and low voltage. Then, determine whether the third voltage information exceeds the preset first voltage threshold; if so, it means that the second voltage information may be distorted due to transitional amplification, and therefore, the gain parameter needs to be lowered until the third voltage information is lower than the preset first voltage threshold; if not, calculate the difference between the third voltage information and the fourth voltage information to obtain the first voltage difference information. When the first voltage difference information exceeds the preset first voltage difference threshold, it means that the amplitude distinction between the second voltage information when it is high voltage and low voltage meets the set requirements, and can meet the requirements of quantizing the second voltage information into the first communication data; at this time, it means that the adjustment of the gain parameter is completed.

[0181] According to an embodiment of the present invention, obtaining the first communication data according to the second voltage information is specifically:

[0182] determining a second voltage threshold according to the third voltage information and the fourth voltage information;

[0183] Acquiring second voltage information according to a preset second time period;

[0184] Determining whether the second voltage information is higher than the second voltage threshold;

[0185] If yes, set the level information to high level;

[0186] If not, the level information is set to low level;

[0187] The first communication data is composed according to the level information.

[0188] It should be noted that the second voltage information is an analog electrical signal, which is converted into a digital electrical signal after sampling and quantization to obtain the first communication data, that is, the satellite communication data. First, according to the third voltage information and the fourth voltage information, the voltage interval for distinguishing high and low levels, that is, the second voltage threshold, is determined; wherein, the second voltage threshold can be a voltage value, or a voltage range, for example, when the second voltage threshold is 2.5 volts, when the second voltage information is higher than 2.5 volts, the level information is a high level, when the second voltage information is lower than 2.5 volts, the level information is a low level; when the second voltage threshold is in the range of 1.0 volts to 2.0 volts, when the second voltage information is higher than 2.0 volts, the level information is a high level, when the second voltage information is lower than 1.0 volts, the level information is a low level. According to the preset communication transmission rate, the second time period is determined to sample and quantize the second voltage information to obtain the first communication data.

[0189] According to an embodiment of the present invention, the first coordinate information is processed according to a preset processing algorithm to obtain the second coordinate information, specifically:

[0190] Obtain covariance information and process noise information;

[0191] updating covariance information according to the process noise information;

[0192] Obtain measurement noise information;

[0193] Obtaining gain information according to the covariance information and the measurement noise information;

[0194] Get the coordinate information of the previous wheel;

[0195] According to the first coordinate information and the gain information, updating the upper wheel coordinate information as the second coordinate information;

[0196] The covariance information is updated according to the gain information.

[0197] It should be noted that the covariance information is the covariance in the data processing algorithm; the process noise information is an adjustment coefficient in the data processing algorithm, which is used to adjust the corresponding speed of data processing; the measurement noise information is another adjustment coefficient in the data processing algorithm, which is used to adjust the corresponding speed of data processing; and the gain information is the calculation gain in the data processing algorithm.

[0198] P N =P N-1 +Q

[0199] G N =P N / (P N +R)

[0200] Y N =Y N-1 +G N *(X 1 –Y N-1 )

[0201] P N =(1-G N )*P N

[0202] in:

[0203] P N is the covariance in this round of operation;

[0204] P N-1 is the covariance in the previous round of operations;

[0205] Q is the process noise covariance;

[0206] R is the measurement noise covariance;

[0207] G N is the gain information in this round of operation;

[0208] Y N is the result of the operation in this round, that is, the second coordinate information of this round;

[0209] Y N-1 is the result of the previous round of calculation, that is, the second coordinate information of the previous round of calculation;

[0210] X 1 is the input in the round operation, that is, the first coordinate information of this round operation;

[0211] In this embodiment, it can be known from the above formula that the output Y of this round is N With this round input X1 and upper wheel output Y N-1 The correlation is high, thus achieving the purpose of filtering and denoising. In addition, the process noise covariance Q and the measurement noise covariance R, and then adjust the gain information G N , used to change the input X of this round 1 and upper wheel output Y N-1 Output Y for this round N Furthermore, the process noise covariance and the measurement noise covariance are adjustable values. According to the input or output of data processing, the process noise covariance or the measurement noise covariance is adjusted in real time to improve the filtering processing effect.

[0212] According to an embodiment of the present invention, the base station information is obtained, and the third coordinate information is obtained according to the base station information, specifically:

[0213] According to the country code information, network code information, base station area code information, and base station identification code information of the base station information, a first positioning request instruction information is formed;

[0214] Obtaining first positioning feedback instruction information according to the first positioning request instruction information;

[0215] parsing the first positioning feedback instruction information to obtain second signal strength information;

[0216] Determining whether the second signal strength information reaches a preset second strength threshold;

[0217] If so, the third coordinate information is obtained according to the first positioning feedback instruction information.

[0218] It should be noted that, first, the base station information fed back by the operator is read according to the preset instructions, and the country code MCC, network code MNC, base station area code LAC, and base station identification number CI in the base station information are extracted. Secondly, the base station area code LAC and the base station identification number CI are converted according to the preset base system; then combined with the country code MCC and the network code MNC to form the first positioning request instruction information, which is sent to the background server; in actual applications, the base station area code LAC and the base station identification number CI fed back by the operator are decimal numbers, and the background server only recognizes hexadecimal. Then, according to the first positioning feedback instruction information fed back by the background server, the second signal strength information is parsed. Finally, when it is determined that the second signal strength information reaches the preset second strength threshold, it means that the base station signal meets the positioning requirements. At this time, the third coordinate information is parsed from the first positioning feedback instruction information.

[0219] According to an embodiment of the present invention, obtaining positioning information according to the second coordinate information or the third coordinate information is specifically:

[0220] Determining first weight information and second weight information according to the first signal strength information;

[0221] Obtain fourth coordinate information according to the first weight information, the second weight information, the second coordinate information and the third coordinate information;

[0222] The positioning information is obtained according to the fourth coordinate information.

[0223] It should be noted that the fourth coordinate information is the longitude and latitude value for obtaining positioning information. According to the first signal strength information, the preset weight correspondence table is searched to obtain the first weight information and the second weight information; in actual applications, the sum of the first weight information and the second weight information is equal to 1, and the stronger the first signal strength information, the larger the first weight information. The product of the first weight information and the second coordinate information is combined with the product of the second weight information and the third coordinate information, and the sum of the two is calculated to obtain the fourth coordinate information. Finally, the fourth coordinate information is sent to the server background according to the preset instructions, and the detailed address corresponding to the longitude and latitude can be obtained according to the background feedback instructions.

[0224] It is worth mentioning that it also includes:

[0225] When it is determined that the first signal strength information is lower than a preset third signal strength, and the second signal strength information does not reach a preset second strength threshold;

[0226] Obtain fifth coordinate information and first time information;

[0227] Determining whether the first time information is lower than a preset time threshold;

[0228] If so, the positioning information is obtained according to the fifth coordinate information.

[0229] It should be noted that when the satellite signal strength and base station signal strength are both lower than the positioning requirement, it means that the current situation cannot obtain positioning information. Find the latitude and longitude values ​​of the most recent successful positioning, that is, the fifth coordinate information and the time from the most recent successful positioning to the current moment, that is, the first time information; when the first time information is lower than the preset time threshold, it is determined that the last positioning coordinates can be used to estimate the current positioning information.

[0230] It is worth mentioning that it also includes:

[0231] Obtain first moment information and location information;

[0232] Sending the first time information and the positioning information to the background;

[0233] According to the background feedback instructions, the movement trajectory and movement distance are displayed.

[0234] It should be noted that the first moment information is the moment when the positioning information is successfully calculated. The first moment information and the positioning information are sent to the background, and the movement trajectory information and movement distance can be obtained according to the feedback from the background, and then the trajectory and distance are displayed through the display unit of the wearable device.

[0235] The third aspect of the present invention provides a computer-readable storage medium, which includes a Beidou positioning method program for a smart wearable device. When the Beidou positioning method program for the smart wearable device is executed by a processor, the steps of the Beidou positioning method for the smart wearable device as described in any one of the above items are implemented.

[0236] The present invention provides a Beidou positioning method, system and storage medium for an intelligent wearable device. First, the gain parameter of the voltage signal filtering and amplification is adjusted according to the first voltage information to improve the stability of the second voltage information, which is used to obtain the first communication data; then, the first communication data is parsed to obtain the first signal strength information and the first coordinate information; finally, it is determined whether the first signal strength information reaches the preset first strength threshold; if so, the first coordinate information is processed to obtain the second coordinate information to obtain the positioning information; if not, the third coordinate information is obtained according to the base station information, and the positioning information is obtained in combination with the second coordinate information. The present invention improves the accuracy of Beidou satellite positioning of intelligent wearable devices by preprocessing Beidou satellite signals to improve the stability of satellite signals, and then performs data processing and calculation on the signal data, and supplemented by base station positioning.

[0237] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0238] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A Beidou positioning method for a smart wearable device, characterized in that: The method comprises: Acquiring first voltage information; According to the first voltage information, adjusting a gain parameter of a voltage signal filtering and amplification to obtain second voltage information; obtaining first communication data according to the second voltage information; Parsing the first communication data, and obtaining first signal strength information and first coordinate information according to a preset keyword search; Determining whether the first signal strength information reaches a preset first strength threshold; If yes, performing data processing on the first coordinate information according to a preset processing algorithm to obtain second coordinate information; If not, acquiring base station information, and obtaining third coordinate information according to the base station information; The positioning information is obtained according to the second coordinate information or the third coordinate information.

2. The Beidou positioning method for a smart wearable device according to claim 1, characterized in that: The adjusting the gain parameter of the voltage signal filtering and amplification to obtain the second voltage information is specifically: Collect and record second voltage information obtained after filtering and amplifying the first voltage information according to a preset first time period; Obtaining third voltage information and fourth voltage information according to a preset extraction strategy based on the second voltage information; Determining whether the third voltage information exceeds a preset first voltage threshold; If so, adjusting the gain parameter downward; If not, calculating the difference between the third voltage information and the fourth voltage information to obtain first voltage difference information; Determining whether the first voltage difference information exceeds a preset first voltage difference threshold; If yes, the gain parameter adjustment is stopped to obtain the second voltage information.

3. A Beidou positioning method for a smart wearable device according to claims 1 and 2, characterized in that: The obtaining of the first communication data according to the second voltage information is specifically: determining a second voltage threshold according to the third voltage information and the fourth voltage information; Acquiring second voltage information according to a preset second time period; Determining whether the second voltage information is higher than the second voltage threshold; If yes, set the level information to high level; If not, the level information is set to low level; The first communication data is composed according to the level information.

4. The Beidou positioning method for a smart wearable device according to claim 1, characterized in that: The step of performing data processing on the first coordinate information according to a preset processing algorithm to obtain the second coordinate information is specifically: Obtain covariance information and process noise information; updating covariance information according to the process noise information; Obtain measurement noise information; Obtaining gain information according to the covariance information and the measurement noise information; Get the coordinate information of the previous wheel; According to the first coordinate information and the gain information, updating the upper wheel coordinate information as the second coordinate information; The covariance information is updated according to the gain information.

5. The Beidou positioning method for a smart wearable device according to claim 1, characterized in that: The base station information is obtained, and the third coordinate information is obtained according to the base station information, specifically: According to the country code information, network code information, base station area code information, and base station identification code information of the base station information, a first positioning request instruction information is formed; Obtaining first positioning feedback instruction information according to the first positioning request instruction information; parsing the first positioning feedback instruction information to obtain second signal strength information; Determining whether the second signal strength information reaches a preset second strength threshold; If so, the third coordinate information is obtained according to the first positioning feedback instruction information.

6. The Beidou positioning method for a smart wearable device according to claim 1, characterized in that: The obtaining of positioning information according to the second coordinate information or the third coordinate information is specifically: Determining first weight information and second weight information according to the first signal strength information; Obtain fourth coordinate information according to the first weight information, the second weight information, the second coordinate information and the third coordinate information; The positioning information is obtained according to the fourth coordinate information.

7. A Beidou positioning system for smart wearable devices, characterized in that: The system includes a memory and a processor, wherein the memory includes a Beidou positioning method program for a smart wearable device, and when the Beidou positioning method program for the smart wearable device is executed by the processor, the following steps are implemented: Acquiring first voltage information; According to the first voltage information, adjusting a gain parameter of a voltage signal filtering and amplification to obtain second voltage information; obtaining first communication data according to the second voltage information; Parsing the first communication data, and obtaining first signal strength information and first coordinate information according to a preset keyword search; Determining whether the first signal strength information reaches a preset first strength threshold; If yes, performing data processing on the first coordinate information according to a preset processing algorithm to obtain second coordinate information; If not, acquiring base station information, and obtaining third coordinate information according to the base station information; The positioning information is obtained according to the second coordinate information or the third coordinate information.

8. The Beidou positioning system for a smart wearable device according to claim 7, characterized in that: The adjusting the gain parameter of the voltage signal filtering and amplification to obtain the second voltage information is specifically: Collect and record second voltage information obtained after filtering and amplifying the first voltage information according to a preset first time period; Obtaining third voltage information and fourth voltage information according to a preset extraction strategy based on the second voltage information; Determining whether the third voltage information exceeds a preset first voltage threshold; If so, adjusting the gain parameter downward; If not, calculating the difference between the third voltage information and the fourth voltage information to obtain first voltage difference information; Determining whether the first voltage difference information exceeds a preset first voltage difference threshold; If yes, the gain parameter adjustment is stopped to obtain the second voltage information.

9. The Beidou positioning system for a smart wearable device according to claim 7, characterized in that: The obtaining of the first communication data according to the second voltage information is specifically: determining a second voltage threshold according to the third voltage information and the fourth voltage information; Acquiring second voltage information according to a preset second time period; Determining whether the second voltage information is higher than the second voltage threshold; If yes, set the level information to high level; If not, the level information is set to low level; The first communication data is composed according to the level information.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer-readable storage medium includes a Beidou positioning method program for a smart wearable device. When the Beidou positioning method program for the smart wearable device is executed by a processor, the steps of the Beidou positioning method for the smart wearable device according to any one of claims 1 to 6 are implemented.

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