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

Abstract

The application provides a Beidou positioning method and system of a smart wearable device and a storage medium. First, a gain parameter of voltage signal filtering and amplification is adjusted according to first voltage information to improve the stability of second voltage information, so as to obtain first communication data. Then, first signal strength information and first coordinate information are obtained by analyzing the first communication data. Finally, it is judged whether the first signal strength information reaches a preset first strength threshold. If yes, the first coordinate information is subjected to data processing to obtain second coordinate information, so as to obtain positioning information. If no, third coordinate information is obtained according to base station information, and the positioning information is obtained in combination with the second coordinate information. The application improves the stability of satellite signals by preprocessing Beidou satellite signals, and improves the precision of Beidou satellite positioning of the smart wearable device by data processing and calculation of the signal data and auxiliary base station positioning.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of Beidou positioning, and more particularly, to a Beidou positioning method and system for smart wearable devices and a storage medium. BACKGROUND

[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 due to its control by foreign countries, there are security risks and precision limitations. The Beidou satellite navigation system, as a satellite navigation system independently developed by China, has higher security and reliability, and also has great potential for improvement in positioning accuracy.

[0003] At present, smart wearable devices have increasingly rich functions, and positioning services in devices such as watches and bracelets have become standard. However, smart wearable devices follow users through areas that affect satellite signals, such as indoors and forests, resulting in low positioning accuracy. Therefore, there is an urgent need for a positioning method that can improve the positioning accuracy of smart wearable devices. SUMMARY

[0004] In view of the above problems, the purpose of the present application is to provide a Beidou positioning method and system for smart wearable devices and a storage medium. First, the Beidou satellite signal is preprocessed, including filtering and 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 positioning accuracy in environments with weak satellite signals.

[0005] The first aspect of the present application provides a Beidou positioning method for smart wearable devices, comprising:

[0006] obtaining first voltage information;

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

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

[0009] parsing the first communication data to obtain first signal strength information and first coordinate information according to a predetermined keyword;

[0010] determining whether the first signal strength information reaches a predetermined first strength threshold;

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

[0012] If not, base station information is acquired, third coordinate information is obtained according to the base station information;

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

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

[0015] The second voltage information obtained after the first voltage information is collected and recorded according to a preset first time period and filtered and amplified via a voltage signal;

[0016] According to the second voltage information, third voltage information and fourth voltage information are obtained according to a preset extraction strategy;

[0017] It is judged whether the third voltage information exceeds a preset first voltage threshold;

[0018] If yes, the gain parameter is adjusted downward;

[0019] If not, a first voltage difference information is obtained by calculating the difference between the third voltage information and the fourth voltage information;

[0020] It is judged 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 the scheme, the first communication data is obtained according to the second voltage information, specifically:

[0023] The second voltage threshold is determined according to the third voltage information and the fourth voltage information;

[0024] The second voltage information is acquired according to a preset second time period;

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

[0026] If yes, the level information is set 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 the scheme, the second coordinate information is obtained by data processing the first coordinate information according to a preset processing algorithm, specifically:

[0030] Covariance information and process noise information are acquired;

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

[0032] obtaining measurement noise information;

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

[0034] obtaining last wheel coordinate information;

[0035] updating the last wheel coordinate information as the first coordinate information according to the first coordinate information and the gain information;

[0036] second coordinate information;

[0037] updating the covariance information according to the gain information.

[0038] In the scheme, the base station information is obtained, and third coordinate information is obtained according to the base station information, specifically as follows:

[0039] composing first positioning request instruction information according to country code information, network code information, base station area code information and base station identification code information of the base station information;

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

[0041] obtaining second signal strength information by analyzing the first positioning feedback instruction information;

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

[0043] if yes, obtaining third coordinate information according to the first positioning feedback instruction information.

[0044] In the scheme, the positioning information is obtained according to the second coordinate information or the third coordinate information, specifically as follows:

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

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

[0047] obtaining positioning information according to the fourth coordinate information.

[0048] The second aspect of the application provides a Beidou positioning system of an intelligent wearable device, which comprises a Beidou positioning method program of an intelligent wearable device.

[0049] acquire first voltage information;

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

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

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

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

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

[0055] if no, acquire base station information, and obtain third coordinate information according to the base station information;

[0056] obtain positioning information according to the second coordinate information or the third coordinate information.

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

[0058] acquire second voltage information obtained by filtering and amplifying the first voltage information according to a preset first time period;

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

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

[0061] if yes, adjust the gain parameter downward;

[0062] if no, calculate a difference between the third voltage information and the fourth voltage information, to obtain first voltage difference information;

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

[0064] if yes, stop adjusting the gain parameter, to obtain second voltage information.

[0065] In the scheme, the first communication data is obtained according to the second voltage information, specifically as follows:

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

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

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

[0069] if yes, set the level information as high level;

[0070] if no, set the level information as low level;

[0071] compose first communication data according to the level information.

[0072] The third aspect of the present application provides a computer readable storage medium, wherein the computer readable storage medium comprises a Beidou positioning method program of a smart wearable device, and the Beidou positioning method program of the smart wearable device, when executed by a processor, implements the steps of the Beidou positioning method of the smart wearable device according to any one of the above.

[0073] The present application provides a Beidou positioning method, system and storage medium of a smart wearable device. First, the gain parameter of voltage signal filtering and amplification is adjusted according to first voltage information to improve the stability of second voltage information, so as to obtain first communication data. Then, first signal strength information and first coordinate information are obtained by analyzing the first communication data. Finally, it is determined whether the first signal strength information reaches a preset first strength threshold value. If yes, the first coordinate information is processed to obtain second coordinate information, so as to obtain positioning information. If no, third coordinate information is obtained according to base station information, and the positioning information is obtained by combining the second coordinate information. The present application improves the stability of satellite signals by preprocessing the Beidou satellite signals, and improves the precision of Beidou satellite positioning of the smart wearable device by processing and calculating the signal data and assisting by base station positioning. BRIEF DESCRIPTION OF DRAWINGS

[0074] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope.

[0075] Figure 1 a flow chart of a Beidou positioning method of a smart wearable device is shown;

[0076] Figure 2 an adjustment flow chart of a satellite signal is shown;

[0077] Figure 3 an acquisition flow chart of signal data is shown;

[0078] Figure 4A block diagram of a Beidou positioning system of an intelligent wearable device is shown. DETAILED DESCRIPTION

[0079] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of the present application.

[0080] Unless otherwise defined, all terms (including technical and scientific terms) used in the embodiments of the present application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined in the embodiments of the present application.

[0081] The terms "first", "second", and similar terms used in the embodiments of the present application do not denote any order, quantity, or importance, but are only used to distinguish different constituent parts. The terms "one", "a", or "the" and similar terms do not denote a quantity restriction, but mean that at least one exists. Similarly, the terms "include" or "contain" and similar terms mean that the elements or objects before the terms encompass the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and similar terms are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. The steps before or after the methods in the embodiments of the present application do not necessarily proceed in order. On the contrary, various steps can be processed in reverse order or simultaneously. Meanwhile, other operations can be added to these processes, or a step or several steps can be removed from these processes.

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

[0083] Figure 1 A flowchart of a Beidou positioning method of an intelligent wearable device is shown.

[0084] As Figure 1 shown, the present application discloses a Beidou positioning method of an intelligent wearable device, which comprises:

[0085] S102, acquiring first voltage information;

[0086] S104, adjusting a gain parameter of 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, judging 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 no, 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 an obtained analog electric signal converted from a Beidou satellite signal; the second voltage information is an analog electric signal after filtering and amplification of the first voltage information; the first communication data is a digital electric signal obtained by quantizing the second voltage information according to a preset time period, reflecting data transmitted by a satellite signal; the first signal strength information is a strength of a satellite signal displayed in the communication data; the first coordinate information is a longitude and latitude coordinate value obtained under the first signal strength information; the second coordinate information is a longitude and latitude coordinate value obtained after data processing of the first coordinate information; the third coordinate information is a longitude and latitude coordinate value obtained through an operator base station signal; and the positioning information includes but is not limited to longitude and latitude, detailed address and other information used to represent a position.

[0094] In the embodiment, first, after the Beidou satellite navigation module collects the Beidou satellite signal, the Beidou satellite signal is converted into an analog signal to obtain first voltage information; the gain parameter of the filter amplifier is adjusted to amplify the difference between the peak value and the valley value of the first voltage information as much as possible, and to ensure that the peak value of the first voltage information does not exceed a preset voltage value, so as to improve the stability of second voltage information obtained after the first voltage information is adjusted by the filter amplifier; wherein, after the second voltage information is quantized and compared, first communication data, i.e., satellite communication data, is obtained, that is, the stability of the second voltage information can improve the stability and accuracy of the satellite communication data. Second, the satellite communication data is parsed according to a preset rule, and in actual application, the data is usually converted into string data according to the ANSI standard; the satellite communication data is queried according to a keyword, and first signal strength information and first coordinate information are extracted therefrom. Then, the relationship between the first signal strength information and a preset first strength threshold is compared; when the first signal strength information reaches the preset first strength threshold, it indicates that the positioning information reflected by the current received satellite signal strength reaches the set positioning accuracy requirement, that is, the latitude and longitude information obtained from the satellite communication data can reflect the position of the device, therefore, after the first coordinate information is processed by denoising and other data processing, second coordinate information is obtained; when the first signal strength information does not reach the preset first strength threshold, it indicates that the positioning information reflected by the current satellite signal strength is insufficient to reach the set positioning accuracy requirement, and at this time, the third coordinate information is obtained by acquiring the base station information of the operator and searching the background positioning database according to the base station information. Finally, the weight proportion of the Beidou satellite positioning and the base station positioning in calculating the positioning information is obtained by analyzing the first signal strength information, and the positioning information is obtained in combination with the second coordinate information or the third coordinate information; wherein, the detailed address corresponding to the latitude and longitude can be obtained by searching the background server according to the latitude and longitude coordinate information.

[0095] Figure 2 An adjustment flowchart of a satellite signal is shown.

[0096] According to the embodiment of the present application, as Figure 2 shown, the gain parameter of the signal filter amplifier is adjusted to obtain second voltage information, specifically:

[0097] S202, the second voltage information obtained after the first voltage information is filtered and amplified is collected and recorded according to a preset first time period;

[0098] S204, third voltage information and fourth voltage information are obtained according to the second voltage information and a preset extraction strategy;

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

[0100] S208, if yes, then the gain parameter is adjusted downwardly;

[0101] S210, if no, then the difference between the third voltage information and the fourth voltage information is calculated to obtain first voltage difference information;

[0102] S212, it is judged whether the first voltage difference information exceeds a preset first voltage difference threshold value;

[0103] S214, if yes, then the gain parameter adjustment is stopped to obtain 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 a set rule; and the fourth voltage information is the minimum value of the second voltage information obtained according to a set rule. In the embodiment, the first voltage information is obtained by a filter amplifier to obtain second voltage information, the second voltage information is collected and recorded according to a preset first time period, and the gain parameter of the filter amplifier is adjusted according to the size of the second voltage information to improve the amplitude distinction degree of the second voltage information when the second voltage information is high voltage and low voltage. First, a number of early maximum values and minimum values are extracted from the recorded second voltage information sequence; for example, the first 5 maximum values and the first 5 minimum values are extracted from the sequence; the mean value operation is performed on the extracted maximum values and minimum values respectively to obtain the third voltage information and the fourth voltage information. The difference between the third voltage information and the fourth voltage information can reflect the amplitude distinction degree of the second voltage information when the second voltage information is high voltage and low voltage. Then, it is judged whether the third voltage information exceeds a preset first voltage threshold value; if yes, it indicates that the second voltage information may have distortion problem due to excessive amplification, and therefore, the gain parameter needs to be adjusted downwardly until the third voltage information is lower than the preset first voltage threshold value; if no, the difference between the third voltage information and the fourth voltage information is calculated to obtain first voltage difference information, when the first voltage difference information exceeds a preset first voltage difference threshold value, it indicates that the amplitude distinction degree of the second voltage information when the second voltage information is high voltage and low voltage reaches the set requirement, and the requirement that the second voltage information is quantized into first communication data can be met; at this time, it indicates that the adjustment of the gain parameter is completed.

[0105] Figure 3 A flowchart of a signal data acquisition process provided by an embodiment of the application is shown.

[0106] According to the embodiment of the application, as shown in Figure 3 the first communication data is obtained according to the second voltage information, specifically:

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

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

[0109] S306, judging whether the second voltage information is higher than the second voltage threshold value or not;

[0110] S308, if yes, setting level information as high level;

[0111] S310, if no, setting level information as low level;

[0112] S312, composing first communication data according to the level information.

[0113] It should be noted that the second voltage information is an analog electric signal, and a digital electric signal is obtained by sampling and quantization, so as to obtain the first communication data, i.e., satellite communication data. First, the second voltage threshold value is determined according to the third voltage information and the fourth voltage information, i.e., the high-low level distinguishing voltage interval; wherein, the second voltage threshold value can be a voltage value or a voltage range, for example, when the second voltage threshold value is 2.5 volts, if the second voltage information is higher than 2.5 volts, the level information is high level, and if the second voltage information is lower than 2.5 volts, the level information is low level; when the second voltage threshold value is 1.0 volts to 2.0 volts, if the second voltage information is higher than 2.0 volts, the level information is high level, and if the second voltage information is lower than 1.0 volts, the level information is low level. According to a preset communication transmission rate, the second time period is determined, so as to sample and quantize the second voltage information to obtain the first communication data.

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

[0115] Covariance information and process noise information are obtained;

[0116] The covariance information is updated according to the process noise information;

[0117] Measurement noise information is obtained;

[0118] Gain information is obtained according to the covariance information and the measurement noise information;

[0119] Last round coordinate information is obtained;

[0120] The last round coordinate information is updated as the second coordinate information according to the first coordinate information and the gain 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 *(X1– Y N-1 )

[0126] P N = (1– G N )* P N

[0127] Wherein:

[0128] P N is the covariance in the current operation;

[0129] P N-1 is the covariance in the last operation;

[0130] Q is the process noise covariance;

[0131] R is the measurement noise covariance;

[0132] G N is the gain information in the current operation;

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

[0134] Y N-1 is the operation result in the last operation, that is, the second coordinate information in the last operation;

[0135] X1 is the input in the current operation, that is, the first coordinate information in the current operation;

[0136] In the embodiment, according to the above formula, the current output Y N has high correlation with the current input X1 and the last output Y N-1 , thereby achieving the purpose of filtering and denoising. In addition, the process noise covariance Q and the measurement noise covariance R adjust the gain information G NThe input X1 of the current round and the output Y of the last round are used to change the weight value of the output Y of the current round N-1 The output Y of the current round N The process noise covariance and the measurement noise covariance are adjustable values, and the process noise covariance or the measurement noise covariance is adjusted in real time according to the input or output of data processing, so that the filtering processing effect is improved.

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

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

[0139] According to the first positioning request instruction information, the first positioning feedback instruction information is obtained;

[0140] The first positioning feedback instruction information is analyzed to obtain second signal strength information;

[0141] It is judged whether the second signal strength information reaches a preset second strength threshold;

[0142] If yes, 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 instruction, and the country code MCC, the network code MNC, the base station area code LAC and the base station identification number CI in the base station information are extracted. Second, the base station area code LAC and the base station identification number CI are converted according to a preset radix; combined with the country code MCC and the network code MNC, the first positioning request instruction information is composed and sent to the background server; in actual application, 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 analyzed. Finally, when the second signal strength information reaches the preset second strength threshold, it means that the base station signal meets the positioning requirement, at this time, the third coordinate information is analyzed from the first positioning feedback instruction information.

[0144] According to the embodiment of the present application, the positioning information is obtained according to the second coordinate information or the third coordinate information, specifically as follows:

[0145] According to the first signal strength information, the first weight information and the second weight information are determined;

[0146] According to the first weight information, the second weight information, the second coordinate information and the third coordinate information, the fourth coordinate information is obtained;

[0147] According to the fourth coordinate information, positioning information is obtained.

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

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

[0150] When 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 the fifth coordinate information and the first time information;

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

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

[0154] It should be noted that when the satellite signal strength and the base station signal strength are both lower than the positioning requirement, it means that the current situation cannot obtain the positioning information. The latitude and longitude value of the last successful positioning is searched, that is, the fifth coordinate information and the time of the last successful positioning from the current time, 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 coordinate can be used to estimate the current positioning information.

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

[0156] Obtain the first time information and the positioning information;

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

[0158] According to the background feedback instruction, the motion trajectory and the motion distance are displayed.

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

[0160] Figure 4 A block diagram of a Beidou positioning system of an intelligent wearable device is shown.

[0161] As shown in Figure 4 A Beidou positioning system 4 of an intelligent wearable device is disclosed, which comprises a memory 41 and a processor 42, the memory comprising a Beidou positioning method program of an intelligent wearable device, the Beidou positioning method program of an intelligent wearable device being executed by the processor to implement the following steps:

[0162] obtaining first voltage information;

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

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

[0165] parsing the first communication data to obtain first signal strength information and first coordinate information according to a preset keyword;

[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 no, obtaining base station information and obtaining third coordinate information according to the base station information;

[0169] obtaining positioning information according to the second coordinate information or the third coordinate information

[0170] It should be noted that the first voltage information is an analog electrical signal converted from the obtained Beidou satellite signal; the second voltage information is an analog electrical signal after filtering and amplification of the first voltage information; the first communication data is a digital electrical signal quantized from 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 for indicating position.

[0171] In the embodiment, first, after the Beidou satellite navigation module collects the Beidou satellite signal, the first voltage information is obtained by converting the analog electric signal; the gain parameter of the filter amplifier is adjusted to amplify the difference between the peak value and the valley value of the first voltage information as much as possible, and to ensure that the peak value of the first voltage information does not exceed the preset voltage value, so as 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 quantized and compared, the first communication data, i.e. satellite communication data, is obtained, that is, the stability of the second voltage information can improve the stability and accuracy of the satellite communication data. Secondly, the satellite communication data is parsed according to the preset rule, and in actual application, the data is usually converted into string data according to ANSI standard; the satellite communication data is queried according to the keyword, and the first signal strength information and the first coordinate information are extracted. Then, the size relationship between the first signal strength information and the preset first strength threshold is compared; when the first signal strength information reaches the preset first strength threshold, it means that the positioning information reflected by the current received satellite signal strength reaches the set positioning accuracy requirement, that is, the latitude and longitude information obtained from the satellite communication data can reflect the position of the device, therefore, after the first coordinate information is processed by denoising and other data processing, 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 acquiring the base station information of the operator and searching the background positioning database according to the base station information. Finally, the weight proportion of the Beidou satellite positioning and the base station positioning in calculating the positioning information is obtained by analyzing the first signal strength information, and the positioning information is obtained in combination with the second coordinate information or the third coordinate information; wherein, the detailed address corresponding to the latitude and longitude can be obtained by searching the background server according to the latitude and longitude coordinate information.

[0172] According to the embodiment of the application, the gain parameter of the signal filtering and amplification is adjusted to obtain the second voltage information, specifically:

[0173] The second voltage information obtained after the first voltage information is filtered and amplified is collected and recorded according to the preset first time period;

[0174] The third voltage information and the fourth voltage information are obtained according to the preset extraction strategy based on the second voltage information;

[0175] It is judged whether the third voltage information exceeds the preset first voltage threshold;

[0176] If yes, the gain parameter is adjusted downward;

[0177] If no, the first voltage difference information is obtained by calculating the difference between the third voltage information and the fourth voltage information.

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

[0179] If yes, stop adjusting the gain parameter to obtain second voltage information.

[0180] It should be noted that the third voltage information is a maximum value of the second voltage information obtained according to a set rule; and the fourth voltage information is a minimum value of the second voltage information obtained according to the set rule. In the embodiment, the first voltage information is obtained by a filter amplifier to obtain second voltage information, the second voltage information is collected and recorded according to a preset first time period, and the gain parameter of the filter amplifier is adjusted according to the size of the second voltage information, so as to improve the amplitude distinction degree of the second voltage information when the second voltage information is high voltage and low voltage. First, traverse the recorded second voltage information sequence to extract a plurality of front maximum values and minimum values; for example, extract the first 5 maximum values and the first 5 minimum values in the sequence; and perform mean value operation on the extracted maximum values and minimum values respectively to obtain the third voltage information and the fourth voltage information. The difference between the third voltage information and the fourth voltage information can reflect the amplitude distinction degree of the second voltage information when the second voltage information is high voltage and low voltage. Then, it is determined whether the third voltage information exceeds a preset first voltage threshold value; if yes, it indicates that the second voltage information may be distorted due to excessive amplification, and therefore, the gain parameter needs to be lowered until the third voltage information is lower than the preset first voltage threshold value; if no, the difference between the third voltage information and the fourth voltage information is calculated to obtain the first voltage difference information, and when the first voltage difference information exceeds the preset first voltage difference threshold value, it indicates that the amplitude distinction degree of the second voltage information when the second voltage information is high voltage and low voltage reaches the set requirement, and the requirement of quantizing the second voltage information into first communication data can be met; at this time, it indicates that the adjustment of the gain parameter is completed.

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

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

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

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

[0185] if yes, setting the level information as high level;

[0186] if no, setting the level information as low level;

[0187] composing the first communication data according to the level information.

[0188] It should be noted that the second voltage information is an analog electrical signal, and a digital electrical signal is obtained by sampling and quantization, and is used to obtain the first communication data, that is, satellite communication data. First, according to the third voltage information and the fourth voltage information, the voltage interval for distinguishing the 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, then when the second voltage information is higher than 2.5 volts, the level information is high, and when the second voltage information is lower than 2.5 volts, the level information is low; when the second voltage threshold is an interval of 1.0 volts to 2.0 volts, then when the second voltage information is higher than 2.0 volts, the level information is high, and when the second voltage information is lower than 1.0 volts, the level information is low. 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 the embodiment of the application, the first coordinate information is processed according to a preset processing algorithm to obtain second coordinate information, specifically:

[0190] Obtain covariance information and process noise information;

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

[0192] Obtain measurement noise information;

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

[0194] Obtain the last round coordinate information;

[0195] Update the last round coordinate information as the second coordinate information according to the first coordinate information and the gain information;

[0196] Update the covariance information 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 *(X1–Y N-1 )

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

[0202] Wherein:

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

[0204] P N-1 is the covariance in the last round of operation;

[0205] Q is the process noise covariance;

[0206] R is the measurement noise covariance;

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

[0208] Y N is the operation result in the current round of operation, i.e., the second coordinate information in the current round of operation;

[0209] Y N-1 is the operation result in the last round of operation, i.e., the second coordinate information in the last round of operation;

[0210] X1 is the input in the current round of operation, i.e., the first coordinate information in the current round of operation;

[0211] In the embodiment, according to the above formula, the current output Y N has high correlation with the current input X1 and the last output Y N-1 , thereby achieving the purpose of filtering and denoising. In addition, the process noise covariance Q and the measurement noise covariance R are used to adjust the gain information G N , so as to change the weight of the current input X1 and the last output Y N-1 on the current output Y N . Further, the process noise covariance and the measurement noise covariance are adjustable values, which are adjusted in real time according to the input or output of data processing, thereby improving the filtering processing effect.

[0212] According to the embodiment of the application, the base station information is obtained, and third coordinate information is obtained according to the base station information, specifically as follows:

[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, first positioning request instruction information is formed;

[0214] According to the first positioning request instruction information, first positioning feedback instruction information is obtained;

[0215] The first positioning feedback instruction information is parsed to obtain second signal strength information;

[0216] It is judged whether the second signal strength information reaches a preset second strength threshold;

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

[0218] It should be noted that, first, base station information fed back by an operator is read according to a preset instruction, and country code MCC, network code MNC, base station area code LAC and base station identification number CI in the base station information are extracted. Second, the base station area code LAC and the base station identification number CI are converted according to a preset radix; first positioning request instruction information is formed by combining the country code MCC and the network code MNC, and is sent to a background server; in actual application, 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 identifies hexadecimal. Then, second signal strength information is obtained by parsing first positioning feedback instruction information fed back by the background server. Finally, when the second signal strength information reaches a preset second strength threshold, it is indicated that base station signals meet positioning requirements, and third coordinate information is obtained by parsing the first positioning feedback instruction information at this time.

[0219] According to the embodiment of the application, the positioning information is obtained according to the second coordinate information or the third coordinate information, and specifically:

[0220] According to the first signal strength information, first weight information and second weight information are determined;

[0221] According to the first weight information, the second weight information, the second coordinate information and the third coordinate information, fourth coordinate information is obtained;

[0222] According to the fourth coordinate information, positioning information is obtained.

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

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

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

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

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

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

[0229] It should be noted that when the satellite signal strength and the base station signal strength are both lower than the positioning requirement, it means that the current situation cannot obtain the positioning information. The latitude and longitude value of the last successful positioning is searched, that is, the fifth coordinate information and the time of the last successful positioning from the current time, 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 coordinate can be used to estimate the current positioning information.

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

[0231] Obtain the first time information and the positioning information;

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

[0233] According to the background feedback instruction, the motion trajectory and the motion distance are displayed.

[0234] It should be noted that the first time information is the time when the positioning information is calculated successfully. The first time information and the positioning information are sent to the background, and the feedback of the background feedback is obtained, and the motion trajectory information and the motion distance are obtained, and the trajectory and the distance are displayed on the display unit of the wearable device.

[0235] The third aspect of the present application provides a computer readable storage medium, wherein the computer readable storage medium comprises a Beidou positioning method program of a smart wearable device.

[0236] The present application provides a Beidou positioning method, system and storage medium of a smart wearable device, first, the gain parameter of the voltage signal filtering amplification is adjusted according to the first voltage information, so as to improve the stability of the second voltage information, so as to obtain the first communication data; then, the first signal strength information and the first coordinate information are obtained by analyzing the first communication data; finally, it is judged whether the first signal strength information reaches the preset first strength threshold; if yes, the first coordinate information is processed to obtain the second coordinate information, so as 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 by combining the second coordinate information. The present application improves the stability of the satellite signal by preprocessing the Beidou satellite signal, and improves the precision of the Beidou satellite positioning of the smart wearable device by processing and calculating the signal data and assisting by the base station positioning.

[0237] If the functions are realized 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 solutions of the present application or the parts of the technical solutions that essentially contribute to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium, including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0238] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A Beidou positioning method of a smart wearable device, characterized in that, The method comprises: acquiring first voltage information; collecting and recording second voltage information obtained by filtering and amplifying the first voltage information according to a preset first time period; obtaining third voltage information and fourth voltage information according to the preset extraction strategy based on the second voltage information; judging whether the third voltage information exceeds a preset first voltage threshold value; if yes, adjusting the gain parameter downward; if no, calculating the difference between the third voltage information and the fourth voltage information to obtain first voltage difference information; judging whether the first voltage difference information exceeds a preset first voltage difference threshold value; if yes, stopping the gain parameter adjustment to obtain second voltage information; obtaining first communication data based on the second voltage information; parsing the first communication data to obtain first signal strength information and first coordinate information based on a preset keyword search; judging whether the first signal strength information reaches a preset first strength threshold value; if yes, performing data processing on the first coordinate information based on a preset processing algorithm to obtain second coordinate information; if no, acquiring base station information to obtain third coordinate information based on the base station information; obtaining positioning information based on the second coordinate information or the third coordinate information; judging when 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 value; acquiring fifth coordinate information and first time information; judging whether the first time information is lower than a preset time threshold value; if yes, obtaining positioning information based on the fifth coordinate information. 2.The Beidou positioning method of the smart wearable device according to claim 1, characterized in that, The method of obtaining first communication data based on the second voltage information comprises: determining a second voltage threshold value based on the third voltage information and the fourth voltage information; acquiring second voltage information based on a preset second time period; judging whether the second voltage information is higher than the second voltage threshold value; if yes, setting the level information as high level; if no, setting the level information as low level; composing first communication data based on the level information. 3.The Beidou positioning method of the smart wearable device according to claim 1, characterized in that, The method of performing data processing on the first coordinate information based on a preset processing algorithm to obtain second coordinate information comprises: acquiring covariance information and process noise information; updating the covariance information based on the process noise information; acquiring measurement noise information; obtaining gain information based on the covariance information and the measurement noise information; acquiring last round coordinate information; updating the last round coordinate information as the second coordinate information based on the first coordinate information and the gain information; updating the covariance information based on the gain information. 4.The Beidou positioning method of the smart wearable device according to claim 1, characterized in that, The method of acquiring base station information to obtain third coordinate information based on the base station information comprises: composing first positioning request instruction information based on country code information, network code information, base station area code information and base station identification code information of the base station information; obtaining first positioning feedback instruction information based on the first positioning request instruction information; parsing the first positioning feedback instruction information to obtain second signal strength information; judging whether the second signal strength information reaches a preset second strength threshold value; If yes, third coordinate information is obtained according to the first positioning feedback instruction information. 5.The Beidou positioning method of the smart wearable device according to claim 1, characterized in that, The positioning information is obtained according to the second coordinate information or the third coordinate information, and specifically: The first weight information and the second weight information are determined according to the first signal strength information; The fourth coordinate information is obtained 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. 6.A Beidou positioning system of a smart wearable device, characterized in that, The system comprises a memory and a processor, the memory comprises a Beidou positioning method program of a smart wearable device, and the Beidou positioning method program of the smart wearable device is executed by the processor to realize the following steps: First voltage information is obtained; Second voltage information obtained after the first voltage information is filtered and amplified is collected and recorded according to a preset first time period; Third voltage information and fourth voltage information are obtained according to a preset extraction strategy based on the second voltage information; It is determined whether the third voltage information exceeds a preset first voltage threshold value; If yes, the gain parameter is adjusted downward; If no, a first voltage difference value information is obtained by calculating the difference between the third voltage information and the fourth voltage information; It is determined whether the first voltage difference value information exceeds a preset first voltage difference value threshold value; If yes, the gain parameter adjustment is stopped to obtain second voltage information; First communication data is obtained according to the second voltage information; First signal strength information and first coordinate information are obtained by analyzing the first communication data according to a preset keyword search; It is determined whether the first signal strength information reaches a preset first strength threshold value; If yes, second coordinate information is obtained by performing data processing on the first coordinate information according to a preset processing algorithm; If no, third coordinate information is obtained based on base station information; Positioning information is obtained according to the second coordinate information or the third coordinate information; When 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 value, it is determined that: Fifth coordinate information and first time information are obtained; It is determined whether the first time information is lower than a preset time threshold value; If yes, positioning information is obtained according to the fifth coordinate information. 7.The Beidou positioning system of a smart wearable device according to claim 6, characterized in that, The first communication data is obtained according to the second voltage information, and specifically: A second voltage threshold value is determined according to the third voltage information and the fourth voltage information; Second voltage information is obtained according to a preset second time period; It is determined whether the second voltage information is higher than the second voltage threshold value; If yes, the level information is set to high level; If no, the level information is set to low level; The first communication data is composed according to the level information.

8. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer readable storage medium comprises a Beidou positioning method program of a smart wearable device, and the Beidou positioning method program of the smart wearable device is executed by the processor to realize the steps of the Beidou positioning method of the smart wearable device according to any one of claims 1 to 5.

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