Positioning fingerprint database construction method and device, positioning method and device, equipment and storage medium

Abstract

The invention discloses a positioning fingerprint database construction method, a positioning method, a positioning device, equipment and a storage medium, and belongs to the technical field of positioning. The method comprises the steps of obtaining a position point set of labels; acquiring positioning information of the label according to the position point set; determining a fingerprint truth value according to the positioning information; the positioning fingerprint database is constructed based on the fingerprint truth values, the fingerprint truth value of the position where each label is located is given through the position point set in the mode, and therefore the fingerprint database is established, map information is not needed, a complex and time-consuming off-line fingerprint database establishment process is not needed, no extra position truth value calibration hardware equipment is needed, and the positioning accuracy of the fingerprint database is improved. The fingerprint database can be dynamically constructed on line, and the efficiency and the positioning precision are improved.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a positioning fingerprint library construction method, a positioning method, a device, a equipment and a storage medium. Background Art

[0002] With the rapid development of smart phones and mobile Internet, location-based services have attracted more and more attention. Real-time positioning has become a basic technology for many high-level applications such as transportation, commerce, logistics, and personalized services.

[0003] Real-time positioning mainly relies on fingerprint maps or positioning fingerprint libraries. The current means of constructing fingerprint maps mainly include two methods. One method is to use the characteristics of channel landmark points (connecting channels between two floors) to obtain the real starting and ending positions of this floor, and then combine map information and IMU data to give the real position of each collection point on this floor as the fingerprint true value, thereby constructing a fingerprint map. Another method is to automatically generate a positioning fingerprint library in an adaptive manner, and update the positioning fingerprint library online at the same time, so that the fingerprint library can be updated synchronously with changes in the external environment; it can greatly reduce the workload of collecting / updating the fingerprint library, while ensuring the reliability of the fingerprint library and improving the accuracy of wifi positioning.

[0004] However, the current construction of the positioning fingerprint library requires the use of map information and requires complex and time-consuming offline establishment, which has low construction efficiency and cannot guarantee the accuracy of positioning.

[0005] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of the present invention is to provide a positioning fingerprint library construction method, positioning method, device, equipment and storage medium, aiming to solve the technical problems that the existing technology has low construction efficiency and cannot guarantee the accuracy of positioning.

[0007] To achieve the above object, the present invention provides a method for constructing a positioning fingerprint library, which comprises the following steps:

[0008] Acquire a set of position points of a tag, wherein the tag is carried by a movable object and is provided with an ultra-wideband unit and an inertial measurement unit for positioning;

[0009] Acquiring positioning information of the tag according to the set of position points;

[0010] Determine a true value of a fingerprint according to the positioning information;

[0011] A positioning fingerprint library is constructed based on the fingerprint true value.

[0012] Optionally, obtaining a set of label position points includes:

[0013] Detecting whether there is an obstruction in the moving area corresponding to the tag;

[0014] If there is no obstruction in the moving area corresponding to the tag, the location point set of the tag is obtained through the ultra-wideband unit.

[0015] Optionally, the positioning fingerprint library construction method further includes:

[0016] If there is an obstruction in the moving area corresponding to the tag, obtaining the movement state of the tag through the inertial measurement unit;

[0017] A set of position points of the tag is determined according to the motion state.

[0018] Optionally, determining the set of position points of the tag according to the motion state includes:

[0019] If the motion state satisfies a preset motion state, the location point set of the tag is predicted by the ultra-wideband unit.

[0020] Optionally, the constructing a positioning fingerprint library based on the fingerprint true value includes:

[0021] Determine the fingerprint feature corresponding to the fingerprint true value;

[0022] updating a corresponding fingerprint grid based on the fingerprint feature;

[0023] A positioning fingerprint library is constructed according to the fingerprint grid.

[0024] Optionally, the fingerprint features include at least geomagnetic intensity, Bluetooth signal strength, wireless channel status and ultra-wideband channel impulse response, and the fingerprint grid corresponds to the location point of the tag.

[0025] In addition, to achieve the above object, the present invention also proposes a positioning method, which comprises the following steps:

[0026] Detecting fingerprint features of the tag carried by the object to be located;

[0027] Perform fingerprint matching on the fingerprint feature with a target fingerprint library, where the target fingerprint library is constructed based on a set of historical position points of the tag;

[0028] The positioning position of the object to be positioned is output based on the position of the fingerprint grid that matches the fingerprint feature in the target fingerprint library.

[0029] Optionally, performing fingerprint matching between the fingerprint feature and a target fingerprint library includes:

[0030] Determine whether there is a target fingerprint library that has been constructed in the vicinity of the object to be located;

[0031] If it exists, the fingerprint feature is matched with the target fingerprint library.

[0032] In addition, to achieve the above-mentioned purpose, the present invention also proposes a positioning fingerprint library construction device, the positioning fingerprint library construction device comprising:

[0033] An acquisition module, used to acquire a set of position points of a tag, wherein the tag is carried by a movable object and is provided with an ultra-wideband unit and an inertial measurement unit for positioning;

[0034] The acquisition module is further used to acquire the positioning information of the tag according to the position point set;

[0035] An identification module, used to determine a true value of a fingerprint according to the positioning information;

[0036] A construction module is used to construct a positioning fingerprint library based on the fingerprint true value.

[0037] In addition, to achieve the above object, the present invention further provides a positioning device, the positioning device comprising:

[0038] A detection module, used to detect the fingerprint features of the tag carried by the object to be located;

[0039] A matching module, used for performing fingerprint matching between the fingerprint feature and a target fingerprint library, wherein the target fingerprint library is constructed based on a set of historical position points of the tag;

[0040] The output module is used to output the positioning position of the object to be positioned based on the position of the fingerprint grid that matches the fingerprint feature in the target fingerprint library.

[0041] In addition, to achieve the above-mentioned purpose, the present invention also proposes a positioning fingerprint library construction device, which includes: a memory, a processor, and a positioning fingerprint library construction program stored in the memory and running on the processor, and the positioning fingerprint library construction program is configured to implement the positioning fingerprint library construction method described above.

[0042] In addition, to achieve the above objectives, the present invention also proposes a positioning device, which includes: a memory, a processor, and a positioning program stored in the memory and running on the processor, and the positioning program is configured to implement the positioning method described above.

[0043] In addition, to achieve the above objectives, the present invention also proposes a storage medium, on which a positioning fingerprint library construction program or a positioning program is stored. When the positioning fingerprint library construction program or the positioning program is executed by a processor, the positioning fingerprint library construction method or the positioning method described above is implemented.

[0044] The present invention obtains a set of location points of a tag; obtains the location information of the tag according to the set of location points; determines a fingerprint true value according to the location information; and constructs a positioning fingerprint library based on the fingerprint true value. The fingerprint true value of the location of each tag is given by using the set of location points in the above manner, thereby establishing a fingerprint library. No map information is required, and no complicated and time-consuming offline fingerprint library establishment process is required. No additional location true value calibration hardware equipment is required, and the fingerprint library can be dynamically constructed online, thereby improving efficiency and positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural diagram of a positioning fingerprint library construction device in a hardware operating environment involved in an embodiment of the present invention;

[0046] Figure 2 This is a flow chart of the first embodiment of the method for constructing a positioning fingerprint library of the present invention;

[0047] Figure 3 This is a flow chart of a second embodiment of the method for constructing a positioning fingerprint library of the present invention;

[0048] Figure 4 This is a schematic diagram of obtaining the true value of the positioning fingerprint library in an embodiment of the positioning fingerprint library construction method of the present invention;

[0049] Figure 5 This is a schematic diagram of the process of establishing a positioning fingerprint library in an embodiment of the method for constructing a positioning fingerprint library of the present invention;

[0050] Figure 6 It is a schematic diagram of the flow chart of the first embodiment of the positioning method of the present invention;

[0051] Figure 7 This is a structural block diagram of the first embodiment of the device for constructing a positioning fingerprint library of the present invention;

[0052] Figure 8 It is a structural block diagram of the first embodiment of the positioning device of the present invention.

[0053] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0054] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0055] Reference Figure 1 , Figure 1 The present invention is a schematic diagram of a device for constructing a positioning fingerprint library in a hardware operating environment according to an embodiment of the present invention.

[0056] like Figure 1 As shown, the positioning fingerprint library construction device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a wireless fidelity (Wireless-Fidelity, Wi-Fi) interface). The memory 1005 may be a high-speed random access memory (Random Access Memory, RAM) memory, or a stable non-volatile memory (Non-Volatile Memory, NVM), such as a disk memory. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0057] Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation on the positioning fingerprint library construction device, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0058] like Figure 1 As shown, the memory 1005 as a storage medium may include an operating system, a network communication module, a user interface module, and a positioning fingerprint library construction program.

[0059] exist Figure 1 In the positioning fingerprint library construction device shown, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; the processor 1001 and the memory 1005 in the positioning fingerprint library construction device of the present invention can be set in the positioning fingerprint library construction device, and the positioning fingerprint library construction device calls the positioning fingerprint library construction program stored in the memory 1005 through the processor 1001, and executes the positioning fingerprint library construction method provided by the embodiment of the present invention.

[0060] The embodiment of the present invention provides a method for constructing a positioning fingerprint library, referring to Figure 2 , Figure 2The figure is a flow chart of a first embodiment of a method for constructing a positioning fingerprint library according to the present invention.

[0061] In this embodiment, the method for constructing a positioning fingerprint library includes the following steps:

[0062] Step S10: Obtain a set of tag location points.

[0063] In this embodiment, the execution subject of this embodiment can be the positioning fingerprint library construction device, which has functions such as data processing, data communication and program running, and the positioning fingerprint library construction device can be a base station. Of course, it can also be other devices with similar functions, and this implementation condition does not limit this. For the convenience of explanation, this implementation mode takes the positioning fingerprint library construction device as an example for explanation.

[0064] It should be noted that real-time positioning mainly relies on fingerprint maps or positioning fingerprint libraries. The current means of constructing fingerprint maps mainly include two methods. One method is to use the characteristics of channel landmark points (connecting channels between two floors) to obtain the real starting and ending positions of this floor, and then combine map information and IMU data to give the real position of each collection point on this floor as the fingerprint truth value, thereby constructing a fingerprint map. Another method is to automatically generate a positioning fingerprint library in an adaptive manner, and update the positioning fingerprint library online at the same time, so that the fingerprint library can be updated synchronously with changes in the external environment; it can greatly reduce the workload of collecting / updating the fingerprint library, while ensuring the reliability of the fingerprint library and improving the accuracy of wifi positioning. However, the construction of the current positioning fingerprint library requires the help of map information and requires complex and time-consuming offline establishment, which has a low effect and cannot guarantee the accuracy of positioning.

[0065] In order to solve the above technical problems, this embodiment obtains a set of location points of the tag; obtains the positioning information of the tag according to the set of location points; determines the fingerprint true value according to the positioning information; and builds a positioning fingerprint library based on the fingerprint true value. The fingerprint true value of the location of each tag is given by using the location point set in the above manner, thereby building a fingerprint library. No map information is required, and there is no need for a complex and time-consuming offline fingerprint library establishment process. There is no need for any additional location true value calibration hardware equipment, and the fingerprint library can be dynamically built online, thereby improving efficiency and positioning accuracy. Specifically, it can be implemented as follows.

[0066] In the specific implementation, in this embodiment, it is necessary to first obtain the location point set of the tag, which is carried by a movable object, wherein the movable object is not limited to a car or a person. As the movable object moves, the location point of the tag will also change accordingly, so that the location point set of the tag within a period of time can be obtained. The tag in this embodiment is provided with an ultra-wideband unit and an inertial measurement unit. The ultra-wideband unit is also called a UWB unit. Ultra-wideband (Ultra Wide Band) technology is a wireless carrier communication technology. It does not use a sinusoidal carrier, but uses nanosecond non-sinusoidal narrow pulses to transmit data, and the spectrum range it occupies is very wide. The inertial measurement unit is also called IMU (Inertial Measurement Unit). The inertial measurement unit is essentially a sensor used to detect and measure acceleration and rotational motion.

[0067] Step S20: Acquire the positioning information of the tag according to the location point set.

[0068] It should be noted that the acquired position point set can represent the movement displacement of the tag within a period of time, and the position point set of the tag point is acquired in real time. It should be understood that in addition to the UWB unit on the tag, a UWB unit is also provided on the base station in this embodiment, and the positioning information of the tag can be accurately obtained through the UWB unit.

[0069] Step S30: Determine the true value of the fingerprint according to the positioning information.

[0070] In a specific implementation, the fingerprint true value can be further determined based on the obtained positioning information. Specifically, in this embodiment, the specific location point of the tag can be obtained according to the positioning information, thereby determining the positioning coordinate value of the tag, and the coordinate value can be used as the fingerprint true value.

[0071] Step S420: constructing a positioning fingerprint library based on the fingerprint true value.

[0072] In a specific implementation, after obtaining the true value of the fingerprint, the positioning fingerprint library can be constructed based on the obtained true value of the fingerprint in this embodiment. The positioning fingerprint library can be in the form of a fingerprint grid. Of course, in practical applications, it can also be adjusted accordingly according to actual needs, which is not limited in this implementation.

[0073] In an optional implementation, the positioning fingerprint library is described in the form of multiple fingerprint grids. Specifically, after obtaining the fingerprint true value, the corresponding fingerprint feature can be obtained based on the fingerprint true value, and then the fingerprint grid is updated according to these fingerprint features, and multiple fingerprint grids can construct the final positioning fingerprint library. It should be further explained that the fingerprint grid in this embodiment corresponds to the location point of the tag, the location of the fingerprint grid is also the location of the actual tag, and the fingerprint features include at least geomagnetic intensity, Bluetooth signal strength (Bluetooth RSSI), wireless channel status (WIFI CSI) and ultra-wideband channel impulse response (UWB CIR). Furthermore, the number of fingerprint features that can be recorded by each fingerprint grid is limited, and the specific number limit can be set according to actual needs, and the number of fingerprint grids and grid size set for each positioning fingerprint library can also be adjusted according to actual needs for the positioning area, which is not limited in this embodiment.

[0074] This embodiment obtains a set of location points of the tag; obtains the location information of the tag according to the set of location points; determines the fingerprint true value according to the location information; and builds a positioning fingerprint library based on the fingerprint true value. The fingerprint true value of the location of each tag is given by using the location point set in the above manner, thereby building a fingerprint library. No map information is required, and there is no need for a complicated and time-consuming offline fingerprint library building process. There is no need for any additional location true value calibration hardware equipment, and the fingerprint library can be dynamically built online, thereby improving efficiency and positioning accuracy.

[0075] refer to Figure 3 , Figure 3 The figure is a flow chart of a second embodiment of a method for constructing a positioning fingerprint library according to the present invention.

[0076] Based on the first embodiment, in the positioning fingerprint library construction method of this embodiment, step S10 specifically includes:

[0077] Step S101: Detect whether there is an obstruction in the moving area corresponding to the tag.

[0078] Step S102: If there is no obstruction in the moving area corresponding to the tag, a set of position points of the tag is obtained through the ultra-wideband unit.

[0079] It should be understood that when there is no obstruction, the UWB unit can accurately obtain the positioning information of the tag. Therefore, in this embodiment, it is necessary to first detect whether there is an obstruction in the moving area corresponding to the tag. The specific process can be referred to Figure 4 As shown, Figure 41 represents the base station, 2 represents the tag, 3 represents the obstruction, and 4 represents the location point set of the tag. When in the non-obstructed area, the location point set of the tag point can be accurately obtained through the UWB unit. However, in actual situations, there are usually obstructions. In this case, due to the obstruction of the obstruction, the UWB unit cannot directly and accurately obtain the location point set of the tag. In this embodiment, it is necessary to combine the UWB unit with the IMU unit to accurately obtain the location point set of the tag.

[0080] It should be understood that when blocked by an obstruction, if the tag does not move according to the rules, it is impossible to obtain an accurate set of tag position points. In order to obtain an accurate set of tag position points, it is necessary to ensure that the tag moves regularly, such as uniform linear motion. Specifically, in this embodiment, the motion state of the tag can be obtained through the IMU unit. If the motion state of the tag meets the preset state, the preset state can be a uniform linear motion state. In this case, in this embodiment, the position point of the tag in the blocked area can be predicted based on the position point of the tag obtained by the UWB unit in the unblocked area, thereby obtaining the final set of position points.

[0081] Further, after obtaining the fingerprint true value, in this embodiment, a positioning fingerprint library can be constructed according to the fingerprint true value. Specifically, in this embodiment, the fingerprint feature corresponding to the fingerprint true value is determined, and the corresponding fingerprint grid is updated based on the fingerprint feature. The positioning fingerprint library is constructed according to the fingerprint grid. The fingerprint feature at least includes geomagnetic intensity, Bluetooth signal strength, wireless channel status and ultra-wideband channel impulse response. The fingerprint grid corresponds to the location point of the tag. The fingerprint library used in this embodiment is in the form of a fingerprint grid, that is, the fingerprint library is composed of multiple fingerprint grids. The specific form can be referred to Figure 5 As shown, in Figure 5 In the figure, 1 represents the base station, 2 represents the tag, 3 represents the occlusion, 4 represents the location point set of the tag, and 5 represents the fingerprint grid corresponding to the fingerprint library. Figure 5 The number and size of the fingerprint grids shown in the figure can be adjusted according to actual needs, and are not limited in this embodiment.

[0082] This embodiment detects whether there is an obstruction in the moving area corresponding to the tag; if there is no obstruction in the moving area corresponding to the tag, the position point set of the tag is obtained through the ultra-wideband unit; if there is an obstruction in the moving area corresponding to the tag, the motion state of the tag is obtained through the inertial measurement unit; if the motion state meets the preset motion state, the position point set of the tag is predicted by the ultra-wideband unit, and then the fingerprint feature corresponding to the fingerprint true value is determined; the corresponding fingerprint grid is updated based on the fingerprint feature; and a positioning fingerprint library is constructed according to the fingerprint grid. The above method can accurately obtain the positioning information of the tag, and then the positioning fingerprint library is constructed in the form of a fingerprint grid, which improves the efficiency and accuracy of constructing the positioning fingerprint library.

[0083] refer to Figure 6 , Figure 6 The figure is a flow chart of a first embodiment of a positioning method of the present invention.

[0084] In this embodiment, the positioning method includes the following steps:

[0085] Step S100: Detecting the fingerprint feature of the tag carried by the object to be located.

[0086] In this embodiment, the execution subject of this embodiment may be the positioning device, which has functions such as data processing, data communication and program running, and the positioning device may be a base station. Of course, it may also be other devices with similar functions, and this implementation condition does not limit this. For the convenience of explanation, this implementation mode is described by taking the positioning device as an example.

[0087] In the specific implementation, in this embodiment, when locating the object to be located, it is necessary to first detect the fingerprint characteristics of the tag carried by the object to be located. The fingerprint characteristics are as described above, and at least include geomagnetic intensity, Bluetooth signal strength (Bluetooth RSSI), wireless channel status (WIFI CSI) and ultra-wideband channel impulse response (UWB CIR).

[0088] Step S200: performing fingerprint matching between the fingerprint feature and the target fingerprint library.

[0089] In a specific implementation, the fingerprint library is constructed based on the fingerprint features of different locations of the tag. Therefore, in the subsequent practical application process, after determining the fingerprint features, the location of the tag at this time can be determined. Specifically, in this embodiment, the object to be located is located by fingerprint matching, and the fingerprint features can be compared with the fingerprint features contained in each fingerprint grid corresponding to the target fingerprint library.

[0090] It should be understood that the target fingerprint library refers to a fingerprint library that has been constructed. In this embodiment, before performing fingerprint feature matching, it is necessary to first determine whether there is a target fingerprint library that has been constructed in the vicinity of the object to be located. If so, the fingerprint feature is matched with the target fingerprint library. The vicinity can be the area to which the object to be located is to be moved, and the specific area can be selected according to the actual situation. Since the number of fingerprint features that can be stored in each fingerprint grid is limited, in this embodiment, whether the fingerprint library is constructed can be determined by whether each fingerprint grid has reached a preset number of fingerprint features. The preset number can be set according to actual needs and is not limited in this embodiment.

[0091] Step S300: outputting the location of the object to be located based on the location of the fingerprint grid that matches the fingerprint feature in the target fingerprint library.

[0092] In a specific implementation, the fingerprint grid that matches the fingerprint feature in the target fingerprint library can be determined through fingerprint feature matching, and then the position of the fingerprint grid can be output as the positioning position. In this way, even if there are obstructions and the label moves irregularly, it can be accurately obtained.

[0093] This embodiment detects the fingerprint feature of the tag carried by the object to be located, matches the fingerprint feature with the target fingerprint library, and outputs the positioning position of the object to be located based on the position of the fingerprint grid that matches the fingerprint feature in the target fingerprint library. The above method can be used to locate the object using the fingerprint library constructed by the positioning information of the regularly moving tag, which effectively improves the positioning accuracy of the irregularly moving tag in the UWB occluded area.

[0094] In addition, an embodiment of the present invention further proposes a storage medium, on which a positioning fingerprint library construction program or a positioning program is stored. When the positioning fingerprint library construction program or the positioning program is executed by a processor, the steps of the positioning fingerprint library construction method or the positioning method described above are implemented.

[0095] Since the storage medium adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here.

[0096] Reference Figure 7 , Figure 7 This is a structural block diagram of the first embodiment of the device for constructing a positioning fingerprint library of the present invention.

[0097] like Figure 7 As shown, the positioning fingerprint library construction device proposed in the embodiment of the present invention includes:

[0098] The acquisition module 10 is used to acquire a set of position points of a tag, where the tag is carried by a movable object and is provided with an ultra-wideband unit and an inertial measurement unit for positioning.

[0099] The acquisition module 10 is further configured to acquire the positioning information of the tag according to the location point set.

[0100] The identification module 20 is used to determine the true value of the fingerprint according to the positioning information.

[0101] The construction module 30 is used to construct a positioning fingerprint library based on the fingerprint true value.

[0102] This embodiment obtains a set of location points of the tag; obtains the location information of the tag according to the set of location points; determines the fingerprint true value according to the location information; and builds a positioning fingerprint library based on the fingerprint true value. The fingerprint true value of the location of each tag is given by using the location point set in the above manner, thereby building a fingerprint library. No map information is required, and there is no need for a complicated and time-consuming offline fingerprint library building process. There is no need for any additional location true value calibration hardware equipment, and the fingerprint library can be dynamically built online, thereby improving efficiency and positioning accuracy.

[0103] In one embodiment, the acquisition module 10 is further used to detect whether there is an obstruction in the moving area corresponding to the tag; if there is no obstruction in the moving area corresponding to the tag, the position point set of the tag is acquired through the ultra-wideband unit.

[0104] In one embodiment, the acquisition module 10 is further used to acquire the motion state of the tag through the inertial measurement unit if there is an obstruction in the moving area corresponding to the tag; and determine the position point set of the tag according to the motion state.

[0105] In one embodiment, the acquisition module 10 is further configured to predict a set of position points of the tag through the ultra-wideband unit if the motion state satisfies a preset motion state.

[0106] In one embodiment, the construction module 30 is further used to determine the fingerprint feature corresponding to the fingerprint true value; update the corresponding fingerprint grid based on the fingerprint feature; and construct a positioning fingerprint library according to the fingerprint grid.

[0107] In one embodiment, the fingerprint features include at least geomagnetic intensity, Bluetooth signal strength, wireless channel status, and ultra-wideband channel impulse response, and the fingerprint grid corresponds to the location point of the tag.

[0108] Reference Figure 8 , Figure 8 It is a structural block diagram of the first embodiment of the positioning device of the present invention.

[0109] like Figure 8 As shown, the positioning device proposed in the embodiment of the present invention includes:

[0110] The detection module 100 is used to detect the fingerprint feature of the tag carried by the object to be located.

[0111] The matching module 200 is used to perform fingerprint matching between the fingerprint feature and a target fingerprint library, where the target fingerprint library is constructed based on a set of historical position points of the tag.

[0112] The output module 300 is used to output the positioning position of the object to be positioned based on the fingerprint grid position matching the fingerprint feature in the target fingerprint library.

[0113] This embodiment detects the fingerprint feature of the tag carried by the object to be located, matches the fingerprint feature with the target fingerprint library, and outputs the positioning position of the object to be located based on the position of the fingerprint grid that matches the fingerprint feature in the target fingerprint library. The above method can be used to locate the object using the fingerprint library constructed by the positioning information of the regularly moving tag, which effectively improves the positioning accuracy of the irregularly moving tag in the UWB occluded area.

[0114] In one embodiment, the matching module 200 is further configured to determine whether there is a target fingerprint library that has been constructed in the vicinity of the object to be located; if so, fingerprint matching is performed between the fingerprint feature and the target fingerprint library.

[0115] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0116] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0117] In addition, for technical details not described in detail in this embodiment, reference may be made to the positioning fingerprint library construction method or positioning method provided in any embodiment of the present invention, and will not be repeated here.

[0118] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0119] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0120] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0121] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

[0122] It should be understood that, although the various steps in the flowchart in the embodiment of the present application are displayed in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and it can be performed in other orders. Moreover, at least a portion of the steps in the figure may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and their execution order is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.

Claims

1. A method for constructing a positioning fingerprint library, characterized in that: The positioning fingerprint library construction method comprises: Acquire a set of position points of a tag, wherein the tag is carried by a movable object and is provided with an ultra-wideband unit and an inertial measurement unit for positioning; Acquiring positioning information of the tag according to the set of position points; Determine a true value of a fingerprint according to the positioning information; A positioning fingerprint library is constructed based on the fingerprint true value.

2. The method for constructing a positioning fingerprint library according to claim 1, characterized in that: The step of obtaining a set of location points of a label includes: Detecting whether there is an obstruction in the moving area corresponding to the tag; If there is no obstruction in the moving area corresponding to the tag, the location point set of the tag is obtained through the ultra-wideband unit.

3. The method for constructing a positioning fingerprint library according to claim 2, characterized in that: The positioning fingerprint library construction method further includes: If there is an obstruction in the moving area corresponding to the tag, obtaining the movement state of the tag through the inertial measurement unit; A set of position points of the tag is determined according to the motion state.

4. The method for constructing a positioning fingerprint library according to claim 2, characterized in that: The step of determining a set of position points of the tag according to the motion state includes: If the motion state satisfies a preset motion state, the location point set of the tag is predicted by the ultra-wideband unit.

5. The method for constructing a positioning fingerprint library according to claim 1, characterized in that: The step of constructing a positioning fingerprint library based on the fingerprint true value comprises: Determine the fingerprint feature corresponding to the fingerprint true value; updating a corresponding fingerprint grid based on the fingerprint feature; A positioning fingerprint library is constructed according to the fingerprint grid.

6. The method for constructing a positioning fingerprint library according to claim 5, characterized in that: The fingerprint features include at least geomagnetic intensity, Bluetooth signal strength, wireless channel status and ultra-wideband channel impulse response, and the fingerprint grid corresponds to the location point of the tag.

7. A positioning method, characterized in that: The positioning method comprises: Detecting fingerprint features of the tag carried by the object to be located; Perform fingerprint matching on the fingerprint feature with a target fingerprint library, where the target fingerprint library is constructed based on a set of historical position points of the tag; The positioning position of the object to be positioned is output based on the position of the fingerprint grid that matches the fingerprint feature in the target fingerprint library.

8. The positioning method according to claim 7, characterized in that: The fingerprint matching of the fingerprint feature with the target fingerprint library comprises: Determine whether there is a target fingerprint library that has been constructed in the vicinity of the object to be located; If it exists, the fingerprint feature is matched with the target fingerprint library.

9. A positioning fingerprint library construction device, characterized in that: The positioning fingerprint library construction device comprises: An acquisition module, used to acquire a set of position points of a tag, wherein the tag is carried by a movable object and is provided with an ultra-wideband unit and an inertial measurement unit for positioning; The acquisition module is further used to acquire the positioning information of the tag according to the position point set; An identification module, used to determine a true value of a fingerprint according to the positioning information; A construction module is used to construct a positioning fingerprint library based on the fingerprint true value.

10. A positioning device, characterized in that: The positioning device comprises: A detection module, used to detect the fingerprint features of the tag carried by the object to be located; A matching module, used for performing fingerprint matching between the fingerprint feature and a target fingerprint library, wherein the target fingerprint library is constructed based on a set of historical position points of the tag; The output module is used to output the positioning position of the object to be positioned based on the position of the fingerprint grid that matches the fingerprint feature in the target fingerprint library.

11. A device for constructing a positioning fingerprint library, characterized in that: The positioning fingerprint library construction device comprises: a memory, a processor, and a positioning fingerprint library construction program stored in the memory and running on the processor, wherein the positioning fingerprint library construction program is configured to implement the positioning fingerprint library construction method according to any one of claims 1 to 6.

12. A positioning device, characterized in that: The positioning device comprises: a memory, a processor, and a positioning program stored in the memory and running on the processor, wherein the positioning program is configured to implement the positioning method according to claim 7 or 8.

13. A storage medium, characterized in that: The storage medium stores a positioning fingerprint library construction program or a positioning program, and when the positioning fingerprint library construction program or the positioning program is executed by the processor, the positioning fingerprint library construction method or the positioning method according to any one of claims 1 to 6 or 7 to 8 is implemented.

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