Precise positioning device and method for running training of athletes

Abstract

The invention relates to the field of communication positioning, in particular to a precise positioning device and method for athlete running training, comprising a positioning device and a wireless positioning system for the positioning device, the positioning device comprises a mobile terminal worn on any part of the body and a fixed terminal fixedly placed on any plane, the mobile terminal and the fixed terminal carry out mutual data feedback through wireless communication; the wireless positioning system comprises a communication identification module, a wireless positioning unit, a fence map module, a pre-track generation module, an intercommunication positioning module and a positioning analysis module. Wireless communication modes such as WIFI positioning, Bluetooth communication and UWB ultra-bandwidth are adopted, and corresponding modules are configured, so that the positioning precision including an indoor positioning scene is improved, indoor scene positioning is considered, and the positioning precision and the positioning stability are ensured.

Description

Technical Field

[0001] The present invention relates to the field of communication positioning technology, and specifically to a precise positioning device and method for athlete running training, and more particularly to a precise positioning device and method for athlete running training that can take into account indoor scene positioning. Background Art

[0002] In sports events, in addition to a lot of hard training, runners also need to have an accurate understanding of their movement status. In order to record the training status of the athletes, positioning equipment is particularly important. The positioning information obtained by the positioning device can be used to determine the athlete's running speed, plan the running route, etc.

[0003] Existing positioning devices mostly rely on GPS. When the holder operates the smart bracelet to enter the running mode, the software will turn on GPS positioning or WIFI positioning. However, due to the influence of objective environmental factors, the movement trajectory does not match the actual running training, and cannot accurately record or evaluate the holder's running training results.

[0004] Although GPS has certain advantages in outdoor situations, considering environmental factors and indoor training scenarios, indoor training positioning technology is also needed to deal with the problem of poor GPS signal environment and thereby enhance the accuracy of training positioning.

[0005] In addition, sports wearable devices mainly rely on GPS to calculate running distance. However, the disadvantage of GPS positioning being greatly affected by the environment affects the accuracy of running distance, and it is difficult to accurately locate, monitor, verify and calibrate data through multiple aspects of data.

[0006] In addition, wireless communication positioning such as GPS or WiFi mostly relies on signal strength to determine the positioning position. If the device has a signal terminal, external device signal shielding, or GPS signal is weak, it will not be possible to obtain more accurate positioning. In addition, it will not be possible to obtain trajectory information and monitor movement trajectory through wireless communication while positioning, so as to monitor the movement path and ensure that it does not deviate beyond the specified trajectory path.

[0007] To this end, we propose a precise positioning device and method for athletes' running training. Summary of the invention

[0008] One of the technical problems to be solved by this application is: how to design a technical solution that can take into account communication positioning in indoor environments, so that athletes can obtain stable and accurate positioning when running training, and can resist unexpected factors such as signal attenuation or signal shielding during the positioning process.

[0009] In order to solve the above technical problems, the embodiment of the present application provides a precise positioning device for athlete running training, including a positioning device and a wireless positioning system for the positioning device, wherein the positioning device includes a mobile terminal for wearing on any part of the body and a fixed terminal for being fixedly placed on any plane, wherein the mobile terminal and the fixed terminal perform mutual data feedback via wireless communication;

[0010] The wireless positioning system comprises:

[0011] The communication identification module is used to generate a wireless communication transmission path, identify the hardware information of the mobile terminal and the fixed terminal that establish the communication connection, match the corresponding identity information based on the hardware information after connecting to the positioning platform, and integrate and display the hardware information and the identity;

[0012] The wireless positioning unit is used to integrate the corresponding sensor components and the wireless signal transceiver components, classify and pre-process the data according to the hardware information identified by the communication identification module, and transmit it to the corresponding module components for positioning analysis;

[0013] A fence map module is used to set up data screening rules based on the location of the fixed terminal according to the positioning analysis data fed back by the fixed terminal, delete the data that exceeds the set rules, and form a data fence and data boundary;

[0014] A pre-trajectory generation module, used to receive a data request from a mobile terminal, and generate at least one positioning data trajectory based on the data fence obtained by the fence map module, the positioning data trajectory being used as a reference trajectory for verification with the data fed back in real time by the mobile terminal;

[0015] An intercommunication positioning module, used to obtain data for updating the current positioning device based on wireless signal data of at least one other positioning device, and to update the positioning data based on feedback data of other positioning devices;

[0016] The positioning analysis module is used to analyze and process the positioning data, obtain the positioning result data, and output the positioning result data to the application or other functional module components for visual display;

[0017] in:

[0018] The communication identification module is interconnected with the wireless positioning unit, and the communication identification module is distributedly connected to the intercommunication positioning module, the fence map module and the pre-trajectory generation module, and the wireless positioning unit, the intercommunication positioning module, the fence map module and the pre-trajectory generation module are all connected to the positioning analysis module.

[0019] Furthermore, the communication identification module is also connected to an interactive visual module, which is used to connect various functional modules, convert data into visual display according to rules, and generate a UI interface for interactive display operation, which is transmitted to the corresponding components or functional modules;

[0020] The wireless positioning unit includes one or more combinations of a Bluetooth module, an RFID system module, a UWB module and a GPS module.

[0021] Furthermore, the communication identification module, the wireless positioning unit and the intercommunication positioning module are interconnected and used to generate a local connection network based on the wireless communication component, and the fixed terminal collects and processes data to establish data communication with the positioning platform, wherein the fixed terminal sends and receives wireless communication signals and wireless communication waves, calculates and analyzes the data locally / positioning platform each time it receives data, and feeds back the location positioning data to the corresponding terminal or functional module. The wireless positioning unit uses Bluetooth and UWB ultra-wideband to achieve precise positioning, and the fixed terminal establishes communication with the positioning platform through WiFi or 4G communication. A WiFi communication connection is also established between the fixed terminal and the mobile terminal, and the WiFi signal data is processed through a WiFi fingerprint algorithm for positioning.

[0022] Furthermore, the communication identification module, the intercommunication positioning module, the fence map module and the trajectory generation module are interconnected, and are used to generate a fence map through the known positioning data of the fixed terminal, establish a new coordinate system based on the fence map, and establish positioning coordinates for each mobile terminal performing wireless communication, and analyze and feedback the moving distance, moving direction and precise position of one of the mobile terminals within the fence map according to the positioning coordinate data, wherein when the mobile terminal passes through one of the fixed terminals, the fixed terminal reads the RFID tag information, records the time of the current reading information and the coordinate position of the mobile terminal, and in this process, by recording the strength of the current wifi signal, matching the signal strength data through the positioning platform, the coordinate position of the current mobile terminal is determined, and recorded into the information annotation of the RFID tag reading this time;

[0023] Furthermore, the wireless positioning unit, the intercommunication positioning module, the fence map module and the positioning analysis module are used for wireless communication signals, so that the mobile terminal periodically transmits wireless signals and receives feedback information from all connected terminals in the matching fence map. When there are two or more fixed terminals, the fence map uses the fixed terminal that first initiates communication as the top priority reference point, and so on, so that all fixed terminals simultaneously generate and share a fence map. After the fence map is generated, if a new fixed terminal joins, it needs to join at any position in the fence map. Otherwise, new coordinates are generated based on the top priority reference point, and a new fence map that can include the new fixed terminal is regenerated;

[0024] Furthermore, the positioning analysis module, the pre-trajectory generation module, the intercommunication positioning module and the communication identification module are interconnected to generate a trajectory path containing at least one coordinate data set. The trajectory path verifies and monitors the position coordinates obtained by the real-time feedback of the mobile terminal. By adjusting the coordinate inclusion range in the trajectory path and adding coordinate verification rules, the trajectory path is positioned in the moving direction. In addition, a number of marking points are set in the trajectory path, and all data of the mobile terminal from the generation of the last marking point to the current marking point are stored and uploaded at the marking points.

[0025] According to another aspect of the present invention, a method for accurately positioning an athlete during running training is provided.

[0026] A method for accurately positioning an athlete during running training comprises the following steps:

[0027] Step S1: The user wears a mobile terminal and places and fixes a fixed terminal in a training area, turns on the wireless communication positioning function of all devices, and the fixed terminal obtains the real coordinates through manual setting or setting by the positioning platform, and binds the real coordinate data to generate a virtual coordinate, which is used as a fixed reference coordinate;

[0028] Step S2: The mobile terminal and the fixed terminal both transmit wireless waves for communication, obtain initial feedback data, and at the same time, determine whether there are other positioning device terminal components through the feedback data, and establish a communication connection together, and set one of the fixed terminals as the data hub;

[0029] Step S3: A coordinate map is established through the fixed coordinate data fed back by the fixed terminal, and a fence area is generated in the coordinate map. Only the data within the fence area is processed through the positioning platform or local existence to speed up data processing efficiency, and local data screening is performed through the positioning device;

[0030] Step S4: After the user starts training and is in motion, the mobile terminal transmits a wireless wave at a fixed time period to form a wireless wave pattern. Each time the positioning device transmits the signal within the communication range, it will feedback the received feedback data and send it to all the fixed terminals. According to the priority of the fixed terminals, one of them will be designated to send and analyze the data.

[0031] Step S5: the fixed terminal extracts the distances between the current mobile terminal and all the fixed terminals respectively, and determines the specific location through the data of at least two fixed terminals;

[0032] Step S6: The fixed terminal extracts the distance between the current mobile terminal and all other mobile terminals respectively, selects other mobile terminals with the closest distance, and retrieves the location data of the mobile terminal currently obtained in step S5, obtains the relative distance data and relative direction data between the two mobile terminals, and calibrates the location data for precise monitoring and positioning.

[0033] Furthermore, when measuring speed and distance, the mobile terminal transmits a wireless signal to one of the positioning terminals at a fixed frequency, and the fixed terminal determines the moving speed and motion trajectory of the mobile terminal based on the fixed frequency time and position coordinate change data. The fixed frequency setting range is 0.05-0.5S;

[0034] If the mobile terminal cannot establish wireless communication with at least one fixed terminal, the mobile terminal will send the request to another mobile terminal within the communication range via UWB. The other mobile terminal will enter the forwarding number and perform corresponding data sending and receiving feedback. That is, the mobile terminal can only maintain ultra-low power consumption UWB signal transmission and can also perform precise positioning.

[0035] Furthermore, monitoring and positioning includes the following steps:

[0036] After the fence map is generated, the coordinates in the map will be reset and converted into a visual display. Through interactive actions such as touching and sliding, a coordinate data set for trajectory generation of the fence map can be generated. The data set will be visualized in the form of trajectories and path indicator lights. In addition to the positioning coordinate data set, the data set also includes movement distance information and movement direction judgment, that is, a coordinate data set for judging the movement direction is further added to the data set to monitor coordinate change information.

[0037] Specifically, in the generated coordinate data set, a characteristic coordinate data set for monitoring is set to be generated, and a number of verification data sets with codes are generated in the characteristic coordinate data set;

[0038] Determine whether the newly received coordinate feature data is in the set monitoring feature data set. If the newly received coordinate feature data is in the feature coordinate data set and falls into the verification data set in sequence according to the coding, then it is determined that the training path and running direction are correct;

[0039] If the newly received coordinate feature data increases or decreases compared to the feature data coordinates in the coordinate data set, it is determined whether it falls into a certain verification data set, and the movement direction is determined based on the encoding order;

[0040] If it does not fall into a certain verification data set, it is determined whether the movement is deviated or wrong. After obtaining the result, the corresponding action instruction is recorded and executed.

[0041] Furthermore, it includes a computer storage medium, the computer storage medium stores a computer program, the computer program includes program instructions, and when the processor executes the program instructions, the method for accurately positioning an athlete's running training is executed.

[0042] The present invention has at least the following beneficial effects:

[0043] By adopting wireless communication methods such as WIFI positioning, Bluetooth communication, UWB ultra-wideband and configuring corresponding modules, the positioning accuracy including indoor positioning scenarios can be improved. In addition, communication transmission within a local area can be achieved through multiple identical devices. When there is a short-term partial signal terminal or communication signals such as GPS are weakened or interrupted, the positioning processing can be handed over to other devices for forwarding and calculation to ensure the accuracy and stability of positioning;

[0044] Through the fence map, positioning analysis and other functional modules in the wireless positioning system, the positioning accuracy in running training can be improved, and the positioning range with navigation and orientation (such as a linear range, that is, a motion trajectory path with direction) can be set, which can take into account indoor scene positioning and ensure positioning accuracy and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a schematic diagram of a flow chart of a wireless positioning system in an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of the distance between coordinate points in a fence map area in an embodiment of the present invention;

[0047] Figure 3 This is a schematic diagram of a scenario in which fixed terminals are evenly distributed in an embodiment of the present invention;

[0048] Figure 4 A schematic diagram of a scenario for forming a trajectory path for positioning navigation in an embodiment of the present invention;

[0049] Figure 5 Schematic diagram of the distribution of the positioning device and the wireless positioning system in the embodiment of the present invention.

[0050] In the figure: 100, fixed terminal; 200, mobile terminal; 301, communication identification module; 302, wireless positioning unit; 303, fence map module; 304, pre-trajectory generation module; 305, intercommunication positioning module; 306, positioning analysis module; 307, interactive visual module. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] Embodiment 1

[0053] See also Figure 1 and Figure 5 , the present invention provides a technical solution:

[0054] A precise positioning device for athlete running training, comprising a positioning device and a wireless positioning system for the positioning device, wherein the positioning device comprises a mobile terminal 200 for being worn on any part of the body and a fixed terminal 100 for being fixedly placed on any plane, wherein the mobile terminal 200 and the fixed terminal 100 perform mutual data feedback via wireless communication;

[0055] In this embodiment, both the mobile terminal 200 and the fixed terminal 100 are configured with modules for wireless communication and receiving and sending radio waves; the fixed terminal 100 is configured with a 4G communication module for connecting to a positioning platform (cloud server / cloud platform).

[0056] The wireless positioning system comprises:

[0057] The communication identification module 301 is used to generate a wireless communication transmission path, identify the hardware information of the mobile terminal 200 and the fixed terminal 100 that establish a communication connection, match the corresponding identity information based on the hardware information after connecting to the positioning platform, and integrate and display the hardware information and the identity;

[0058] The wireless positioning unit 302 is used to integrate the corresponding sensor components and the wireless signal transceiver components, classify and pre-process the data according to the hardware information identified by the communication identification module 301, and transmit it to the corresponding module components for positioning analysis;

[0059] The fence map module 303 is used to set up data screening rules based on the location of the fixed terminal 100 according to the positioning analysis data fed back by the fixed terminal 100, delete the data that exceeds the set rules, and form a data fence and data boundary;

[0060] It should be noted that, as a preferred embodiment, data and positioning data of at least one fixed terminal 100 are received in real time feedback, and based on at least one positioning data, a data fence is established, and a positioning coordinate system for the data fence is generated. The mobile terminal 200 obtains the positioning coordinates and positioning position within the data fence through the wireless communication feedback data between the mobile terminal 200 and the fixed terminal 100, wherein the data fence is at least one and can be adjusted manually. Each generated data fence data and the adjustment distribution data of the corresponding components and functional modules are uploaded to the positioning platform, and the positioning platform downloads and transmits the data. Based on the historical data fence generation method, the positioning platform generates a parameter adjustment template. When it is implemented again, the adjustment parameters and the data fence can be directly called, and the wireless communication positioning processing method in the data fence can be obtained.

[0061] The pre-trajectory generation module 304 is used to receive the data request of the mobile terminal 200, and generate at least one positioning data trajectory based on the data fence obtained by the fence map module 303, and the positioning data trajectory is used as a reference trajectory to calibrate with the data fed back in real time by the mobile terminal 200, wherein the positioning data track is displayed as a linear trajectory path;

[0062] It should be noted that the specific steps are as follows: a coordinate data set is established based on the data fence obtained by the fence map module 303, the coordinate data set containing the positioning coordinates is transmitted to the corresponding functional module, the coordinate data set is converted into a positioning data trajectory in the data fence, and the trajectory is visualized. At the same time, each positioning data fed back by the mobile terminal 200 is compared to determine whether it is within the coordinate range included in the positioning data trajectory for calibration and monitoring.

[0063] The intercommunication positioning module 305 is used to obtain data for updating the current positioning device based on the wireless signal data of at least one other positioning device, and to update the positioning data based on the feedback data of the other positioning devices.

[0064] It should be noted that the specific steps are as follows:

[0065] The mobile terminal 200 connects to the fixed terminal 100 to obtain an initial positioning point, and connects to at least one other mobile terminal 200 and other fixed terminals 100 through wireless communication to perform data transmission and feedback with each other, wherein the mobile terminal 200 actively transmits a wireless signal every 0.01-0.5s to transmit data and receive feedback data from each fixed terminal 100;

[0066] When a mobile terminal 200 receives a wireless signal from another mobile terminal 200 or other fixed terminal 100 and responds, it immediately feeds back the current data and simultaneously sends a wireless signal to update the current data and feed back the data of the wireless signal response to the signal transmitting source device. During the process of acquiring data, the signal transmitting source device does not perform the same wireless communication interaction action.

[0067] The positioning analysis module 306 is used to analyze and process the positioning data to obtain positioning result data including positioning distance data and positioning navigation data, and output the positioning result data to the application or other functional module components for visual display.

[0068] It should be noted that the specific steps are as follows:

[0069] The data obtained by the intercommunication positioning module 305 is preprocessed to remove erroneous and duplicated data points, and then the data is converted into the coordinate system and coordinates required by the fence map module 303, and the mobile parameter data of the mobile terminal 200 is analyzed, namely: the moving distance, moving speed, moving direction, and offset angle of the mobile terminal 200 during the two wireless signal transmission processes;

[0070] Because the positioning data of the fixed terminal 100 is unchanged and can be used as reference data, the current position data is obtained through the positioning data of at least one fixed terminal 100 and the feedback data of at least one other mobile terminal 200, wherein the least square method is used for calibration to improve accuracy.

[0071] Suppose the known points are fixed terminal A (0, 0, 0), other mobile terminals B (𝓧1, 𝓨1, 𝓩1), mobile terminal / fixed terminal C (𝓧2, 𝓨2, 𝓩2), and the current unknown point P (𝓧, 𝓨, 𝓩).

[0072] Then we have:

[0073] PA² = ² + ² + ²;

[0074] PB² = (𝓧 - 𝓧1)² + (𝓨 - 𝓨1)² + (𝓩 - 𝓩1)²;

[0075] PC² = (𝓧 - 𝓧2)² + (𝓨 - 𝓨2)² + (𝓩 - 𝓩2)²;

[0076] By solving the above set of equations, the coordinates of the unknown point P can be obtained.

[0077] In addition, when there are real-time feedback data from three or more fixed terminals 100, the center position coordinates and data of the fence map formed by the three fixed terminals 100 are obtained in the above manner, and the center position coordinate data is used as independent reference point data.

[0078] The communication identification module 301 is interconnected with the wireless positioning unit 302, the communication identification module 301 is distributedly connected to the intercommunication positioning module 305, the fence map module 303 and the pre-trajectory generation module 304, and the wireless positioning unit 302, the intercommunication positioning module 305, the fence map module 303 and the pre-trajectory generation module 304 are all connected to the positioning analysis module 306;

[0079] In a specific embodiment of the present application, the communication identification module 301 is also connected to an interactive visual module 307, which is used to connect various functional modules, convert data into visual display according to rules, and generate a UI interface for interactive display operation, which is transmitted to the corresponding component or functional module;

[0080] The wireless positioning unit 302 includes one or more combinations of a Bluetooth module, an RFID system module, a UWB module and a GPS module.

[0081] Embodiment 2

[0082] like Figure 3 As shown, on the basis of the first embodiment, the communication identification module 301, the wireless positioning unit 302 and the intercommunication positioning module 305 are interconnected to generate a local connection network based on the wireless communication component, and the fixed terminal 100 collects and processes data to establish data communication with the positioning platform, wherein the fixed terminal 100 sends and receives wireless communication signals and wireless communication waves, calculates and analyzes data locally / on the positioning platform each time data is received, and feeds back the position positioning data to the corresponding terminal or functional module, the wireless positioning unit 302 uses wifi positioning, Bluetooth, and UWB ultra-wideband to achieve precise positioning, the fixed terminal 100 establishes communication with the positioning platform through wifi or 4G communication, and a wifi communication connection is also established between the fixed terminal 100 and the mobile terminal 200, and the wifi signal data is processed by the wifi fingerprint algorithm for positioning;

[0083] In addition, the wireless positioning unit 302 also includes an RFID system, the fixed terminal 100 is configured with an RFID reading and writing module, and the mobile terminal 200 is configured with an RFID tag module, which is used when multiple fixed terminals 100 are distributed in a specific order and arrangement, and multiple fixed terminals 100 communicate and sequence in the same way, and then calculate and locate the moving distance and moving time of the mobile terminal 200 by interactively reading the time and information of the RFID tag in a mobile terminal 200, and narrow the data range calculated and analyzed by wireless positioning; preferably, when the fixed terminals 100 are distributed in an equidistant linear manner (specifically, a plurality of fixed terminals 100 are evenly distributed on a straight runway), the mobile terminal Every time 200 passes through a fixed terminal 100, it represents that a certain distance has been moved, that is, a signal is generated every time it passes through a fixed terminal 100. The distance has a specific positive or negative value. When returning to the previous fixed terminal 100 for communication, the distance decreases accordingly. By setting a loop point, that is, passing through the distance between any two fixed points in sequence to complete a loop, the calculation is restarted to perform a loop calculation. At the same time, the two distributed and sorted fixed terminals 100 form a segmented area. After the mobile terminal 200 corresponds to one of the fixed terminals 100, only the position data of the area between the fixed terminal 100 and the fixed terminal 100 before and after is calculated, thereby improving the positioning efficiency.

[0084] As a preferred embodiment of the present application, the communication identification module 301, the intercommunication positioning module 305, the fence map module 303 and the trajectory generation module are interconnected, and are used to generate a fence map through the known positioning data of the fixed terminal 100, establish a new coordinate system based on the fence map, and establish positioning coordinates for each mobile terminal 200 performing wireless communication, and analyze and feedback the moving distance, moving direction and precise position of one of the mobile terminals 200 within the fence map according to the positioning coordinate data, wherein, when the mobile terminal 200 passes through one of the fixed terminals 100, the fixed terminal 100 reads the RFID tag information, records the time of the current reading information and the coordinate position of the mobile terminal 200, and in this process, by recording the strength of the current wifi signal, matching the signal strength data through the positioning platform, the coordinate position of the current mobile terminal 200 is determined, and recorded into the information annotation of the RFID tag reading this time;

[0085] like Figure 2As shown, as another preferred embodiment of the present application, the wireless positioning unit 302, the intercommunication positioning module 305, the fence map module 303 and the positioning analysis module 306 are used to analyze Bluetooth communication, WiFi communication and UWB ultra-wideband signals, so that the mobile terminal 200 periodically transmits wireless signals and receives feedback information from all connected terminals in the matching fence map. When there are two or more fixed terminals 100, the fence map uses the fixed terminal 100 that first initiates communication as the top priority reference point, and so on, so that all fixed terminals 100 simultaneously generate and share a fence map. After the fence map is generated, if a new fixed terminal 100 joins, it needs to be added at any position in the fence map. Otherwise, new coordinates are generated based on the top priority reference point, and a new fence map that can include the new fixed terminal 100 is regenerated.

[0086] The specific process is:

[0087] Assume that Wi-Fi, UWB and Bluetooth are , and beacons;

[0088] For Wi-Fi, UWB, and Bluetooth, the signal strength or time difference (ToF) is calculated from the distance to each beacon, assuming the distances are , and .

[0089] Assume the position coordinates are ( ), the position estimation formula is:

[0090]

[0091] in, i , j and b k are weight factors, which are used to reflect the importance of using Wi-Fi, UWB and Bluetooth in positioning.

[0092] like Figure 4As shown, as a preferred embodiment of the present application, the positioning analysis module 306, the pre-trajectory generation module 304, the intercommunication positioning module 305 and the communication identification module 301 are interconnected to generate a trajectory path containing at least one coordinate data set, and the trajectory path verifies and monitors the position coordinates obtained by the real-time feedback of the mobile terminal 200, and the trajectory path is positioned in the moving direction by adjusting the coordinate inclusion range in the trajectory path and adding coordinate verification rules. In addition, a number of marking points are set in the trajectory path, and all data of the mobile terminal 200 from the generation of the last marking point to the current marking point are stored and uploaded at the marking points. It is used to realize replay, data calibration, data verification and manual data verification.

[0093] According to another embodiment of the present invention, a method for accurately positioning an athlete during running training is provided.

[0094] A method for accurately positioning an athlete during running training comprises the following steps:

[0095] Step S1: The user wears the mobile terminal 200, and places the fixed terminal 100 at a place in the training area and fixes it, and turns on the wireless communication positioning function of all devices. The fixed terminal 100 obtains the real coordinates through manual setting or setting by the positioning platform, and binds the real coordinate data to generate a virtual coordinate, which is used as a fixed reference coordinate;

[0096] Step S2: The mobile terminal 200 and the fixed terminal 100 both transmit wireless waves (including wifi, Bluetooth, and low millimeter wave radar) to communicate and obtain initial feedback data. At the same time, the feedback data is used to determine whether there are other positioning device terminal components, and a communication connection is established together (the number of communication connections can be set), and one of the fixed terminals 100 is set as the data hub;

[0097] Step S3: A coordinate map is established through the fixed coordinate data fed back by the fixed terminal 100, and a fence area is generated in the coordinate map. Only the data within the fence area is processed through the positioning platform or local existence to speed up data processing efficiency, and local data screening is performed through the positioning device;

[0098] Step S4: After the user starts training and is in motion, the mobile terminal 200 transmits a wireless wave at a fixed time period to form a wireless wave pattern. Each time the positioning device transmits within the communication range, it will feedback the signal and send the received feedback data to all the fixed terminals 100 that have been fixed. According to the priority of the fixed terminal 100, one of the fixed terminals 100 is designated to send and analyze the data.

[0099] Step S5: The fixed terminal 100 extracts the distances between the current mobile terminal 200 and all the fixed terminals 100 respectively, and determines the specific location through the data of at least two fixed terminals 100;

[0100] Step S6: The fixed terminal 100 extracts the distances between the current mobile terminal 200 and all other mobile terminals 200 respectively, selects the other mobile terminal 200 with the closest distance, and retrieves the location data of the mobile terminal 200 currently obtained in step S5, obtains the relative distance data and relative direction data between the two mobile terminals 200, and calibrates the location data for accurate monitoring and positioning;

[0101] If the mobile terminal 200 cannot establish wireless communication with at least one fixed terminal 100, the mobile terminal 200 will send the request to another mobile terminal 200 within the communication range via UWB, and the other mobile terminal 200 will enter the forwarding number and perform corresponding data sending and receiving feedback. That is, the mobile terminal 200 can only maintain ultra-low power consumption UWB signal transmission and can also perform precise positioning.

[0102] like Figure 2 As shown in an example scenario of indoor positioning:

[0103] The coordinate data of the fixed terminal 100 is set as a fixed coordinate point, the coordinate data of the mobile terminal 200 currently transmitting a signal is set as an active coordinate point, and another mobile terminal 200 responding to the currently transmitting signal is set as an auxiliary coordinate point;

[0104] Assume that there are 4 fixed coordinate points and 4 fixed terminals 100 distributed in a "cross" shape, and the 4 fixed terminals 100 form a fence map area, and the active coordinate point is located inside the area.

[0105] Specifically:

[0106] Using 4 fixed coordinate points and 1 movable coordinate point, construct a system of linear equations.

[0107] Let the active coordinate point be A( ), the auxiliary coordinate point is B( ), the four fixed coordinate points are 1( ), 2 ( ), 3( ), 4( ).

[0108] Linear system of equations:

[0109]

[0110] Thus, the specific coordinates of the active coordinate point A and the auxiliary coordinate point B can be obtained;

[0111] Calculate the distance between A and B using the Euclidean distance formula:

[0112]

[0113] Calculate the azimuth , that is, the direction angle from A to B, as follows:

[0114]

[0115] In a specific embodiment of the present application, when measuring speed and distance, the mobile terminal 200 transmits a wireless signal to one of the positioning terminals at a fixed frequency, and the fixed terminal 100 determines the moving speed and motion trajectory of the mobile terminal 200 based on the fixed frequency time and position coordinate change data. The fixed frequency setting range is 0.05-0.5S.

[0116] In a specific embodiment of the present application, monitoring and positioning includes the following steps:

[0117] After the fence map is generated, the coordinates in the map will be reset and converted into a visual display. Through interactive actions such as touching and sliding, a coordinate data set for trajectory generation of the fence map can be generated. The data set will be visualized in the form of trajectories and path indicator lights. In addition to the positioning coordinate data set, the data set also includes moving distance information and moving direction judgment, that is, a coordinate data set for judging the moving direction is further added to the data set to monitor coordinate change information.

[0118] Specifically, in the generated coordinate data set, a characteristic coordinate data set for monitoring is set to be generated, and a number of verification data sets with codes are generated in the characteristic coordinate data set;

[0119] Determine whether the newly received coordinate feature data is in the set monitoring feature data set. If the newly received coordinate feature data is in the feature coordinate data set and falls into the verification data set in sequence according to the coding, then it is determined that the training path and running direction are correct;

[0120] If the newly received coordinate feature data increases or decreases compared to the feature data coordinates in the coordinate data set, it is determined whether it falls into a certain verification data set, and the movement direction is determined based on the encoding order;

[0121] If it does not fall into a certain verification data set, it is determined whether the movement is deviated or wrong. After obtaining the result, the corresponding action instruction is recorded and executed.

[0122] In one embodiment, a computer-readable storage medium is also provided, such as a memory including instructions, and the instructions can be executed by a processor to implement a central air-conditioning intelligent control system in the above embodiment.

[0123] For example, the computer readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0124] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present invention, which follows the general principles of the present invention and includes common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present invention are indicated by the claims. It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0125] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A precise positioning device for athlete running training, comprising a positioning device and a wireless positioning system for the positioning device, characterized in that: The positioning device comprises a mobile terminal (200) for being worn on any part of the body and a fixed terminal (100) for being fixedly placed on any plane, wherein the mobile terminal (200) and the fixed terminal (100) perform mutual data feedback via wireless communication; The wireless positioning system comprises: A communication identification module (301) is used to generate a wireless communication transmission path, identify hardware information of a mobile terminal (200) and a fixed terminal (100) for establishing a communication connection, match corresponding identity information based on the hardware information after connecting to a positioning platform, and display the hardware information and the identity in an integrated manner; The wireless positioning unit (302) is used to integrate corresponding sensor components and wireless signal transceiver components, classify and pre-process data according to the hardware information identified by the communication identification module (301), and transmit the data to the corresponding module components for positioning analysis; A fence map module (303) is used to establish data screening rules based on the location of the fixed terminal (100) according to the positioning analysis data fed back by the fixed terminal (100), delete the data that exceeds the set rules, and form a data fence and data boundary; A pre-trajectory generation module (304) is used to receive a data request from a mobile terminal (200), and based on the data fence obtained by the fence map module (303), generate at least one positioning data trajectory, the positioning data trajectory being used as a reference trajectory for verification with data fed back in real time by the mobile terminal (200); An intercommunication positioning module (305) is used to obtain data for updating the current positioning device based on wireless signal data of at least one other positioning device, and to update the positioning data based on feedback data of other positioning devices; The positioning analysis module (306) is used to analyze and process the positioning data, obtain positioning result data, and output the positioning result data to the application program or other functional module components for visual display; in: The communication identification module (301) and the wireless positioning unit (302) are interconnected; the communication identification module (301) is distributedly connected to the intercommunication positioning module (305), the fence map module (303) and the pre-trajectory generation module (304); the wireless positioning unit (302), the intercommunication positioning module (305), the fence map module (303) and the pre-trajectory generation module (304) are all connected to the positioning analysis module (306).

2. The precise positioning device for athlete running training according to claim 1, characterized in that: The communication identification module (301) is also connected to an interactive visual module (307), which is used to connect various functional modules, convert data into visual display according to rules, and generate a UI interface for interactive display operation, which is transmitted to the corresponding component or functional module; The wireless positioning unit (302) comprises one or a combination of a Bluetooth module, an RFID system module, a UWB module and a GPS module.

3. The precise positioning device for athlete running training according to claim 1 or 2, characterized in that: The communication identification module (301), the wireless positioning unit (302) and the intercommunication positioning module (305) are interconnected and used to generate a local connection network based on the wireless communication component, and the fixed terminal (100) collects and processes data to establish data communication with the positioning platform, wherein the fixed terminal (100) sends and receives wireless communication signals and wireless communication waves, calculates and analyzes data locally / on the positioning platform each time data is received, and feeds back position positioning data to the corresponding terminal or functional module, the wireless positioning unit (302) uses Bluetooth and UWB ultra-wideband to achieve precise positioning, the fixed terminal (100) establishes communication with the positioning platform via wifi or 4G communication, and a wifi communication connection is also established between the fixed terminal (100) and the mobile terminal (200), and wifi signal data is processed by a wifi fingerprint algorithm to perform positioning.

4. The precise positioning device for athlete running training according to claim 3, characterized in that: The communication identification module (301), the intercommunication positioning module (305), the fence map module (303) and the trajectory generation module are interconnected and used to generate a fence map through known positioning data of the fixed terminal (100), establish a new coordinate system based on the fence map, and establish positioning coordinates for each mobile terminal (200) performing wireless communication, and analyze and feedback the moving distance, moving direction and precise position of one of the mobile terminals (200) within the fence map according to the positioning coordinate data. When the mobile terminal (200) passes through one of the fixed terminals (100), the fixed terminal (100) reads the RFID tag information, records the time of the current information reading and the coordinate position of the mobile terminal (200), and in this process, by recording the strength of the current wifi signal, matching the signal strength data through the positioning platform, the coordinate position of the current mobile terminal (200) is determined, and recorded into the information annotation of the RFID tag reading this time.

5. The precise positioning device for athlete running training according to claim 4, characterized in that: A wireless positioning unit (302), an intercommunication positioning module (305), a fence map module (303) and a positioning analysis module (306) are used for wireless communication signals, so that the mobile terminal (200) periodically transmits wireless signals and receives feedback information from all connected terminals in a matching fence map. When two or more fixed terminals (100) appear, the fence map uses the fixed terminal (100) that first initiates communication as the top priority reference point, and so on, so that all fixed terminals (100) simultaneously generate and share a fence map. After the fence map is generated, if a new fixed terminal (100) joins, it needs to join at any position in the fence map. Otherwise, new coordinates are generated based on the top priority reference point, and a new fence map that can include the new fixed terminal (100) is regenerated.

6. The precise positioning device for athlete running training according to claim 1, characterized in that: The positioning analysis module (306), the pre-trajectory generation module (304), the intercommunication positioning module (305) and the communication identification module (301) are interconnected and used to generate a trajectory path including at least one coordinate data set. The trajectory path verifies and monitors the position coordinates obtained by the real-time feedback of the mobile terminal (200). By adjusting the coordinate inclusion range in the trajectory path and adding coordinate verification rules, the trajectory path is positioned in the moving direction. In addition, a plurality of marking points are set in the trajectory path. All data of the mobile terminal (200) from the generation of the last marking point to the current marking point is stored and uploaded at the marking points.

7. A method for accurately positioning an athlete during running training, according to the accurate positioning device for athlete during running training according to any one of claims 1 to 6, characterized in that: The following steps are involved: Step S1: the user wears the mobile terminal (200), and places the fixed terminal (100) at a place in the training area and fixes it, and the wireless communication positioning function of all devices is turned on, the fixed terminal (100) obtains the real coordinates through manual setting or setting by the positioning platform, and binds the real coordinate data to generate a virtual coordinate, and the virtual coordinate is used as a fixed reference coordinate; Step S2: The mobile terminal (200) and the fixed terminal (100) both transmit wireless waves to communicate and obtain initial feedback data. At the same time, the feedback data is used to determine whether there are other positioning device terminal components, and a communication connection is established together, and one of the fixed terminals (100) is set as a data hub; Step S3: a coordinate map is established through the fixed coordinate data fed back by the fixed terminal (100), and a fence area is generated in the coordinate map. Only data within the fence area is processed through the positioning platform or local existence to speed up data processing efficiency, and local data screening is performed through the positioning device; Step S4: After the user starts training and is in motion, the mobile terminal (200) transmits a wireless wave once at a fixed time period to form a wireless wave pattern. Each time the positioning device is transmitted within the communication range, it will feedback the signal and send the received feedback data to all the fixed terminals (100) that have been fixed. According to the priority of the fixed terminals (100), one of the fixed terminals (100) is designated to send and analyze the data. Step S5: the fixed terminal (100) extracts the distances between the current mobile terminal (200) and all the fixed terminals (100) respectively, and determines the specific location through the data of at least two fixed terminals (100); Step S6: The fixed terminal (100) extracts the distance between the current mobile terminal (200) and all other mobile terminals (200), selects the other mobile terminal (200) that is closest, and retrieves the location data of the mobile terminal (200) currently obtained in step S5, obtains the relative distance data and relative direction data between the two mobile terminals (200), and calibrates the location data for accurate monitoring and positioning.

8. The method for accurate positioning of athletes during running training according to claim 7, characterized in that: When measuring speed and distance, the mobile terminal (200) transmits a wireless signal to one of the positioning terminals at a fixed frequency, and the fixed terminal (100) determines the moving speed and movement trajectory of the mobile terminal (200) based on the fixed frequency time and position coordinate change data, and the fixed frequency setting range is 0.05-0.5S; If the mobile terminal (200) cannot establish wireless communication with at least one fixed terminal (100), the mobile terminal (200) will send the request to another mobile terminal (200) within the communication range via UWB, and the other mobile terminal (200) will enter the data into the forwarding number and then perform corresponding data sending and receiving feedback.

9. The method for accurate positioning of athletes during running training according to claim 7, characterized in that: Monitoring and positioning includes the following steps: After the fence map is generated, the coordinates in the map will be reset and converted into a visual display. Through interactive actions such as touching and sliding, a coordinate data set for trajectory generation of the fence map can be generated. The data set will be visualized in the form of trajectories and path indicator lights. In addition to the positioning coordinate data set, the data set also includes movement distance information and movement direction judgment, that is, a coordinate data set for judging the movement direction is further added to the data set to monitor coordinate change information. Specifically, in the generated coordinate data set, a characteristic coordinate data set for monitoring is set to be generated, and a number of verification data sets with codes are generated in the characteristic coordinate data set; Determine whether the newly received coordinate feature data is in the set monitoring feature data set. If the newly received coordinate feature data is in the feature coordinate data set and falls into the verification data set in sequence according to the coding, then it is determined that the training path and running direction are correct; If the newly received coordinate feature data increases or decreases compared to the feature data coordinates in the coordinate data set, it is determined whether it falls into a certain verification data set, and the movement direction is determined based on the encoding order; If it does not fall into a certain verification data set, it is determined whether the movement is deviated or wrong. After obtaining the result, the corresponding action instruction is recorded and executed.

10. The method for accurate positioning of athletes during running training according to claim 7, characterized in that: It includes a computer storage medium, the computer storage medium stores a computer program, the computer program includes program instructions, and when the processor executes the program instructions, the method for accurately positioning an athlete's running training is executed.

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