Positioning method and device, electronic equipment and storage medium

Abstract

The invention discloses a positioning method and device, electronic equipment and a storage medium. The method comprises the steps that a current sliding window queue and a previous sliding window queue of a UWB tag are obtained, the sliding window queue comprises one or more position elements arranged according to the time sequence, the position elements indicate the work area position of the UWB tag in a maintenance library, and the UWB tag is carried by a train wheel pair or a maintainer; determining the duration of each position element in the current sliding window queue, and taking the position element with the maximum duration as a target position element; comparing the duration of the target position element with a duration threshold, and determining a current work area position corresponding to the UWB tag; according to the current work area position and the previous work area position, work area circulation information corresponding to the UWB label is determined, and the previous work area position is determined in advance based on the previous sliding window queue. According to the scheme, the accuracy of UWB tag positioning and work area position circulation judgment can be improved.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of positioning technology, and in particular to a positioning method, device, electronic device and storage medium. Background Art

[0002] In an advanced repair depot for train wheelsets, it is necessary to locate the train wheelsets and the maintenance personnel in the depot, and then determine the location and flow of the work areas where the train wheelsets and the maintenance personnel in the depot are located in the advanced repair depot, so as to realize the intelligent management of train wheelset maintenance.

[0003] In the prior art, the collection of positioning information is achieved through ultra-wideband (UWB) technology. Specifically, the background service maps the physical location record of the UWB tag into the work area location, and forms a data table record together with the timestamp and saves it in the database. When the work area location of the tag needs to be located, the latest stored record can be found from the database through the tag and returned. Polling can also be used to analyze tags that have recently changed their work area locations. If the change is maintained for a certain period of time, a work area departure record or entry record is formed.

[0004] However, due to the physical characteristics of UWB and the constraints of the on-site environment, the drift of the collected tag position is inevitable, so the above method of locating the work area where the tag is located may have the risk of misjudgment. In addition, the above method of determining the leaving or entering record of the tag in the work area is not accurate enough. Summary of the invention

[0005] The present invention provides a positioning method, a device, an electronic device and a storage medium, which can improve the accuracy of positioning a UWB tag and judging the flow of a work area position.

[0006] In a first aspect, an embodiment of the present invention provides a positioning method, including:

[0007] Acquire the current sliding window queue and the previous sliding window queue of the UWB tag, wherein the sliding window queue includes one or more position elements arranged in chronological order, wherein the position element indicates the work area position of the UWB tag in the maintenance depot, and the UWB tag is carried by a train wheelset or a maintenance personnel;

[0008] Determine the duration of each position element in the current sliding window queue, and take the position element with the largest duration as the target position element;

[0009] Comparing the duration of the target position element with the duration threshold, and determining the current work area position corresponding to the UWB tag;

[0010] The work area flow information corresponding to the UWB tag is determined by the current work area position and the previous work area position, and the previous work area position is pre-determined based on the previous sliding window queue.

[0011] In a second aspect, an embodiment of the present invention provides a positioning device, including:

[0012] An acquisition module is used to acquire a current sliding window queue and a previous sliding window queue of a UWB tag, wherein the sliding window queue includes one or more position elements arranged in chronological order, wherein the position element indicates a work area position of the UWB tag in a maintenance depot, and the UWB tag is carried by a train wheelset or a maintenance personnel;

[0013] A first determination module is used to determine the duration of each position element in the current sliding window queue, and take the position element with the largest duration as the target position element;

[0014] A second determination module is used to compare the duration of the target position element with the duration threshold to determine the current work area position corresponding to the UWB tag;

[0015] The third determination module is used to determine the work area flow information corresponding to the UWB tag through the current work area position and the previous work area position, and the previous work area position is pre-determined based on the previous sliding window queue.

[0016] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0017] at least one processor; and

[0018] a memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method according to the first aspect.

[0020] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the first aspect.

[0021] The technical solution of the embodiment of the present invention determines the current work area position corresponding to the UWB tag by comparing the duration of the target position element with the longest duration in the current sliding window queue with the duration threshold, thereby achieving effective filtering of the erroneous drift position of the tag when positioning the UWB tag, and can improve the accuracy of positioning the UWB tag; by comparing the positioning results of the sliding window queue of the UWB tag in two adjacent acquisition cycles, the work area position flow of the UWB tag is judged, and the accuracy of the work area position flow judgment can be further improved on the basis of improving the positioning accuracy.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a flowchart of a positioning method provided according to Embodiment 1 of the present invention;

[0025] Figure 2 is a schematic diagram of a sliding window queue provided according to Embodiment 1 of the present invention;

[0026] Figure 3 is a flowchart of a positioning method provided according to Embodiment 2 of the present invention;

[0027] Figure 4 is a schematic diagram of a current sliding window queue provided according to Embodiment 2 of the present invention;

[0028] Figure 5 is a structural schematic diagram of a positioning device provided according to Embodiment 3 of the present invention;

[0029] Figure 6 It is a schematic diagram of the structure of an electronic device implementing an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings 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 should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first", "second", etc. in the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0032] Embodiment 1

[0033] Figure 1 This is a flow chart of a positioning method provided according to Embodiment 1 of the present invention. This embodiment can be applied to the situation where the work area position of a train wheel set or a maintenance personnel is located and the work area position flow is judged in the maintenance depot of the train wheel set. The method can be executed by a positioning device, which can be implemented in the form of software and / or hardware and integrated in an electronic device. Furthermore, the electronic device includes but is not limited to: a computer, a laptop computer, etc.

[0034] like Figure 1 As shown, the method includes:

[0035] S110. Obtain the current sliding window queue and the previous sliding window queue of the UWB tag, wherein the sliding window queue includes one or more position elements arranged in chronological order, wherein the position element indicates the work area position of the UWB tag in the maintenance depot, and the UWB tag is carried by a train wheelset or a maintenance personnel.

[0036] In the embodiment of the present invention, the ultra-wideband (UWB) technology can be used to locate the work area position and determine the work area position flow of the train wheel set or maintenance personnel in the maintenance warehouse of the train wheel set. The UWB technology is used because it has many advantages such as high transmission rate, large system capacity, strong multipath resolution ability, strong information confidentiality, accurate positioning, strong anti-interference ability, and low transmission power. It can achieve both precise positioning and regional positioning.

[0037] In practical applications, the maintenance depot can be divided into multiple work areas according to location. Work area location positioning is to locate the work area where the train wheelset or maintenance personnel are currently located, and work area location flow judgment is to judge whether the train wheelset or maintenance personnel are flowing between different work area locations.

[0038] In the maintenance depot of train wheelsets, train wheelsets or maintenance personnel can carry UWB tags and determine their locations through UWB tags. UWB tags can be tags set based on UWB technology, which are usually used to attach to objects that need to be located, by sending unique radio frequency pulse signals to surrounding UWB sensors. UWB sensors can serve as the receiving end of UWB signals, responsible for receiving signals transmitted by UWB tags, and transmitting the physical location indicated by the UWB signal to electronic devices in the form of messages. Electronic devices can obtain messages transmitted by UWB sensors, parse the messages to obtain the physical location of the UWB tags, and determine the work area location of the UWB tags based on the obtained physical location.

[0039] In an embodiment of the present invention, a sliding window queue (also called a sliding window container) can be used as a basic storage structure for the work area location of the UWB tag. In the sliding window queue, one or more position elements can be stored in chronological order, and each position element can indicate a work area location obtained by parsing a message transmitted by the UWB sensor, as well as a timestamp reflecting the acquisition of the work area location. The sliding window queue is essentially a linear queue of finite size, and the maximum number of position elements that can be accommodated is n, which can be adjusted according to actual application needs, generally 10 to 30.

[0040] Figure 2 FIG. 1 is a schematic diagram of a sliding window queue provided according to Embodiment 1 of the present invention. Figure 2 As shown in the figure, the sliding window queue changes over time from top to bottom. In the initial state, the sliding window queue is empty. When the position element A1 is collected, the position element A1 enters from the end of the queue and is placed in the first empty area of ​​the sliding window queue, that is, the position of the head of the queue. After that, each time a position element is collected, it enters from the end of the queue and is placed in the first empty area of ​​the sliding window queue. If the number of position elements in the sliding window queue is equal to the maximum number of position elements that the sliding window queue can accommodate, such as Figure 2 For the middle position elements A1, A2, A3...An+1, when the new position element An+2 needs to enter the sliding window queue, based on the properties of the sliding window queue, the first position element A1 at the head of the queue is squeezed out from the head of the queue, and the remaining position elements A2, A3...An+1 are moved one grid toward the head of the queue one by one, and finally the new position element An+2 is inserted into the sliding window queue from the tail of the queue.

[0041] The snapshot of the sliding window queue corresponding to the UWB tag is continuously obtained through a certain time period, that is, at the moment when the snapshot of the sliding window queue needs to be collected in each time period, the state of the sliding window queue corresponding to the UWB tag is recorded. The current sliding window queue can be understood as the snapshot of the sliding window queue recorded in the current period (denoted as T0), and the previous sliding window queue can be understood as the snapshot of the sliding window queue recorded in the previous period of the current period (denoted as T -1 ) records a snapshot of the sliding window queue, with no limit on the time interval between the current cycle and the previous cycle.

[0042] In the embodiment of the present invention, the last period T is always retained in the memory space. -1 The previous sliding window queue recorded and the current sliding window queue recorded in the current cycle T0. When the next cycle (recorded as T1) corresponding to the current cycle arrives, such as when new sensor positioning data arrives, the content retained in the memory space is switched, and the current sliding window queue recorded in the current cycle T0 is used as the new previous cycle T1. -1 The last sliding window queue recorded takes the next sliding window queue recorded in the next cycle T1 as the current sliding window queue recorded in the new current cycle T0, and continues to execute the following S120 to S140.

[0043] S120: Determine the duration of each position element in the current sliding window queue, and use the position element with the largest duration as the target position element.

[0044] Among them, the duration of the position element can be understood as the total duration of the position element existing in the current sliding window queue, that is, the total duration of the UWB tag existing in the work area corresponding to the position element within the time range corresponding to the current sliding window queue.

[0045] In the current sliding window queue, any position element may appear once or multiple times. The duration of any position element may be determined by accumulating the duration of each appearance of the position element in the current sliding window queue to obtain the corresponding duration. The position element with the largest duration in the current sliding window queue is taken as the target position element.

[0046] S130: Compare the duration of the target position element with a duration threshold to determine the current work area position corresponding to the UWB tag.

[0047] The duration threshold may be a threshold set for the duration of a position element in the current sliding window queue, and is set to eliminate drift interference of the UWB sensor or excessively frequent incorrect position switching, and is not limited here.

[0048] In one embodiment, the duration threshold is dynamically determined based on the size of the sliding window queue and the UWB sensor acquisition duration. The size of the sliding window queue can be understood as the number of position elements that the sliding window queue can accommodate. The UWB sensor acquisition duration can be understood as the duration of a UWB sensor acquiring a UWB signal. The method of dynamically determining the duration threshold based on the size of the sliding window queue and the UWB sensor acquisition duration is not limited, as long as the purpose of setting the duration threshold can be achieved.

[0049] In this step, the duration of the target position element can be compared with the duration threshold. If it is determined that the duration of the target position element is not less than the duration threshold, the work area position corresponding to the target position element is determined as the current work area position corresponding to the UWB tag; otherwise, the previous work area position determined based on the previous sliding window queue is determined as the current work area position corresponding to the UWB tag. That is, the current work area position of the train wheelset or maintenance personnel in the maintenance depot is determined.

[0050] Among them, the current work area position can be understood as the work area position of the UWB tag in the maintenance library determined in the current cycle, which is determined in the current cycle based on the current sliding window queue; the previous work area position can be understood as the work area position of the UWB tag in the maintenance library determined in the previous cycle, which is determined in advance in the previous cycle based on the previous sliding window queue.

[0051] S140. Determine the work area flow information corresponding to the UWB tag through the current work area position and the previous work area position, wherein the previous work area position is pre-determined based on the previous sliding window queue.

[0052] Among them, the work area flow information can be the information of the UWB tag flowing in different work area positions in the maintenance library, which can indicate whether the work area position of the UWB tag has changed from the previous cycle to the current cycle, and if it has changed, further indicate the specific time when the work area position has changed.

[0053] In this step, the current work area position and the previous work area position can be compared. If the current work area position is consistent with the previous work area position, it is determined that the work area flow information indicates that the UWB tag has not flowed from the work area position in the maintenance depot from the previous cycle to the current cycle; if the current work area position is inconsistent with the previous work area position, it is determined that the work area flow information indicates that the UWB tag has flowed from the previous work area position to the current work area position in the maintenance depot from the previous cycle to the current cycle, and further based on the last time the previous work area position appeared in the previous sliding window queue and the first time the current work area position appeared in the current sliding window queue, the time when the UWB tag left the previous work area position and the time when it entered the current work area position are determined. That is, the work area flow information of the train wheels or maintenance personnel in the maintenance depot is determined.

[0054] The technical solution of the embodiment of the present invention determines the current work area position corresponding to the UWB tag by comparing the duration of the target position element with the longest duration in the current sliding window queue with the duration threshold, thereby achieving effective filtering of the erroneous drift position of the tag when positioning the UWB tag, and can improve the accuracy of positioning the UWB tag; by comparing the positioning results of the sliding window queue of the UWB tag in two adjacent acquisition cycles, the work area position flow of the UWB tag is judged, and the accuracy of the work area position flow judgment can be further improved on the basis of improving the positioning accuracy.

[0055] Embodiment 2

[0056] Figure 3 It is a flowchart of a positioning method provided according to the second embodiment of the present invention. This embodiment is based on the above-mentioned embodiment one, and further refines the determination of the duration of each position element in the current sliding window queue; and further refines the determination of the current work area position corresponding to the UWB tag by comparing the duration of the target position element with the duration threshold; and further refines the determination of the work area flow information corresponding to the UWB tag through the current work area position and the previous work area position.

[0057] like Figure 3 As shown, the method includes:

[0058] S110. Obtain the current sliding window queue and the previous sliding window queue of the UWB tag, wherein the sliding window queue includes one or more position elements arranged in chronological order, wherein the position element indicates the work area position of the UWB tag in the maintenance depot, and the UWB tag is carried by a train wheelset or a maintenance personnel.

[0059] S121. For an element at any position in the current sliding window queue, determine a duration sub-duration of each appearance of the element at any position in the current sliding window queue, and determine an accumulated value of the duration sub-durations as the duration.

[0060] In the current sliding window queue, an element at any position may appear once or multiple times, and the duration sub-duration may be the duration of each appearance of an element at any position in the current sliding window queue.

[0061] In one embodiment, the duration sub-duration is determined based on the interval duration between any one position element and an adjacent position element; or the duration sub-duration is determined based on the activity state of the UWB tag.

[0062] The adjacent position element of any position element can be understood as the position element that is adjacent to any position element and appears before any position element in the current sliding window queue. The interval length between any position element and the adjacent position element can be the time length between receiving the adjacent position element and any position element. This time length is relatively short when the UWB tag is active and relatively long when the UWB tag is stationary or dormant for a long time. The active state of the UWB tag can be understood as the state indicating the activity of the UWB tag, such as the frequency or time interval indicating the UWB tag to transmit data to the UWB sensor.

[0063] In this step, for any position element in the current sliding window queue, the position of the position element each time it appears in the current sliding window queue is determined; if it appears at the head of the queue in the current sliding window queue, the duration sub-duration of this appearance can be the minimum time interval for the UWB tag to transmit data to the UWB sensor when the UWB tag is active; if it appears at a non-head position in the current sliding window queue, the duration sub-duration of this appearance can be the interval between the position element and the adjacent position element; the accumulated value of the duration sub-duration of each appearance of any position element is determined as the duration of any position element in the current sliding window queue.

[0064] Figure 4 FIG. 1 is a schematic diagram of a current sliding window queue provided according to Embodiment 2 of the present invention. Figure 4 As shown, in the current sliding window queue, the duration of position element A is n=4;The duration of position element B is m=4; the duration of position element C is u=2. Among them, the duration tA1 is the minimum time interval for the UWB tag to transmit data to the UWB sensor in the active state. Figure 4 Except for tA1, the durations of other duration sub-items are the intervals between the corresponding position element and the adjacent position element.

[0065] S122. The position element with the longest duration is taken as the target position element.

[0066] For example, if based on Figure 4 It is determined that τA>τB>τC, then the position element A is the target position element.

[0067] S131. If the duration of the target position element is not less than the duration threshold, the work area position corresponding to the target position element is determined as the current work area position; otherwise, the previous work area position determined based on the previous sliding window queue is determined as the current work area position.

[0068] If it is determined that the duration of the target position element is not less than the duration threshold, the work area position corresponding to the target position element is determined as the current work area position corresponding to the UWB tag; otherwise, the previous work area position determined based on the previous sliding window queue is determined as the current work area position corresponding to the UWB tag, that is, although the duration of the target position element in the current cycle is the longest, it does not reach the duration threshold. According to the principle of inertia of object movement, the current cycle can maintain the position determined by the previous cycle unchanged.

[0069] The above calculation method uses the principle of "the minority obeys the majority" to effectively avoid the "illusion" of frequent tag position switching when positioning drift occurs. When the drift frequency is low or the probability of positioning error does not exceed 30% or lower, it can effectively filter out the wrong position entry event.

[0070] S141. When the current work area position is different from the previous work area position, determine that the UWB tag is switched from the previous work area position to the current work area position.

[0071] S142: Determine the last appearance time of the previous work area position in the previous sliding window queue, and the first appearance time of the current work area position in the current sliding window queue.

[0072] In the embodiment of the present invention, the position elements in the sliding window queue are stored in chronological order, with the position elements with earlier time being close to the head of the sliding window queue and the position elements with later time being close to the tail of the sliding window queue. Therefore, the time when the position of the previous work area last appeared in the previous sliding window queue, i.e., the last appearance time, can be determined; the time when the position of the current work area first appeared in the current sliding window queue, i.e., the first appearance time, can be determined.

[0073] S143: Based on the last appearance time and the first appearance time, determine the departure time of the UWB tag from the previous work area position and the entry time of the UWB tag into the current work area position.

[0074] In this step, the time when the UWB tag leaves the previous work area, i.e., the departure time, and the time when the UWB tag enters the current work area, i.e., the entry time, can be determined based on the time sequence of the last appearance time and the first appearance time.

[0075] In one embodiment, determining the departure time of the UWB tag from the previous work area position and the entry time of the UWB tag into the current work area position based on the last appearance time and the first appearance time includes:

[0076] If the last appearance time is before the first appearance time, the last appearance time is used as the leaving time and the first appearance time is used as the entering time; otherwise, the last appearance time is used as the leaving time and the entering time.

[0077] In general, the last appearance time should be before the first appearance time, that is, the UWB tag leaves the previous work area position and then enters the current work area position. The last appearance time is used as the departure time of the UWB tag leaving the previous work area position, and the first appearance time is used as the entry time of the UWB tag entering the current work area position.

[0078] However, when positioning drift occurs, there is a certain probability that the first appearance time appears before the last appearance time, that is, the UWB tag enters the current work area before leaving the previous work area. This is contradictory in physical logic. Therefore, the algorithm has made further corrections. When the above contradiction occurs, the last appearance time is used as the departure time and entry time, that is, the UWB tag enters the current work area at the same time as leaving the previous work area.

[0079] Furthermore, the work area flow information includes that the UWB tag leaves the previous work area position at the leaving time and enters the current work area position at the entering time.

[0080] The technical solution of the embodiment of the present invention saves the changes of the work area position of the UWB tag in the maintenance library over time in the form of a sliding window queue, and takes the instantaneous snapshot of the data structure of the sliding window queue as the analysis basis. The positioning error interference caused by the UWB positioning drift can be removed according to the majority decision method, and the real position of the tag can be effectively determined in any period; it can also deduce the departure and entry time of the front and rear work areas based on the changes of the work area position occurring in the queue snapshots of two adjacent analysis periods.

[0081] According to the technical solution of the embodiment of the present invention, the storage resources of the data structure operated are all in the memory space, and the operations involved are only simple addition and subtraction operations. Therefore, under the premise of using very few server hardware and software resources, it is possible to effectively filter the erroneous drift position of the label work area and determine whether the label has left or entered the work area.

[0082] Embodiment 3

[0083] Figure 5 1 is a schematic diagram of a positioning device according to Embodiment 3 of the present invention. This embodiment can be applied to the situation of locating the work area position and determining the work area position flow of the train wheel set or maintenance personnel in the maintenance depot of the train wheel set. Figure 5 As shown, the specific structure of the device includes:

[0084] An acquisition module 51 is used to acquire a current sliding window queue and a previous sliding window queue of a UWB tag, wherein the sliding window queue includes one or more position elements arranged in chronological order, wherein the position element indicates a work area position of the UWB tag in a maintenance depot, and the UWB tag is carried by a train wheelset or a maintenance personnel;

[0085] A first determination module 52 is used to determine the duration of each position element in the current sliding window queue, and take the position element with the largest duration as the target position element;

[0086] A second determination module 53 is used to compare the duration of the target position element with the duration threshold to determine the current work area position corresponding to the UWB tag;

[0087] The third determination module 54 is used to determine the work area flow information corresponding to the UWB tag according to the current work area position and the previous work area position, and the previous work area position is pre-determined based on the previous sliding window queue.

[0088] The positioning device provided in this embodiment obtains the current sliding window queue and the previous sliding window queue of the UWB tag through an acquisition module, the sliding window queue includes one or more position elements arranged in chronological order, the position element indicates the work area position of the UWB tag in the maintenance depot, and the UWB tag is carried by a train wheelset or a maintenance personnel; the duration of each position element in the current sliding window queue is determined through a first determination module, and the position element with the largest duration is used as the target position element; the duration of the target position element is compared with a duration threshold through a second determination module to determine the current work area position corresponding to the UWB tag; the work area flow information corresponding to the UWB tag is determined through the current work area position and the previous work area position through a third determination module, and the previous work area position is determined in advance based on the previous sliding window queue. This scheme determines the current work area position corresponding to the UWB tag by comparing the duration of the target position element with the longest duration in the current sliding window queue with the duration threshold. It achieves effective filtering of the tag's erroneous drift position when positioning the UWB tag, which can improve the accuracy of UWB tag positioning. By comparing the positioning results of the UWB tag in the sliding window queue of two adjacent acquisition cycles, the work area position flow of the UWB tag is judged, and the accuracy of the work area position flow judgment can be further improved on the basis of improving the positioning accuracy.

[0089] Furthermore, the first determining module 52 is specifically configured to:

[0090] For any position element in the current sliding window queue, determine the duration sub-duration of each appearance of the any position element in the current sliding window queue, and determine the accumulated value of the duration sub-duration as the duration.

[0091] Further, the duration of the continuation sub-duration is determined based on the interval duration between any position element and an adjacent position element; or the duration of the continuation sub-duration is determined based on the activity state of the UWB tag.

[0092] Furthermore, the second determining module 53 is specifically configured to:

[0093] If the duration of the target position element is not less than the duration threshold, the work area position corresponding to the target position element is determined as the current work area position; otherwise, the previous work area position determined based on the previous sliding window queue is determined as the current work area position.

[0094] Furthermore, the third determining module 54 is specifically configured to:

[0095] When the current work area position is different from the previous work area position, determining that the UWB tag is switched from the previous work area position to the current work area position;

[0096] Determine the last appearance time of the previous work area position in the previous sliding window queue, and the first appearance time of the current work area position in the current sliding window queue;

[0097] Based on the last appearance time and the first appearance time, determining the departure time of the UWB tag from the previous work area position and the entry time of the UWB tag into the current work area position;

[0098] The work area flow information includes that the UWB tag leaves the previous work area position at the leaving time and enters the current work area position at the entering time.

[0099] Furthermore, the third determining module 54 is specifically configured to:

[0100] If the last appearance time is before the first appearance time, the last appearance time is used as the leaving time and the first appearance time is used as the entering time; otherwise, the last appearance time is used as the leaving time and the entering time.

[0101] Furthermore, the duration threshold is dynamically determined according to the size of the sliding window queue and the UWB sensor collection duration.

[0102] The positioning device provided in the embodiment of the present invention can execute the positioning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0103] Embodiment 4

[0104] Figure 6 Schematic diagram of the structure of the electronic device implementing the embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0105] like Figure 6 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0106] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0107] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a positioning method.

[0108] In some embodiments, the positioning method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the positioning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the positioning method in any other appropriate manner (e.g., by means of firmware).

[0109] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0110] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0111] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0112] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0113] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0114] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0115] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0116] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A positioning method, characterized in that: include: Acquire the current sliding window queue and the previous sliding window queue of the UWB tag, wherein the sliding window queue includes one or more position elements arranged in chronological order, wherein the position element indicates the work area position of the UWB tag in the maintenance depot, and the UWB tag is carried by a train wheelset or a maintenance personnel; Determine the duration of each position element in the current sliding window queue, and take the position element with the largest duration as the target position element; Comparing the duration of the target position element with the duration threshold, and determining the current work area position corresponding to the UWB tag; The work area flow information corresponding to the UWB tag is determined by the current work area position and the previous work area position, and the previous work area position is pre-determined based on the previous sliding window queue.

2. The method according to claim 1, characterized in that Determining the duration of each position element in the current sliding window queue includes: For any position element in the current sliding window queue, determine the duration sub-duration of each appearance of the any position element in the current sliding window queue, and determine the accumulated value of the duration sub-duration as the duration.

3. The method according to claim 2, characterized in that The duration sub-duration is determined based on the interval duration between any one of the position elements and an adjacent position element; or the duration sub-duration is determined based on the active state of the UWB tag.

4. The method according to claim 1, characterized in that: Comparing the duration of the target position element with the duration threshold to determine the current work area position corresponding to the UWB tag includes: If the duration of the target position element is not less than the duration threshold, the work area position corresponding to the target position element is determined as the current work area position; otherwise, the previous work area position determined based on the previous sliding window queue is determined as the current work area position.

5. The method according to claim 1, characterized in that Determining the work area flow information corresponding to the UWB tag according to the current work area position and the previous work area position, including: When the current work area position is different from the previous work area position, determining that the UWB tag is switched from the previous work area position to the current work area position; Determine the last appearance time of the previous work area position in the previous sliding window queue, and the first appearance time of the current work area position in the current sliding window queue; Based on the last appearance time and the first appearance time, determining the departure time of the UWB tag from the previous work area position and the entry time of the UWB tag into the current work area position; The work area flow information includes that the UWB tag leaves the previous work area position at the leaving time and enters the current work area position at the entering time.

6. The method according to claim 5, characterized in that Determining the departure time of the UWB tag from the previous work area position and the entry time of the UWB tag into the current work area position based on the last appearance time and the first appearance time, including: If the last appearance time is before the first appearance time, the last appearance time is used as the leaving time and the first appearance time is used as the entering time; otherwise, the last appearance time is used as the leaving time and the entering time.

7. The method according to claim 1, characterized in that The duration threshold is dynamically determined according to the size of the sliding window queue and the UWB sensor acquisition duration.

8. A positioning device, characterized in that: include: An acquisition module is used to acquire a current sliding window queue and a previous sliding window queue of a UWB tag, wherein the sliding window queue includes one or more position elements arranged in chronological order, wherein the position element indicates a work area position of the UWB tag in a maintenance depot, and the UWB tag is carried by a train wheelset or a maintenance personnel; A first determination module is used to determine the duration of each position element in the current sliding window queue, and take the position element with the largest duration as the target position element; A second determination module is used to compare the duration of the target position element with the duration threshold to determine the current work area position corresponding to the UWB tag; The third determination module is used to determine the work area flow information corresponding to the UWB tag through the current work area position and the previous work area position, and the previous work area position is pre-determined based on the previous sliding window queue.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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