Positioning method and target terminal device

Abstract

The present application discloses a positioning method and a target terminal device. The method of the present application includes: receiving a positioning signal message sent by each target positioning navigation satellite through a signal receiving module; decoding each positioning signal message based on an MCU chip to obtain the message navigation information corresponding to each target positioning navigation satellite; determining the position coordinates corresponding to the target terminal device based on multiple message navigation information based on the MCU chip; sending the position coordinates corresponding to the target terminal device to the LORA communication base station through a LORA communication module; receiving the first alarm information sent by the LORA communication base station through the LORA communication module, wherein the first alarm information is sent by the service platform to the LORA communication base station when the service platform determines that the category of the area corresponding to the target terminal device is a dangerous area or an unknown area, and the first alarm information includes the category of the area corresponding to the target terminal device; and controlling the target terminal device to output the first alarm information based on the MCU chip.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to a positioning method and a target terminal device. Background Art

[0002] With the acceleration of urbanization and the saturation of urban population, many industries have begun to turn their attention to remote areas that have not yet been fully developed in order to seek business expansion, making more and more industries need to operate in remote areas, such as oil and gas field development and exploration, railway industry, power industry, etc. Due to the poor natural environment in remote areas, such as harsh climate and complex terrain, the operating environment in remote areas has a high risk factor. Therefore, in order to ensure the personal safety of operators, it is necessary to effectively locate operators in remote areas to prevent them from entering unknown or dangerous areas.

[0003] At present, the terminal equipment of workers in remote areas is usually positioned based on the GNSS (Global Navigation Satellite System) system and service platform. The specific process is as follows: after receiving the positioning signal telegrams sent by multiple positioning navigation satellites, the terminal equipment decodes the multiple positioning signal telegrams based on the ARM instruction set or the X86 instruction set to obtain multiple telegram navigation information, and determines the corresponding position coordinates of the terminal equipment according to the multiple telegram navigation information, and then sends the corresponding position coordinates of the terminal equipment to the service platform through a short-range communication wireless network (such as WIFI, Bluetooth, ZigBee, etc.). The service platform determines whether the worker is located in a safe area based on the corresponding position coordinates of the terminal equipment and the map corresponding to the target remote area. When it is determined that the worker is outside the safe area, the service platform sends an alarm message to the terminal device through the short-range communication wireless network, and the terminal device issues an alarm based on the alarm information. Due to the poor infrastructure and lack of power supply in remote areas, it is very difficult for operators to charge their terminal devices. The terminal devices consume a lot of power to decode and process GNSS positioning signal messages based on the ARM instruction set or X86 instruction set, and to interact with the service platform through short-range communication wireless networks. Therefore, how to reduce the power consumption of terminal devices while accurately locating the terminal devices of operators in remote areas is an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present application provide a positioning method and a target terminal device, the main purpose of which is to reduce the power consumption of the terminal device on the basis of accurately positioning the terminal device of the operator in the remote area.

[0005] In order to solve the above technical problems, the embodiments of the present application provide the following technical solutions:

[0006] In the first aspect, the present application provides a positioning method, which is applied to a target terminal device, wherein the target terminal device includes a signal receiving module, an MCU chip and a LORA communication module, wherein the MCU chip is a chip developed based on the RISC-V instruction set architecture, and the method includes:

[0007] Receiving the positioning signal message sent by each target positioning navigation satellite through the signal receiving module;

[0008] Decoding each positioning signal telegram based on the MCU chip to obtain the telegram navigation information corresponding to each target positioning navigation satellite;

[0009] Determine the location coordinates corresponding to the target terminal device based on the MCU chip according to the plurality of telegram navigation information;

[0010] The location coordinates corresponding to the target terminal device are sent to the LORA communication base station through the LORA communication module, so that the LORA communication base station sends the location coordinates corresponding to the target terminal device to the service platform, and the service platform determines the area category corresponding to the target terminal device according to the area map corresponding to the target area and the location coordinates corresponding to the target terminal device;

[0011] Receiving the first alarm information sent by the LORA communication base station through the LORA communication module, wherein the first alarm information is sent by the service platform to the LORA communication base station when the service platform determines that the category of the area corresponding to the target terminal device is a dangerous area or an unknown area, and the first alarm information includes the category of the area corresponding to the target terminal device;

[0012] Based on the MCU chip, the target terminal device is controlled to output the first alarm information.

[0013] In the second aspect, the present application also provides a target terminal device, which includes: a signal receiving module, an MCU chip and a LORA communication module, wherein the MCU chip is a chip developed based on the RISC-V instruction set architecture.

[0014] The signal receiving module is used to receive the positioning signal message sent by each target positioning navigation satellite;

[0015] The MCU chip is used to decode each positioning signal message to obtain the message navigation information corresponding to each target positioning navigation satellite; determine the position coordinates corresponding to the target terminal device according to the plurality of message navigation information;

[0016] The LORA communication module is used to send the location coordinates corresponding to the target terminal device to the LORA communication base station, so that the LORA communication base station sends the location coordinates corresponding to the target terminal device to the service platform, and the service platform determines the area category corresponding to the target terminal device according to the area map corresponding to the target area and the location coordinates corresponding to the target terminal device;

[0017] The LORA communication module is further used to receive a first alarm message sent by the LORA communication base station, wherein the first alarm message is sent by the service platform to the LORA communication base station when the service platform determines that the category of the area corresponding to the target terminal device is a dangerous area or an unknown area, and the first alarm message includes the category of the area corresponding to the target terminal device;

[0018] The MCU chip is also used to control the target terminal device to output the first alarm information.

[0019] In a third aspect, an embodiment of the present application provides a storage medium, wherein the storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the positioning method described in the first aspect.

[0020] In a fourth aspect, an embodiment of the present application provides a positioning device, which includes a storage medium; and one or more processors, wherein the storage medium is coupled to the processor, and the processor is configured to execute program instructions stored in the storage medium; when the program instructions are executed, the positioning method described in the first aspect is executed.

[0021] By means of the above technical solution, the technical solution provided by this application has at least the following advantages:

[0022] The present application provides a positioning method and a target terminal device. After the positioning application receives the positioning signal message sent by each target positioning navigation satellite through the signal receiving module, the positioning application decodes each positioning signal message based on the MCU chip to obtain the message navigation information corresponding to each target positioning navigation satellite, and after determining the position coordinates corresponding to the target terminal device according to multiple message navigation information, the position coordinates corresponding to the target terminal device are sent to the LORA communication base station through the LORA communication module, and the LORA communication base station forwards the position coordinates corresponding to the target terminal device to the service platform, and the service platform determines the position coordinates corresponding to the target area according to the area corresponding to the target area. The domain map and the location coordinates corresponding to the target terminal device determine the area category corresponding to the target terminal device; when the service platform determines that the area category corresponding to the target terminal device is a location area or a dangerous area, the service platform generates a first alarm message including the area category corresponding to the target terminal device, and sends the first alarm message to the LORA communication base station, which forwards the first alarm message to the target terminal device. At this time, the positioning application receives the first alarm message sent by the LORA communication base station through the LORA communication module, and controls the target terminal device to output the first alarm message based on the MCU chip to prompt the target operator that he is currently outside the safe area. Since the RISC-V instruction set architecture is an open source reduced instruction set architecture with the advantages of low power consumption, modularity and scalability, compared with the prior art of decoding multiple positioning signal telegrams based on the ARM instruction set or the X86 instruction set, decoding each positioning signal telegram based on the RISC-V instruction set can effectively reduce the power consumption of the target terminal device; and, Lora communication technology is an ultra-long-distance wireless transmission solution based on spread spectrum technology, which has the advantage of being able to achieve long-distance information transmission under low power consumption conditions. Therefore, compared with the prior art of data interaction with the service platform through a short-range communication wireless network, data interaction with the Lora communication base station (service platform) through the Lora communication module can effectively reduce the power consumption of the target terminal device, thereby achieving the reduction of the power consumption of the target terminal device on the basis of accurate positioning of the target terminal device.

[0023] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] By reading the detailed description below with reference to the accompanying drawings, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become easy to understand. In the accompanying drawings, several embodiments of the present application are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein:

[0025] Figure 1 A flow chart of a positioning method provided by an embodiment of the present application is shown;

[0026] Figure 2 Another positioning method flow chart provided by an embodiment of the present application is shown;

[0027] Figure 3 A block diagram of a target terminal device provided by an embodiment of the present application is shown;

[0028] Figure 4 A block diagram of another target terminal device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0029] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present application and to fully convey the scope of the present application to those skilled in the art.

[0030] In addition, the words “first”, “second” and the like used in the present application do not indicate any order, quantity or importance, but are only used to distinguish different parts.

[0031] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by technicians in the field to which this application belongs.

[0032] At present, the terminal equipment of workers in remote areas is usually positioned based on the GNSS system and service platform. The specific process is as follows: after receiving the positioning signal telegrams sent by multiple positioning navigation satellites, the terminal equipment decodes the multiple positioning signal telegrams based on the ARM instruction set or the X86 instruction set to obtain multiple telegram navigation information, and determines the corresponding position coordinates of the terminal equipment according to the multiple telegram navigation information, and then sends the corresponding position coordinates of the terminal equipment to the service platform through a short-range communication wireless network (such as WIFI, Bluetooth, ZigBee, etc.). The service platform determines whether the worker is located in a safe area based on the corresponding position coordinates of the terminal equipment and the map corresponding to the target remote area. When it is determined that the worker is outside the safe area, the service platform sends an alarm message to the terminal device through the short-range communication wireless network, and the terminal device issues an alarm based on the alarm information.

[0033] Due to the poor infrastructure and lack of power supply in remote areas, it is very difficult for operators to charge the terminal equipment. The terminal equipment consumes a lot of power to decode and process GNSS positioning signal messages based on the ARM instruction set or X86 instruction set, and to interact with the service platform through the short-range communication wireless network.

[0034] Therefore, in order to accurately locate the terminal equipment of the operator in the remote area and reduce the power consumption of the terminal equipment, the embodiment of the present application provides a positioning method, such as Figure 1 As shown, the method includes at least 101-106.

[0035] 101. Receive a positioning signal message sent by each target positioning navigation satellite through a signal receiving module.

[0036] Among them, the target terminal device is the terminal device of the target operator, and the target operator is the staff working in remote areas. The target terminal device includes a signal receiving module, an MCU chip and a LORA (Long Range Radio) communication module, and the MCU chip is a chip developed based on the RISC-V instruction set architecture. In the embodiment of the present application, the execution subject in each step is a positioning application running in the MCU chip of the target terminal device, wherein the target terminal device can be but is not limited to: a smart phone, a handheld terminal device PDA, a smart wearable device, etc.

[0037] Among them, the embodiments of the present application are applicable to any existing global satellite navigation system, that is, the multiple target positioning navigation satellites can be multiple positioning navigation satellites in the GPS (Global Positioning System) system, or can be multiple positioning navigation satellites in the BDS (BeiDou Navigation Satellite System) system, etc. The embodiments of the present application do not specifically limit this.

[0038] The positioning application receives the positioning signal message sent by each target positioning navigation satellite through the signal receiving module.

[0039] 102. Decode each positioning signal message based on the MCU chip to obtain the message navigation information corresponding to each target positioning navigation satellite.

[0040] Among them, the MCU chip is a chip developed based on the RISC-V instruction set architecture, and the MCU chip contains the RISC-V instruction set.

[0041] After receiving the positioning signal telegram sent by each target positioning navigation satellite, the positioning application can decode and process each positioning signal telegram based on the MCU chip, that is, decode and process each positioning signal telegram based on the MCU chip according to the RISC-V instruction set, so as to obtain the telegram navigation information corresponding to each target positioning navigation satellite.

[0042] It should be noted that, since the RISC-V instruction set architecture is an open source reduced instruction set architecture with the advantages of low power consumption, modularity and scalability, compared with the existing technology of decoding multiple positioning signal telegrams based on the ARM instruction set or X86 instruction set, decoding each positioning signal telegram based on the RISC-V instruction set can effectively reduce the power consumption of the target terminal device, thereby improving the battery life of the target terminal device.

[0043] 103. Determine the location coordinates corresponding to the target terminal device based on the MCU chip according to the multiple telegram navigation information.

[0044] After obtaining the telegram navigation information corresponding to each target positioning navigation satellite, the positioning application can determine the location coordinates corresponding to the target terminal device based on multiple telegram navigation information based on the MCU chip. The specific process is: based on the MCU chip, the location coordinates corresponding to each target positioning navigation satellite are extracted from multiple telegram navigation information, and the location coordinates corresponding to the target terminal device are determined based on the location coordinates corresponding to each target positioning navigation satellite.

[0045] 104. Send the location coordinates corresponding to the target terminal device to the LoRa communication base station through the LoRa communication module.

[0046] After the positioning application determines the location coordinates corresponding to the target terminal device, it can send the location coordinates corresponding to the target terminal device to the LoRa communication base station through the LoRa communication module; after receiving the location coordinates corresponding to the target terminal device, the LoRa communication base station can forward the location coordinates corresponding to the target terminal device to the service platform, and the service platform determines the area category corresponding to the target terminal device based on the area map corresponding to the target area and the location coordinates corresponding to the target terminal device.

[0047] It should be noted that LORA communication technology is an ultra-long-distance wireless transmission solution based on spread spectrum technology, which has the advantage of being able to realize long-distance information transmission under low power consumption conditions. Therefore, compared with the prior art of data interaction with the service platform through a short-range communication wireless network, data interaction with the LORA communication base station (service platform) through the LORA communication module can effectively reduce the power consumption of the target terminal device, thereby improving the battery life of the target terminal device.

[0048] Among them, the target area is a remote area, and the regional map corresponding to the target area can be a satellite map or a high-precision map. The regional map corresponding to the target area includes a safe area (i.e., an operating area), an unknown area, and a dangerous area; wherein, since the position coordinates corresponding to the target terminal device determined by the positioning application are the position coordinates of the target terminal device in the GNSS coordinate system, after receiving the position coordinates of the target terminal device in the GNSS coordinate system, the service platform also needs to convert the position coordinates of the target terminal device in the GNSS coordinate system into the position coordinates of the target terminal device in the regional map, and then determine the area where the target terminal device is located according to the position coordinates of the target terminal device in the regional map. When it is determined that the area where the target terminal device is located is a safe area, the category of the area corresponding to the target terminal device is determined to be a safe area. When it is determined that the area where the target terminal device is located is an unknown area, the category of the area corresponding to the target terminal device is determined to be an unknown area. When it is determined that the area where the target terminal device is located is a dangerous area, the category of the area corresponding to the target terminal device is determined to be a dangerous area.

[0049] Among them, data interaction can be carried out between the LORA communication base station and the service platform through a wired network or a wireless network, and this embodiment of the present application does not specifically limit this.

[0050] It should be noted that in actual application, after the service platform converts the position coordinates of the target terminal device in the GNSS coordinate system into the position coordinates of the target terminal device in the regional map, it can also mark the position of the target terminal device in the regional map and control the display screen to output the regional map so that the staff can know the location of the target terminal device; among them, the service platform can store the regional map corresponding to the target area and the relevant information corresponding to each terminal device (such as location coordinates, holder information, etc.) in the local storage space, or store this information in a database, and this application does not make specific limitations on this.

[0051] 105. Receive the first alarm information sent by the LoRa communication base station through the LoRa communication module.

[0052] When the service platform determines that the area category corresponding to the target terminal device is a location area or a danger zone, the service platform will generate a first alarm information including the area category corresponding to the target terminal device, and send the first alarm information to the LORA communication base station, which will forward the first alarm information to the target terminal device. At this time, the positioning application can receive the first alarm information sent by the LORA communication base station through the LORA communication module.

[0053] The first warning information generated by the service platform may also include navigation information, and the navigation information is used to guide the target operating personnel back to the safe area; the first warning information may be, but is not limited to, text information, voice information, video information, etc.

[0054] 106. Control the target terminal device to output the first alarm information based on the MCU chip.

[0055] After receiving the first alarm information, the positioning application can control the target terminal device to output the first alarm information based on the MCU chip to prompt the target operator that he is currently outside the safe area.

[0056] The embodiment of the present application provides a positioning method. After the positioning application receives the positioning signal message sent by each target positioning navigation satellite through the signal receiving module, the positioning application decodes each positioning signal message based on the MCU chip to obtain the message navigation information corresponding to each target positioning navigation satellite, and after determining the position coordinates corresponding to the target terminal device according to the multiple message navigation information, the position coordinates corresponding to the target terminal device are sent to the LORA communication base station through the LORA communication module, and the LORA communication base station forwards the position coordinates corresponding to the target terminal device to the service platform, and the service platform determines the position coordinates corresponding to the target area according to the area corresponding to the target area. The map and the location coordinates corresponding to the target terminal device determine the category of the area corresponding to the target terminal device; when the service platform determines that the category of the area corresponding to the target terminal device is a location area or a dangerous area, the service platform generates a first alarm message including the category of the area corresponding to the target terminal device, and sends the first alarm message to the LORA communication base station, which forwards the first alarm message to the target terminal device. At this time, the positioning application receives the first alarm message sent by the LORA communication base station through the LORA communication module, and controls the target terminal device to output the first alarm message based on the MCU chip to prompt the target operator that he is currently outside the safe area. Since the RISC-V instruction set architecture is an open source reduced instruction set architecture with the advantages of low power consumption, modularity and scalability, compared with the prior art of decoding multiple positioning signal telegrams based on the ARM instruction set or the X86 instruction set, decoding each positioning signal telegram based on the RISC-V instruction set can effectively reduce the power consumption of the target terminal device; and, Lora communication technology is an ultra-long-distance wireless transmission solution based on spread spectrum technology, which has the advantage of being able to achieve long-distance information transmission under low power consumption conditions. Therefore, compared with the prior art of data interaction with the service platform through a short-range communication wireless network, data interaction with the Lora communication base station (service platform) through the Lora communication module can effectively reduce the power consumption of the target terminal device, thereby achieving the reduction of the power consumption of the target terminal device on the basis of accurate positioning of the target terminal device.

[0057] To explain in more detail below, the present application embodiment provides another positioning method, specifically as follows Figure 2 As shown, the method includes at least 201-207.

[0058] 201. Receive a positioning signal message sent by each target positioning navigation satellite through a signal receiving module.

[0059] Regarding step 201, receiving the positioning signal message sent by each target positioning navigation satellite through the signal receiving module, please refer to Figure 1The description of the corresponding parts will not be repeated here in the embodiments of the present application.

[0060] 202. Decode each positioning signal message based on the MCU chip to obtain the message navigation information corresponding to each target positioning navigation satellite.

[0061] Among them, the MCU chip includes the RISC-V instruction set, which contains multiple basic instructions and multiple decoding extension instructions. The multiple decoding extension instructions are written for the positioning signal telegrams.

[0062] The positioning application decodes each positioning signal telegram based on the MCU chip to obtain the telegram navigation information corresponding to each target positioning navigation satellite. The specific process is: the positioning application decodes each positioning signal telegram based on the MCU chip according to multiple decoding extension instructions to obtain the telegram navigation information corresponding to each target positioning navigation satellite.

[0063] It should be noted that since the RISC-V instruction set contains multiple decoding extension instructions written for positioning signal telegrams, the positioning application decodes each positioning signal telegram based on the MCU chip according to multiple decoding extension instructions, which can improve the decoding efficiency, thereby further reducing the power consumption of the target terminal device and improving the battery life of the target terminal device.

[0064] 203. Determine the location coordinates corresponding to the target terminal device based on the MCU chip according to the multiple telegram navigation information.

[0065] After obtaining the telegram navigation information corresponding to each target positioning navigation satellite, the positioning application can determine the location coordinates corresponding to the target terminal device based on multiple telegram navigation information based on the MCU chip.

[0066] Specifically, in this step, the positioning application can use any of the following two methods to determine the location coordinates corresponding to the target terminal device based on the MCU chip according to multiple telegram navigation information:

[0067] (1) Extracting the position coordinates corresponding to each target positioning navigation satellite from multiple telegram navigation information based on the MCU chip, calculating the pseudo-range value corresponding to each target positioning navigation satellite according to the position coordinates corresponding to each target positioning navigation satellite, and determining the position coordinates corresponding to the target terminal device according to the pseudo-range value corresponding to each target positioning navigation satellite.

[0068] (2) First, differential information is received through the LORA communication module, wherein the differential information includes a distance correction coefficient and a correction coefficient change rate corresponding to each target positioning navigation satellite; secondly, the position coordinates corresponding to each target positioning navigation satellite are extracted from multiple telegram navigation information based on the MCU chip, and the pseudo-distance value corresponding to each target positioning navigation satellite is calculated according to the position coordinates corresponding to each target positioning navigation satellite, and after the pseudo-distance value corresponding to each target positioning navigation satellite is corrected according to the distance correction coefficient and the correction coefficient change rate corresponding to each target positioning navigation satellite, the position coordinates corresponding to the target terminal device are determined according to the multiple pseudo-distance values ​​that have been corrected.

[0069] Among them, the differential base station includes a signal receiving module, an MCU chip developed based on the RISC-V instruction set architecture, and a LORA communication module. After the differential base station receives the positioning signal telegram sent by each target positioning navigation satellite through the signal receiving module, it decodes each positioning signal telegram based on the MCU chip to obtain the telegram navigation information corresponding to each target positioning navigation satellite, and extracts the position coordinates corresponding to each target positioning navigation satellite from multiple telegram navigation information. After that, the current true distance value corresponding to each target positioning navigation satellite is calculated according to the position coordinates corresponding to the differential base station itself and the position coordinates corresponding to each target positioning navigation satellite, and the current pseudo-distance value corresponding to each target positioning navigation satellite is calculated according to the position coordinates corresponding to the differential base station itself and the position coordinates corresponding to each target positioning navigation satellite.

[0070] Among them, for any target positioning navigation satellite, the current true distance value corresponding to the target positioning navigation satellite is subtracted from the current pseudo-distance value to obtain the current distance correction coefficient corresponding to the target positioning navigation satellite, and the difference between the current distance correction coefficient corresponding to the target positioning navigation satellite and the historical distance correction coefficient is divided by the positioning signal telegram sending time interval corresponding to the target positioning navigation satellite to obtain the correction coefficient change rate corresponding to the target positioning navigation satellite. After the differential base station calculates the distance correction coefficient (i.e., the current distance correction coefficient) and the correction coefficient change rate corresponding to each target positioning navigation satellite, it will determine the distance correction coefficient and the correction coefficient change rate corresponding to each target positioning navigation satellite as differential information, and send the differential information directly to the target terminal device through the LORA communication module, or send the differential information directly to the LORA communication base station through the LORA communication module, and the LORA communication base station forwards the differential information to the target terminal device. At this time, the positioning application can receive the differential information through the LORA communication module.

[0071] Among them, for any target positioning navigation satellite, the specific process of correcting the pseudo-distance value corresponding to the target positioning navigation satellite according to the distance correction coefficient and the correction coefficient change rate corresponding to the target positioning navigation satellite is: first calculate the product of the correction coefficient change rate corresponding to the target positioning navigation satellite and the positioning signal telegram sending time interval to obtain a first calculation result, then add the pseudo-distance value corresponding to the target positioning navigation satellite to the distance correction coefficient corresponding to the target positioning navigation satellite and the first calculation result to obtain a second calculation result, and determine the second calculation result as the pseudo-distance value corresponding to the target positioning navigation satellite that has been corrected.

[0072] 204. Perform filtering processing on the location coordinates corresponding to the target terminal device based on the MCU chip.

[0073] After determining the location coordinates corresponding to the target terminal device, the positioning application can also filter the location coordinates corresponding to the target terminal device based on the MCU chip, thereby improving the accuracy of the location coordinates corresponding to the target terminal device. The specific process is: first, obtain the positioning frequency corresponding to the target terminal device, where the positioning frequency corresponding to the target terminal device is the frequency at which the positioning application locates the target terminal device; secondly, determine the target filtering algorithm corresponding to the target terminal device according to the positioning frequency corresponding to the target terminal device; finally, filter the location coordinates corresponding to the target terminal device according to the target filtering algorithm.

[0074] Among them, the specific process of determining the target filtering algorithm corresponding to the target terminal device according to the positioning frequency corresponding to the target terminal device is: when the positioning frequency is less than or equal to the first frequency threshold, the Kalman filtering algorithm is determined as the target filtering algorithm; when the positioning frequency is greater than the first frequency threshold and less than or equal to the second frequency threshold, the mean filtering algorithm is determined as the target filtering algorithm; when the positioning frequency is greater than the second frequency threshold, there is no need to perform the operation of filtering the position coordinates corresponding to the target terminal device; wherein, the second frequency threshold is greater than the first frequency threshold, and the embodiment of the present application does not specifically limit the values ​​of the first frequency threshold and the second frequency threshold.

[0075] It should be noted that the higher the positioning frequency corresponding to the target terminal device, the higher the power consumption of the target terminal device. Therefore, when the positioning frequency corresponding to the target terminal device is greater than the second frequency threshold, there is no need to perform the operation of filtering the position coordinates corresponding to the target terminal device. When the positioning frequency corresponding to the target terminal device is greater than the first frequency threshold and less than or equal to the second frequency threshold, a mean filtering algorithm with relatively low power consumption and general filtering effect is selected to filter the position coordinates corresponding to the target terminal device. When the positioning frequency corresponding to the target terminal device is less than or equal to the first frequency threshold, a Kalman filtering algorithm with relatively high power consumption but better filtering effect is selected to filter the position coordinates corresponding to the target terminal device.

[0076] 205. Send the location coordinates corresponding to the target terminal device after filtering to the LORA communication base station through the LORA communication module.

[0077] Among them, regarding 205, sending the location coordinates corresponding to the filtered target terminal device to the LORA communication base station through the LORA communication module, you can refer to the relevant description of the above step 104, and the embodiment of the present application will not be repeated here.

[0078] 206. Receive the first alarm information sent by the LoRa communication base station through the LoRa communication module.

[0079] Among them, regarding step 206, receiving the first alarm information sent by the LoRa communication base station through the LoRa communication module, please refer to Figure 1 The description of the corresponding parts will not be repeated here in the embodiments of the present application.

[0080] Furthermore, in an embodiment of the present application, the target terminal device also includes a vital sign monitoring sensor, such as a pulse monitoring sensor, a body temperature monitoring sensor, a blood pressure monitoring sensor, etc.; the positioning application can also collect current vital sign data corresponding to the target operator through the vital sign monitoring sensor, such as current pulse data, current body temperature data, current blood pressure data, etc., and send the unique identifier, position coordinates and current vital sign data corresponding to the target terminal device to the LORA communication base station through the LORA communication module; after receiving the unique identifier, position coordinates and current vital sign data corresponding to the target terminal device, the LORA communication base station can send the unique identifier, position coordinates and current vital sign data corresponding to the target terminal device to the service platform, and the service platform will collect the current vital sign data corresponding to the target operator according to the regional map corresponding to the target area and the target terminal device. The location coordinates determine the category of the area corresponding to the target terminal device, and search for the historical vital signs data of the target operator according to the unique identifier corresponding to the target terminal device, and generate the vital signs monitoring results corresponding to the target operator according to the current vital signs data and historical vital signs data corresponding to the target operator; when the service platform determines that the category of the area corresponding to the target terminal device is a location area or a dangerous area, and / or there is a problem with the vital signs monitoring results corresponding to the target operator, the service platform will generate a first alarm message including the category of the area corresponding to the target terminal device and the vital signs monitoring results corresponding to the target operator, and send the first alarm message to the LORA communication base station, which forwards the first alarm message to the target terminal device. At this time, the positioning application can receive the first alarm message sent by the LORA communication base station through the LORA communication module.

[0081] Among them, when the service platform determines that there is a problem with the vital signs monitoring result corresponding to the target operator, the service platform can also generate a second alarm information including the location coordinates corresponding to the target terminal device, the area category and the vital signs monitoring result corresponding to the target operator, and send the second alarm information and the unique identifier corresponding to the designated terminal device to the LORA communication base station, and the LORA communication base station forwards the second alarm information to the designated terminal device according to the unique identifier corresponding to the designated terminal device, and the positioning application in the designated terminal device receives the second alarm information sent by the LORA communication base station through the LORA communication module, and controls the designated terminal device to output the second alarm information based on the MCU chip, so that the user of the designated terminal device can determine the actual situation of the target operator according to the area category corresponding to the target terminal device and the vital signs monitoring result corresponding to the target operator, and rescue the target operator according to the location coordinates corresponding to the target terminal device, wherein the designated terminal device can be a terminal device of the rescue personnel in the target area, or a terminal device of the operator near the target operator, and the second alarm information can be but not limited to text information, voice information, video information, etc.

[0082] Among them, the specific process of the service platform generating the vital signs monitoring results corresponding to the target workers based on the current vital signs data and historical vital signs data corresponding to the target workers can refer to the existing vital signs monitoring solutions, and the embodiments of the present application will not elaborate on this.

[0083] 207. Control the target terminal device to output the first alarm information based on the MCU chip.

[0084] After receiving the first alarm information, the positioning application can control the target terminal device to output the first alarm information based on the MCU chip to prompt the target operator that the target operator is currently outside the safe area and / or that there is a problem with the vital signs monitoring results of the target operator.

[0085] Furthermore, in an embodiment of the present application, when the service platform determines that there is a problem with the vital signs monitoring results corresponding to a worker (i.e., other workers) near the target worker, the service platform will generate a second alarm information including the location coordinates corresponding to the other terminal devices, the area category, and the vital signs monitoring results corresponding to the other workers, and send the second alarm information and the unique identifier corresponding to the target terminal device to the LORA communication base station, which forwards the second alarm information to the target terminal device according to the unique identifier corresponding to the target terminal device. At this time, the positioning application can receive the second alarm information sent by the LORA communication base station through the LORA communication module, and control the target terminal device to output the second alarm information based on the MCU chip, so that the target worker can determine the actual situation of the other workers according to the area category corresponding to the other terminal devices and the vital signs monitoring results corresponding to the other workers, and rescue the other workers according to the location coordinates corresponding to the other terminal devices.

[0086] Furthermore, as a response to the above Figure 1 and Figure 2 In order to realize the method shown in the figure, another embodiment of the present application also provides a target terminal device. This device embodiment corresponds to the aforementioned method embodiment. For ease of reading, this device embodiment will not repeat the details of the aforementioned method embodiment one by one, but it should be clear that the device in this embodiment can correspond to all the contents of the aforementioned method embodiment. The target terminal device is used to reduce the power consumption of the terminal device on the basis of accurately locating the terminal device of the operator in the remote area, as shown in FIG. Figure 3 As shown, the target terminal device includes: a signal receiving module 31, an MCU chip 32 and a LORA communication module 33, wherein the MCU chip 32 is a chip developed based on the RISC-V instruction set architecture.

[0087] The signal receiving module 31 is used to receive the positioning signal message sent by each target positioning navigation satellite;

[0088] The MCU chip 32 is used to decode each positioning signal message to obtain the message navigation information corresponding to each target positioning navigation satellite; and determine the position coordinates corresponding to the target terminal device according to the plurality of message navigation information;

[0089] The LORA communication module 33 is used to send the location coordinates corresponding to the target terminal device to the LORA communication base station, so that the LORA communication base station sends the location coordinates corresponding to the target terminal device to the service platform, and the service platform determines the area category corresponding to the target terminal device according to the area map corresponding to the target area and the location coordinates corresponding to the target terminal device;

[0090] The LORA communication module 33 is also used to receive the first alarm information sent by the LORA communication base station, wherein the first alarm information is sent by the service platform to the LORA communication base station when the service platform determines that the category of the area corresponding to the target terminal device is a dangerous area or an unknown area, and the first alarm information includes the category of the area corresponding to the target terminal device;

[0091] The MCU chip 32 is also used to control the target terminal device to output the first alarm information.

[0092] Further, such as Figure 4 As shown, the MCU chip 32 includes a RISC-V instruction set, which includes multiple basic instructions and multiple decoding extension instructions; the MCU chip 32 is specifically used to decode each of the positioning signal telegrams according to the multiple decoding extension instructions to obtain the telegram navigation information corresponding to each of the target positioning navigation satellites.

[0093] Further, such as Figure 4 As shown, the LORA communication module 33 is also used to receive differential information, wherein the differential information includes a distance correction coefficient and a correction coefficient change rate corresponding to each of the target positioning navigation satellites;

[0094] The MCU chip 32 is specifically used to extract the position coordinates corresponding to each of the target positioning navigation satellites from the multiple telegram navigation information; calculate the pseudo-distance value corresponding to each of the target positioning navigation satellites according to the position coordinates corresponding to each of the target positioning navigation satellites; correct the pseudo-distance value corresponding to each of the target positioning navigation satellites according to the distance correction coefficient and the correction coefficient change rate corresponding to each of the target positioning navigation satellites; and determine the position coordinates corresponding to the target terminal device according to the multiple pseudo-distance values ​​that have been corrected.

[0095] Further, such as Figure 4 As shown, the MCU chip 32 is also used to obtain the positioning frequency corresponding to the target terminal device: determine the target filtering algorithm corresponding to the target terminal device according to the positioning frequency; and filter the position coordinates corresponding to the target terminal device according to the target filtering algorithm;

[0096] The LORA communication module 33 is specifically used to send the position coordinates corresponding to the target terminal device after filtering to the LORA communication base station.

[0097] Further, such as Figure 4As shown, the MCU chip 32 is specifically used to determine the Kalman filter algorithm as the target filter algorithm when the positioning frequency is less than or equal to the first frequency threshold; when the positioning frequency is greater than the first frequency threshold and less than or equal to the second frequency threshold, the mean filter algorithm is determined as the target filter algorithm.

[0098] Further, such as Figure 4 As shown, the target terminal device also includes a vital sign monitoring sensor 34;

[0099] A vital sign monitoring sensor 34 is used to collect current vital sign data corresponding to the target operator;

[0100] The LORA communication module 33 is specifically used to send the unique identification, position coordinates and current vital signs data corresponding to the target terminal device and the target operator to the LORA communication base station, so that the LORA communication base station sends the unique identification, position coordinates and current vital signs data corresponding to the target terminal device and the target operator to the service platform, and the service platform determines the area category corresponding to the target terminal device according to the area map and the position coordinates corresponding to the target terminal device, searches for the historical vital signs data corresponding to the target operator according to the unique identification corresponding to the target terminal device, and generates the vital signs monitoring result corresponding to the target operator according to the current vital signs data and historical vital signs data corresponding to the target operator;

[0101] The LORA communication module 33 is specifically used to receive the first alarm information sent by the LORA communication base station, wherein the first alarm information includes the area category corresponding to the target terminal device and the vital sign monitoring result corresponding to the target operator.

[0102] Further, such as Figure 4 As shown, the LORA communication module 33 is also used to receive the second alarm information sent by the LORA communication base station, wherein the second alarm information includes the location coordinates corresponding to other terminal devices, the area category and the vital signs monitoring results corresponding to other operators;

[0103] The MCU chip 32 is also used to control the target terminal device to output the second alarm information.

[0104] The embodiment of the present application provides a positioning method and a target terminal device. The embodiment of the present application can decode each positioning signal telegram based on the MCU chip after the positioning application receives the positioning signal telegram sent by each target positioning navigation satellite through the signal receiving module, so as to obtain the telegram navigation information corresponding to each target positioning navigation satellite, and after determining the position coordinates corresponding to the target terminal device according to the multiple telegram navigation information, send the position coordinates corresponding to the target terminal device to the LORA communication base station through the LORA communication module, and the LORA communication base station forwards the position coordinates corresponding to the target terminal device to the service platform, and the service platform performs the corresponding positioning according to the target area. The service platform determines the category of the area corresponding to the target terminal device based on the corresponding area map and the location coordinates corresponding to the target terminal device; when the service platform determines that the category of the area corresponding to the target terminal device is a location area or a dangerous area, the service platform generates a first alarm message including the category of the area corresponding to the target terminal device, and sends the first alarm message to the LORA communication base station, which forwards the first alarm message to the target terminal device. At this time, the positioning application receives the first alarm message sent by the LORA communication base station through the LORA communication module, and controls the target terminal device to output the first alarm message based on the MCU chip to prompt the target operator that he is currently outside the safe area. Since the RISC-V instruction set architecture is an open source reduced instruction set architecture with the advantages of low power consumption, modularity and scalability, compared with the prior art of decoding multiple positioning signal telegrams based on the ARM instruction set or the X86 instruction set, decoding each positioning signal telegram based on the RISC-V instruction set can effectively reduce the power consumption of the target terminal device; and, Lora communication technology is an ultra-long-distance wireless transmission solution based on spread spectrum technology, which has the advantage of being able to achieve long-distance information transmission under low power consumption conditions. Therefore, compared with the prior art of data interaction with the service platform through a short-range communication wireless network, data interaction with the Lora communication base station (service platform) through the Lora communication module can effectively reduce the power consumption of the target terminal device, thereby achieving the reduction of the power consumption of the target terminal device on the basis of accurate positioning of the target terminal device.

[0105] An embodiment of the present application provides a storage medium, which includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the positioning method described above.

[0106] The storage medium may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM, and the memory includes at least one storage chip.

[0107] An embodiment of the present application also provides a positioning device, which includes a storage medium; and one or more processors, wherein the storage medium is coupled to the processor, and the processor is configured to execute program instructions stored in the storage medium; when the program instructions are executed, the above-mentioned positioning method is executed.

[0108] The embodiment of the present application provides a device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, the following steps are implemented:

[0109] Receiving the positioning signal message sent by each target positioning navigation satellite through the signal receiving module;

[0110] Decoding each positioning signal telegram based on the MCU chip to obtain the telegram navigation information corresponding to each target positioning navigation satellite;

[0111] Determine the location coordinates corresponding to the target terminal device based on the MCU chip according to the plurality of telegram navigation information;

[0112] The location coordinates corresponding to the target terminal device are sent to the LORA communication base station through the LORA communication module, so that the LORA communication base station sends the location coordinates corresponding to the target terminal device to the service platform, and the service platform determines the area category corresponding to the target terminal device according to the area map corresponding to the target area and the location coordinates corresponding to the target terminal device;

[0113] Receiving the first alarm information sent by the LORA communication base station through the LORA communication module, wherein the first alarm information is sent by the service platform to the LORA communication base station when the service platform determines that the category of the area corresponding to the target terminal device is a dangerous area or an unknown area, and the first alarm information includes the category of the area corresponding to the target terminal device;

[0114] Based on the MCU chip, the target terminal device is controlled to output the first alarm information.

[0115] Furthermore, the MCU chip includes a RISC-V instruction set, and the RISC-V instruction set includes a plurality of basic instructions and a plurality of decoding extension instructions; the decoding processing of each positioning signal telegram based on the MCU chip to obtain the telegram navigation information corresponding to each target positioning navigation satellite includes:

[0116] Based on the MCU chip, each positioning signal telegram is decoded according to a plurality of the decoding extension instructions to obtain the telegram navigation information corresponding to each target positioning navigation satellite.

[0117] Further, the determining the location coordinates corresponding to the target terminal device based on the MCU chip according to the plurality of the electronic message navigation information includes:

[0118] Receiving differential information through the LORA communication module, wherein the differential information includes a distance correction coefficient and a correction coefficient change rate corresponding to each of the target positioning navigation satellites;

[0119] Based on the MCU chip, the position coordinates corresponding to each target positioning navigation satellite are extracted from the multiple telegram navigation information; the pseudo-distance value corresponding to each target positioning navigation satellite is calculated according to the position coordinates corresponding to each target positioning navigation satellite; the pseudo-distance value corresponding to each target positioning navigation satellite is corrected according to the distance correction coefficient corresponding to each target positioning navigation satellite and the correction coefficient change rate; the position coordinates corresponding to the target terminal device are determined based on the multiple pseudo-distance values ​​that have been corrected.

[0120] Furthermore, after determining the location coordinates corresponding to the target terminal device based on the MCU chip according to the plurality of electronic message navigation information, the method further includes:

[0121] Acquire the positioning frequency corresponding to the target terminal device based on the MCU chip: determine the target filtering algorithm corresponding to the target terminal device according to the positioning frequency; and perform filtering processing on the position coordinates corresponding to the target terminal device according to the target filtering algorithm;

[0122] The method of sending the location coordinates corresponding to the target terminal device to the LoRa communication base station through the LoRa communication module includes:

[0123] The location coordinates corresponding to the filtered target terminal device are sent to the LORA communication base station through the LORA communication module.

[0124] Further, determining a target filtering algorithm corresponding to the target terminal device according to the positioning frequency includes:

[0125] When the positioning frequency is less than or equal to a first frequency threshold, determining a Kalman filter algorithm as the target filter algorithm;

[0126] When the positioning frequency is greater than the first frequency threshold and less than or equal to the second frequency threshold, a mean filtering algorithm is determined as the target filtering algorithm.

[0127] Furthermore, the target terminal device further includes a vital sign monitoring sensor; and the method further includes:

[0128] Collecting current vital sign data corresponding to the target operator through the vital sign monitoring sensor;

[0129] The method of sending the location coordinates corresponding to the target terminal device to the LoRa communication base station through the LoRa communication module includes:

[0130] The unique identifier, location coordinates and current vital signs data corresponding to the target terminal device and the target operator are sent to the LORA communication base station through the LORA communication module, so that the LORA communication base station sends the unique identifier, location coordinates and current vital signs data corresponding to the target terminal device and the target operator to the service platform, and the service platform determines the category of the area corresponding to the target terminal device according to the area map and the location coordinates corresponding to the target terminal device, searches for the historical vital signs data corresponding to the target operator according to the unique identifier corresponding to the target terminal device, and generates the vital signs monitoring result corresponding to the target operator according to the current vital signs data and historical vital signs data corresponding to the target operator;

[0131] The receiving, through the LoRa communication module, the first alarm information sent by the LoRa communication base station includes:

[0132] The first alarm information sent by the LORA communication base station is received through the LORA communication module, wherein the first alarm information includes the area category corresponding to the target terminal device and the vital sign monitoring result corresponding to the target operator.

[0133] Furthermore, the method further comprises:

[0134] Receiving the second alarm information sent by the LORA communication base station through the LORA communication module, wherein the second alarm information includes the location coordinates corresponding to other terminal devices, the area category and the vital signs monitoring results corresponding to other operators;

[0135] Based on the MCU chip, the target terminal device is controlled to output the second alarm information.

[0136] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program code having the following method steps: receiving a positioning signal message sent by each target positioning navigation satellite through the signal receiving module; decoding each positioning signal message based on the MCU chip to obtain message navigation information corresponding to each target positioning navigation satellite; determining the position coordinates corresponding to the target terminal device based on a plurality of message navigation information based on the MCU chip; sending the position coordinates corresponding to the target terminal device to the LORA communication base station through the LORA communication module, so that the LORA communication base station can transmit the position coordinates corresponding to the target terminal device to the LORA communication base station. The corresponding location coordinates are sent to the service platform, and the service platform determines the category of the area corresponding to the target terminal device according to the area map corresponding to the target area and the location coordinates corresponding to the target terminal device; the first alarm information sent by the LORA communication base station is received through the LORA communication module, wherein the first alarm information is sent by the service platform to the LORA communication base station when the service platform determines that the category of the area corresponding to the target terminal device is a dangerous area or an unknown area, and the first alarm information includes the category of the area corresponding to the target terminal device; the target terminal device is controlled to output the first alarm information based on the MCU chip.

[0137] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0138] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0139] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0140] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0141] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0142] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0143] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0144] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0145] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0146] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included within the scope of the claims of the present application.

Claims

1. A positioning method, characterized in that: The method is applied to a target terminal device, which includes a signal receiving module, an MCU chip and a LORA communication module, wherein the MCU chip is a chip developed based on the RISC-V instruction set architecture, and the method includes: Receiving the positioning signal message sent by each target positioning navigation satellite through the signal receiving module; Decoding each positioning signal telegram based on the MCU chip to obtain the telegram navigation information corresponding to each target positioning navigation satellite; Determine the location coordinates corresponding to the target terminal device based on the MCU chip according to the plurality of telegram navigation information; The location coordinates corresponding to the target terminal device are sent to the LORA communication base station through the LORA communication module, so that the LORA communication base station sends the location coordinates corresponding to the target terminal device to the service platform, and the service platform determines the area category corresponding to the target terminal device according to the area map corresponding to the target area and the location coordinates corresponding to the target terminal device; Receiving the first alarm information sent by the LORA communication base station through the LORA communication module, wherein the first alarm information is sent by the service platform to the LORA communication base station when the service platform determines that the category of the area corresponding to the target terminal device is a dangerous area or an unknown area, and the first alarm information includes the category of the area corresponding to the target terminal device; Based on the MCU chip, the target terminal device is controlled to output the first alarm information.

2. The method according to claim 1, characterized in that The MCU chip includes a RISC-V instruction set, and the RISC-V instruction set includes a plurality of basic instructions and a plurality of decoding extension instructions; the decoding process of each positioning signal telegram based on the MCU chip to obtain the telegram navigation information corresponding to each target positioning navigation satellite includes: Based on the MCU chip, each positioning signal telegram is decoded according to a plurality of the decoding extension instructions to obtain the telegram navigation information corresponding to each target positioning navigation satellite.

3. The method according to claim 1, characterized in that: The determining the location coordinates corresponding to the target terminal device based on the MCU chip according to the plurality of the electronic message navigation information includes: Receiving differential information through the LORA communication module, wherein the differential information includes a distance correction coefficient and a correction coefficient change rate corresponding to each of the target positioning navigation satellites; Based on the MCU chip, the position coordinates corresponding to each target positioning navigation satellite are extracted from the multiple telegram navigation information; the pseudo-distance value corresponding to each target positioning navigation satellite is calculated according to the position coordinates corresponding to each target positioning navigation satellite; the pseudo-distance value corresponding to each target positioning navigation satellite is corrected according to the distance correction coefficient corresponding to each target positioning navigation satellite and the correction coefficient change rate; the position coordinates corresponding to the target terminal device are determined based on the multiple pseudo-distance values ​​that have been corrected.

4. The method according to any one of claims 1 to 3, characterized in that After determining the location coordinates corresponding to the target terminal device based on the MCU chip according to the plurality of electronic message navigation information, the method further includes: Acquire the positioning frequency corresponding to the target terminal device based on the MCU chip: determine the target filtering algorithm corresponding to the target terminal device according to the positioning frequency; and perform filtering processing on the position coordinates corresponding to the target terminal device according to the target filtering algorithm; The method of sending the location coordinates corresponding to the target terminal device to the LoRa communication base station through the LoRa communication module includes: The location coordinates corresponding to the filtered target terminal device are sent to the LORA communication base station through the LORA communication module.

5. The method according to claim 4, characterized in that The determining, according to the positioning frequency, a target filtering algorithm corresponding to the target terminal device includes: When the positioning frequency is less than or equal to a first frequency threshold, determining a Kalman filter algorithm as the target filter algorithm; When the positioning frequency is greater than the first frequency threshold and less than or equal to the second frequency threshold, a mean filtering algorithm is determined as the target filtering algorithm.

6. The method according to claim 1, characterized in that The target terminal device also includes a vital sign monitoring sensor; the method also includes: Collecting current vital sign data corresponding to the target operator through the vital sign monitoring sensor; The method of sending the location coordinates corresponding to the target terminal device to the LoRa communication base station through the LoRa communication module includes: The unique identifier, location coordinates and current vital signs data corresponding to the target terminal device and the target operator are sent to the LORA communication base station through the LORA communication module, so that the LORA communication base station sends the unique identifier, location coordinates and current vital signs data corresponding to the target terminal device and the target operator to the service platform, and the service platform determines the category of the area corresponding to the target terminal device according to the area map and the location coordinates corresponding to the target terminal device, searches for the historical vital signs data corresponding to the target operator according to the unique identifier corresponding to the target terminal device, and generates the vital signs monitoring result corresponding to the target operator according to the current vital signs data and historical vital signs data corresponding to the target operator; The receiving, through the LoRa communication module, the first alarm information sent by the LoRa communication base station includes: The first alarm information sent by the LORA communication base station is received through the LORA communication module, wherein the first alarm information includes the area category corresponding to the target terminal device and the vital sign monitoring result corresponding to the target operator.

7. The method according to claim 6, characterized in that The method further comprises: Receiving the second alarm information sent by the LORA communication base station through the LORA communication module, wherein the second alarm information includes the location coordinates corresponding to other terminal devices, the area category and the vital signs monitoring results corresponding to other operators; Based on the MCU chip, the target terminal device is controlled to output the second alarm information.

8. A target terminal device, characterized in that: The target terminal device includes: a signal receiving module, an MCU chip and a LORA communication module, wherein the MCU chip is a chip developed based on the RISC-V instruction set architecture. The signal receiving module is used to receive the positioning signal message sent by each target positioning navigation satellite; The MCU chip is used to decode each positioning signal message to obtain the message navigation information corresponding to each target positioning navigation satellite; determine the position coordinates corresponding to the target terminal device according to the plurality of message navigation information; The LORA communication module is used to send the location coordinates corresponding to the target terminal device to the LORA communication base station, so that the LORA communication base station sends the location coordinates corresponding to the target terminal device to the service platform, and the service platform determines the area category corresponding to the target terminal device according to the area map corresponding to the target area and the location coordinates corresponding to the target terminal device; The LORA communication module is further used to receive a first alarm message sent by the LORA communication base station, wherein the first alarm message is sent by the service platform to the LORA communication base station when the service platform determines that the category of the area corresponding to the target terminal device is a dangerous area or an unknown area, and the first alarm message includes the category of the area corresponding to the target terminal device; The MCU chip is also used to control the target terminal device to output the first alarm information.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the device where the storage medium is located is controlled to execute the positioning method according to any one of claims 1 to 7.

10. A positioning device, characterized in that: The device includes a storage medium; and one or more processors, the storage medium is coupled to the processor, and the processor is configured to execute program instructions stored in the storage medium; when the program instructions are executed, the positioning method described in any one of claims 1 to 7 is executed.

Images