Internet-of-things communication positioning solar electronic lock

Abstract

The invention provides an internet-of-things communication positioning solar electronic lock, and relates to the technical field of electronic lock positioning. The electronic lock comprises a GNSS module used for acquiring satellite positioning information; the IMU module is used for acquiring direct positioning information; the communication module is connected with the GNSS module and the IMU module and is used for uplink and downloading of positioning information; the resolving server is connected with the communication module and is used for acquiring the satellite positioning information of the GNSS module and the direct positioning information of the IMU module sent by the communication module, performing position resolving analysis to form real-time position information and downloading the real-time position information to the IMU module through the communication module; the energy storage battery is respectively connected with the GNSS module, the IMU module, the communication module and the resolving server; and the solar panel is connected with the energy storage battery. According to the electronic lock, solar energy is reasonably collected, and a high-precision energy-saving mode is adopted for positioning.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic lock positioning, and in particular to an Internet of Things communication positioning solar electronic lock. Background Art

[0002] Electronic smart locks need to have positioning capabilities in some scenarios, and a positioning module needs to be integrated into the device. Usually, a satellite positioning module needs to be integrated into the lock. The accuracy of ordinary satellite positioning modules is low. The accuracy can be effectively improved after being enhanced with an RTK module, but the size and power consumption of the positioning module will increase dramatically, which is not suitable for ordinary small embedded devices. In addition, electronic locks are generally powered by lithium batteries or dry batteries, which need to be charged or replaced regularly and cannot be used outdoors for a long time.

[0003] Therefore, designing an IoT communication positioning solar electronic lock that reasonably collects solar energy and adopts a high-precision energy-saving method for positioning is an urgent problem to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide an Internet of Things communication positioning solar electronic lock, which uses solar panels to perform the function of the positioning system, combines GNSS and IMU modules to perform reasonable position information fusion and solution, and reasonably controls the GNSS operation time to reduce energy consumption, thereby fully ensuring the accuracy of the position information while saving energy.

[0005] In the first aspect, the present invention provides an Internet of Things communication positioning solar electronic lock, including: a GNSS module, used to obtain satellite positioning information; an IMU module, used to obtain direct positioning information; a communication module, connected to the GNSS module and the IMU module, for uplinking and downloading positioning information; a solution server, connected to the communication module, for obtaining the satellite positioning information of the GNSS module and the direct positioning information of the IMU module sent by the communication module, performing position solution analysis to form real-time position information, and downloading the real-time position information to the IMU module through the communication module; an energy storage battery, respectively connected to the GNSS module, the IMU module, the communication module and the solution server; and a solar panel connected to the energy storage battery.

[0006] In the present invention, the electronic lock uses the solar panel to perform the function of the positioning system, combines the GNSS and IMU modules to perform reasonable position information fusion and solution, and reasonably controls the GNSS operation time to reduce energy consumption, thereby fully ensuring the accuracy of the position information while saving energy.

[0007] As a possible implementation method, the solution server performs position solution analysis in the following ways: obtaining direct positioning information, and performing position change analysis to form direct positioning position change information; obtaining satellite positioning information based on the position positioning change information, and performing position solution analysis in combination with the direct positioning information to form solution position data.

[0008] In the present invention, the solution and analysis method includes two aspects. One is to use the positioning information of the IMU module to perform continuous position information positioning, and the other is to obtain the positioning information of the GNSS module within a certain period of time for fusion solution. While obtaining accurate position information, the deviation generated by the continuous position information of the IMU can also be corrected, thereby improving the accuracy of position positioning as a whole. Since the GNSS module is used for a shorter time, it can further reduce energy consumption and achieve energy-saving effects.

[0009] As a possible implementation method, direct positioning information is obtained, and position change analysis is performed to form direct positioning position change information, including: when the direct positioning information shows that the acceleration in each direction is zero, position static information is formed; when the direct positioning information shows that the acceleration in any direction is not zero, position movement information is formed.

[0010] In the present invention, the position information is updated only when the position of the electronic lock changes. Therefore, when using direct positioning information to locate the position information, it should first be determined whether the position has changed.

[0011] As a possible implementation method, satellite positioning information is acquired based on the position positioning change information, and position solution analysis is performed in combination with the direct positioning information to form solution position data: when the position positioning change information is displayed as position static information, direct positioning information is continuously acquired to perform position change analysis until the analysis result is displayed as position movement information, and satellite positioning information is acquired for the basic interval time after the position movement information is displayed; position solution analysis is performed based on the acquired satellite positioning information and the direct positioning information to form solution position data.

[0012] In the present invention, since obtaining satellite positioning information consumes a lot of energy, it is not continuously obtained, but it is necessary to establish corresponding acquisition conditions according to the direct location information, so as to ensure the most effective and optimal satellite positioning information acquisition arrangement. Here, the satellite behavior information acquisition condition established according to the direct location information is to determine the time period of the basic interval duration when the position of the electronic lock changes. At the same time, it is also necessary to limit the satellite positioning information acquisition time to avoid excessive energy consumption due to too long a time, and to avoid not being able to obtain enough positioning information due to too short a time.

[0013] As a possible implementation method, satellite positioning information is acquired based on the position positioning change information, and position solution analysis is performed in combination with the direct positioning information to form solution position data: when the position positioning change information is displayed as position movement information, satellite positioning information is acquired for a basic interval time after the position movement information is displayed, and position solution analysis is performed based on the acquired satellite positioning information and the direct positioning information to form solution position data.

[0014] In the present invention, of course, since the electronic lock has different conditions for triggering satellite positioning information when the current state is different based on the direct positioning information, if the position has been determined to be changing through the direct positioning information, the timing can be directly performed and the satellite positioning information can be obtained after the basic interval time.

[0015] As a possible implementation method, position solution analysis is performed based on the acquired satellite positioning information and direct positioning information to form solution position data, including: extracting the initial position information, acceleration information and angular velocity information in the direct positioning information, and establishing an IMU model, where: a m =a+b a +n a ,ω m =ω+b ω +n ω , a m is the measurement value of the accelerometer, ω m is the measurement value of the gyroscope, a is the true angular velocity, ω is the true angular velocity, b a is the default zero bias of the accelerometer, b ω is the default zero bias of the gyroscope, n a is the noise of the angular velocity meter, n ω is the noise of the gyroscope; a GNSS positioning model is established based on direct positioning information, where: p m =p+n p , p m is the coordinate measured by satellite positioning, p is the real coordinate, n p is the satellite positioning noise; combining the IMU model and the GNSS model, the operating state vector x = [p, v, b a , b ω ] T , v represents the true speed; according to the motion state vector x, determine the change in time interval k: x k+1 =f(x k ,u k )+w k , x k and x k+1are the state vectors at time k and time k+1, u k is the control input, w k is the process noise; determine the error state of the lock position: δx=xx T , x is the actual position value of the lock, x T is the estimated value of the lock position; the error state is brought into the motion model and linearly processed to obtain the error state equation: δx k+1 =F k δx k +G k w k , F k represents the state transfer matrix, G k Represents the process noise matrix; according to the error state equation and measurement model, linearization is performed to form the error state measurement relationship and determine the solution position value: z k =H k δx k +v k , z k Indicates the calculated position value, H k represents the measurement matrix, v k represents the measurement noise.

[0016] In the present invention, a specific method is provided for combining direct positioning information and satellite positioning information for fusion calculation to obtain high-precision position information. The calculation fully considers the noise and error accompanying the acquisition of real information, so that the accuracy of the obtained position information is further improved.

[0017] In a second aspect, the present invention provides a communication method for a solar electronic lock with Internet of Things communication positioning, which is applied to a solar electronic lock. The solar electronic lock includes a GNSS module, an IMU module, a communication module, a solution server, a storage battery, and a solar panel. The communication module is connected to the GNSS module and the IMU module, the solution server is connected to the communication module, the energy storage battery is respectively connected to the GNSS module, the IMU module, the communication module and the solution server, and the solar panel is connected to the energy storage battery. The method includes: the GNSS module obtains satellite positioning information; the IMU module obtains direct positioning information; the communication module performs uplink and download of positioning information; the solution server obtains the satellite positioning information of the GNSS module and the direct positioning information of the IMU module sent by the communication module, performs position solution analysis to form real-time position information, and downloads the real-time position information to the IMU module through the communication module.

[0018] Optionally, the method includes: acquiring satellite positioning information according to the position positioning change information, and performing position solution analysis in combination with the direct positioning information to form solution position data.

[0019] Optionally, direct positioning information is obtained, and position change analysis is performed to form direct positioning position change information, including: when the direct positioning information shows that the acceleration in each direction is zero, position static information is formed; when the direct positioning information shows that the acceleration in any direction is not zero, position movement information is formed.

[0020] Optionally, based on the position positioning change information, satellite positioning information is acquired, and position solution analysis is performed in combination with the direct positioning information to form solution position data, including: when the position positioning change information is displayed as position static situation information, direct positioning information is continuously acquired to perform position change analysis until the analysis result is displayed as position movement situation information, and satellite positioning information is continuously acquired for the basic interval time after the position movement situation information is displayed; position solution analysis is performed based on the acquired satellite positioning information and the direct positioning information to form solution position data.

[0021] The beneficial effects of the IoT communication positioning solar electronic lock provided by the present invention are:

[0022] The electronic lock uses solar panels to perform the positioning system function, and combines GNSS and IMU modules to perform reasonable position information fusion and solution, and reasonably controls the GNSS operation time to reduce energy consumption, thereby fully ensuring the accuracy of position information while saving energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments of the present invention are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 A diagram showing the steps for calculating the position of a solar electronic lock positioned by IoT communication according to an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of the structure of the IoT communication positioning solar electronic lock provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0027] Electronic smart locks need to have positioning capabilities in some scenarios, and a positioning module needs to be integrated into the device. Usually, a satellite positioning module needs to be integrated into the lock. The accuracy of ordinary satellite positioning modules is low. The accuracy can be effectively improved after being enhanced with an RTK module, but the size and power consumption of the positioning module will increase dramatically, which is not suitable for ordinary small embedded devices. In addition, electronic locks are generally powered by lithium batteries or dry batteries, which need to be charged or replaced regularly and cannot be used outdoors for a long time.

[0028] refer to Figure 1 , Figure 2 The embodiment of the present invention provides an IoT communication positioning solar electronic lock, which uses a solar panel to perform the function of a positioning system, combines GNSS and IMU modules to perform reasonable position information fusion and solution, and reasonably controls the GNSS operation time to reduce energy consumption, thereby fully ensuring the accuracy of position information while saving energy.

[0029] The electronic lock includes a GNSS module for acquiring satellite positioning information; an IMU module for acquiring direct positioning information; a communication module connected to the GNSS module and the IMU module for uplinking and downloading positioning information; a solution server connected to the communication module for acquiring the satellite positioning information of the GNSS module and the direct positioning information of the IMU module sent by the communication module, performing position solution analysis to form real-time position information, and downloading the real-time position information to the IMU module through the communication module; an energy storage battery connected to the GNSS module, the IMU module, the communication module and the solution server respectively; and a solar panel connected to the energy storage battery.

[0030] The position solution analysis method used by the electronic lock specifically includes the following steps:

[0031] S1: Obtain direct positioning information, and perform position change analysis to form direct positioning position change information.

[0032] The solution and analysis methods include two aspects. One is to use the positioning information of the IMU module for continuous positioning information. The other is to obtain the positioning information of the GNSS module within a certain period of time for fusion solution. While obtaining accurate position information, it can also correct the deviation caused by the continuous position information of the IMU, thereby improving the accuracy of position positioning overall. Since the GNSS module is used for a short time, it can further reduce energy consumption and achieve energy-saving effects.

[0033] Direct positioning information is obtained, and position change analysis is performed to form direct positioning position change information, including: when the direct positioning information shows that the acceleration in each direction is zero, position static information is formed; when the direct positioning information shows that the acceleration in any direction is not zero, position movement information is formed.

[0034] The position information is updated only when the position of the electronic lock changes. Therefore, when using direct positioning information to locate the position information, it should first be determined whether the position has changed.

[0035] S2: According to the position positioning change information, obtain satellite positioning information, and combine it with the direct positioning information to perform position solution analysis to form solution position data.

[0036] Based on the position positioning change information, satellite positioning information is acquired, and position solution analysis is performed in combination with the direct positioning information to form solution position data: when the position positioning change information is displayed as position static information, direct positioning information is continuously acquired to perform position change analysis until the analysis result is displayed as position movement information, and satellite positioning information is acquired for the basic interval duration after the position movement information is displayed; position solution analysis is performed based on the acquired satellite positioning information and the direct positioning information to form solution position data.

[0037] Since obtaining satellite positioning information consumes a lot of energy, it is not acquired continuously. Instead, corresponding acquisition conditions need to be established based on the direct location information, so as to ensure the most effective and optimal arrangement for obtaining satellite positioning information. Here, the satellite behavior information acquisition conditions established based on the direct location information are to determine the time period for which the electronic lock position changes for a basic interval. At the same time, it is also necessary to limit the satellite positioning information acquisition time to avoid excessive energy consumption due to too long a time, and to avoid not being able to obtain enough positioning information due to too short a time.

[0038] Based on the position positioning change information, satellite positioning information is acquired, and position solution analysis is performed in combination with the direct positioning information to form solution position data: when the position positioning change information is displayed as position movement information, satellite positioning information is acquired for the basic interval duration after the position movement information is displayed, and position solution analysis is performed based on the acquired satellite positioning information and the direct positioning information to form solution position data.

[0039] Of course, since the electronic lock has different conditions for triggering satellite positioning information when the current state is different based on the direct positioning information, if the position has been determined to be changing through direct positioning information, the timing can be directly performed and satellite positioning information can be obtained after the basic interval time.

[0040] Among them, the position solution analysis is performed based on the acquired satellite positioning information and direct positioning information to form the solution position data, including: extracting the initial position information, acceleration information and angular velocity information in the direct positioning information, and establishing an IMU model, wherein: a m =a+b a +n a ,ω m =ω+b ξ +n ξ , a m is the measurement value of the accelerometer, ω m is the measurement value of the gyroscope, a is the true angular velocity, ω is the true angular velocity, b a is the default zero bias of the accelerometer, b ω is the default zero bias of the gyroscope, n a is the noise of the angular velocity meter, n ω is the noise of the gyroscope; a GNSS positioning model is established based on direct positioning information, where: p m =p+n p , p m is the coordinate measured by satellite positioning, p is the real coordinate, n p is the satellite positioning noise; combining the IMU model and the GNSS model, the operating state vector x = [p, v, b a , b ω ] T , v represents the true speed; according to the motion state vector x, determine the change in time interval k: x k+1 =f(x k ,u k )+w k , x k and x k+1 are the state vectors at time k and time k+1, u k is the control input, w k is the process noise; determine the error state of the lock position: δx=xx T , x is the actual position value of the lock, x T is the estimated value of the lock position; the error state is brought into the motion model and linearly processed to obtain the error state equation: δx k+1 =F k δx k +G k w k , F k represents the state transfer matrix, G k Represents the process noise matrix; according to the error state equation and measurement model, linearization is performed to form the error state measurement relationship and determine the solution position value: z k =H k δx k+v k , z k Indicates the calculated position value, H k represents the measurement matrix, v k represents the measurement noise.

[0041] A specific method is provided to combine direct positioning information and satellite positioning information for fusion solution to obtain high-precision position information. The solution fully considers the noise and error accompanying the acquisition of real information, so that the accuracy of the obtained position information is further improved.

[0042] In summary, the beneficial effects of the IoT communication positioning solar electronic lock provided by the embodiment of the present invention are:

[0043] This method uses solar panels to perform the functions of the positioning system, combines GNSS and IMU modules to perform reasonable position information fusion and solution, and reasonably controls the GNSS operation time to reduce energy consumption, thereby fully ensuring the accuracy of position information while saving energy.

[0044] The present invention provides a communication method for an Internet of Things communication positioning solar electronic lock, which is applied to the solar electronic lock. The solar electronic lock comprises a GNSS module, an IMU module, a communication module, a solution server, an energy storage battery, and a solar panel. The communication module is connected to the GNSS module and the IMU module, the solution server is connected to the communication module, the energy storage battery is respectively connected to the GNSS module, the IMU module, the communication module and the solution server, and the solar panel is connected to the energy storage battery. The method comprises: the GNSS module acquires satellite positioning information; the IMU module acquires direct positioning information; the communication module performs uplink and download of positioning information; the solution server acquires the satellite positioning information of the GNSS module and the direct positioning information of the IMU module sent by the communication module, performs position solution analysis to form real-time position information, and downloads the real-time position information to the IMU module through the communication module.

[0045] Optionally, the method includes: acquiring satellite positioning information according to the position positioning change information, and performing position solution analysis in combination with the direct positioning information to form solution position data.

[0046] Optionally, direct positioning information is obtained, and position change analysis is performed to form direct positioning position change information, including: when the direct positioning information shows that the acceleration in each direction is zero, position static information is formed; when the direct positioning information shows that the acceleration in any direction is not zero, position movement information is formed.

[0047] Optionally, based on the position positioning change information, satellite positioning information is acquired, and position solution analysis is performed in combination with the direct positioning information to form solution position data, including: when the position positioning change information is displayed as position static situation information, direct positioning information is continuously acquired to perform position change analysis until the analysis result is displayed as position movement situation information, and satellite positioning information is continuously acquired for the basic interval time after the position movement situation information is displayed; position solution analysis is performed based on the acquired satellite positioning information and the direct positioning information to form solution position data.

[0048] In the embodiments of the present application, "indication" may include direct indication and indirect indication, and may also include explicit indication and implicit indication. The information indicated by a certain information is called information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as but not limited to, the information to be indicated can be directly indicated, such as the information to be indicated itself or the index of the information to be indicated. The information to be indicated can also be indirectly indicated by indicating other information, wherein there is an association between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, the indication of specific information can also be achieved by means of the arrangement order of each piece of information agreed in advance (for example, specified by the protocol), thereby reducing the indication overhead to a certain extent. At the same time, the common parts of each piece of information can also be identified and indicated uniformly to reduce the indication overhead caused by indicating the same information separately.

[0049] In addition, the specific indication method can also be various existing indication methods, such as but not limited to the above-mentioned indication methods and various combinations thereof. The specific details of the various indication methods can refer to the prior art and will not be repeated herein. As can be seen from the above, for example, when it is necessary to indicate multiple information of the same type, different indication methods may be used for different information. In the specific implementation process, the desired indication method can be selected according to specific needs. The embodiment of the present application does not limit the selected indication method. In this way, the indication method involved in the embodiment of the present application should be understood to cover various methods that can enable the party to be indicated to obtain the information to be indicated.

[0050] It should be understood that the information to be indicated can be sent as a whole, or divided into multiple sub-information and sent separately, and the sending period and / or sending time of these sub-information can be the same or different. The specific sending method is not limited in the embodiment of the present application. Among them, the sending period and / or sending time of these sub-information can be pre-defined, for example, pre-defined according to a protocol, or can be configured by the sending end device by sending configuration information to the receiving end device.

[0051] "Pre-definition" or "pre-configuration" can be implemented by pre-saving corresponding codes, tables or other methods that can be used to indicate relevant information in the device, and the embodiments of the present application do not limit the specific implementation method. Among them, "saving" can mean saving in one or more memories. The one or more memories can be set separately or integrated in an encoder or decoder, a processor, or a communication device. The one or more memories can also be partially set separately and partially integrated in a decoder, a processor, or a communication device. The type of memory can be any form of storage medium, which is not limited by the embodiments of the present application.

[0052] The "protocol" involved in the embodiments of the present application may refer to a protocol family in the communication field, a standard protocol with a similar protocol family frame structure, or a related protocol used in future communication systems, and the embodiments of the present application do not make specific limitations on this.

[0053] In the embodiments of the present application, descriptions such as "when...", "in the case of...", "if" and "if" all mean that the device will make corresponding processing under certain objective circumstances. It does not limit the time, nor does it require the device to have a judgment action when implementing it, nor does it mean that there are other limitations.

[0054] In the description of the embodiments of the present application, unless otherwise specified, " / " indicates that the objects associated before and after are in an "or" relationship, for example, A / B can represent A or B; "and / or" in the embodiments of the present application is only a description of the association relationship of the associated objects, indicating that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In addition, in the description of the embodiments of the present application, unless otherwise specified, "multiple" refers to two or more than two. "At least one of the following" or its similar expression refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple. In addition, in order to facilitate the clear description of the technical solution of the embodiments of the present application, in the embodiments of the present application, the words "first" and "second" are used to distinguish the same or similar items with basically the same functions and effects. Those skilled in the art will appreciate that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference. At the same time, in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0055] It should be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0056] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0057] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0058] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0059] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0060] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0061] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0062] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0063] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0064] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0065] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0066] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0067] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A solar electronic lock with IoT communication positioning, characterized in that: include: GNSS module, used to obtain satellite positioning information; IMU module, used to obtain direct positioning information; A communication module, connected to the GNSS module and the IMU module, for uploading and downloading positioning information; A solution server, connected to the communication module, for acquiring the satellite positioning information of the GNSS module and the direct positioning information of the IMU module sent by the communication module, performing position solution analysis to form real-time position information, and downloading the real-time position information to the IMU module through the communication module; An energy storage battery is connected to the GNSS module, the IMU module, the communication module and the solution server respectively; A solar panel is connected to the energy storage battery.

2. The IoT communication positioning solar electronic lock according to claim 1, characterized in that: The solution server performs position solution analysis in the following manner: Acquire the direct positioning information, and perform position change analysis to form direct positioning position change information; The satellite positioning information is acquired according to the position positioning change information, and the position solution analysis is performed in combination with the direct positioning information to form solution position data.

3. The IoT communication positioning solar electronic lock according to claim 2, characterized in that: The obtaining of the direct positioning information and performing position change analysis to form direct positioning position change information includes: When the direct positioning information shows that the acceleration in each direction is zero, the position static situation information is formed; When the direct positioning information shows that the acceleration in any direction is not zero, position movement information is generated.

4. The IoT communication positioning solar electronic lock according to claim 3, characterized in that: The satellite positioning information is obtained according to the position positioning change information, and the position solution analysis is performed in combination with the direct positioning information to form solution position data: When the position positioning change information is displayed as the position static situation information, the direct positioning information is continuously acquired to perform position change analysis until the analysis result is displayed as the position movement situation information, and the satellite positioning information is continuously acquired for the basic interval time after the position movement situation information is displayed; Position solution analysis is performed based on the acquired satellite positioning information and the direct positioning information to form the solved position data.

5. The IoT communication positioning solar electronic lock according to claim 3, characterized in that: The satellite positioning information is obtained according to the position positioning change information, and the position solution analysis is performed in combination with the direct positioning information to form solution position data: When the position positioning change information is displayed as the position movement information, the satellite positioning information acquisition is continued for the satellite positioning duration after the basic interval duration after the position movement information is displayed: Position solution analysis is performed based on the acquired satellite positioning information and the direct positioning information to form the solved position data.

6. The IoT communication positioning solar electronic lock according to claim 4 or 5, characterized in that: The performing position solution analysis based on the acquired satellite positioning information and the direct positioning information to form the solved position data includes: Extract the initial position information, acceleration information and angular velocity information from the direct positioning information and establish an IMU model, wherein: a m =a+b a +n a ,ω m =ω+b ω +n ω , a m is the measurement value of the accelerometer, ω m is the measurement value of the gyroscope, a is the true angular velocity, ω is the true angular velocity, b a is the default zero bias of the accelerometer, b ω is the default zero bias of the gyroscope, n a is the noise of the angular velocity meter, n ω is the noise of the gyroscope; A GNSS positioning model is established according to the direct positioning information, wherein: p m =p+n p , p m is the coordinate measured by satellite positioning, p is the real coordinate, n p Locating noise for satellites; Combine the IMU model and the GNSS model to determine the operating state vector x=[p, v, b a , b ω ] T , v represents the true speed; According to the motion state vector x, the change in time interval k is determined: x k+1 =f(x k ,u k )+w k , x k and x k+1 are the state vectors at time k and time k+l, u k is the control input, W k is the process noise; Determine the error state of the lock position: δx = xx T , x is the actual position value of the lock, x T is the estimated value of the lock position; The error state is brought into the motion model and linearly processed to obtain the error state equation: δx k+1 =F k δx k +G k w k , F k represents the state transfer matrix, G k represents the process noise matrix; According to the error state equation and the measurement model, linear processing is performed to form an error state measurement relationship, and the solution position value is determined: z k =H k δx k +v k , z k Indicates the calculated position value, H k represents the measurement matrix, v k represents the measurement noise.

7. A communication method for positioning a solar electronic lock by IoT communication, characterized in that: Applied to a solar electronic lock, the solar electronic lock includes a GNSS module, an IMU module, a communication module, a solution server, an energy storage battery, and a solar panel. The communication module is connected to the GNSS module and the IMU module, the solution server is connected to the communication module, the energy storage battery is respectively connected to the GNSS module, the IMU module, the communication module and the solution server, and the solar panel is connected to the energy storage battery. The method includes: The GNSS module acquires satellite positioning information; The IMU module obtains direct positioning information; The communication module performs uplink and download of positioning information; The solution server obtains the satellite positioning information of the GNSS module and the direct positioning information of the IMU module sent by the communication module, performs position solution analysis to form real-time position information, and downloads the real-time position information to the IMU module through the communication module.

8. The method according to claim 7, characterized in that The method comprises: The satellite positioning information is acquired according to the position positioning change information, and the position solution analysis is performed in combination with the direct positioning information to form solution position data.

9. The method according to claim 8, characterized in that The obtaining of the direct positioning information and performing position change analysis to form direct positioning position change information includes: When the direct positioning information shows that the acceleration in each direction is zero, the position static situation information is formed; When the direct positioning information shows that the acceleration in any direction is not zero, position movement information is generated.

10. The IoT communication positioning solar electronic lock according to claim 9, characterized in that: The obtaining of the satellite positioning information according to the position positioning change information, and performing position solution analysis in combination with the direct positioning information to form solution position data includes: When the position positioning change information is displayed as the position static situation information, the direct positioning information is continuously acquired to perform position change analysis until the analysis result is displayed as the position movement situation information, and the satellite positioning information is continuously acquired for the basic interval time after the position movement situation information is displayed; Position solution analysis is performed based on the acquired satellite positioning information and the direct positioning information to form the solved position data.

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