Indoor positioning method and system of automatic external defibrillator, medium and equipment

Abstract

The invention belongs to the field of indoor positioning of an automatic external defibrillator, and provides an indoor positioning method and system of the automatic external defibrillator, a medium and equipment in order to solve the problem that the indoor positioning precision of the automatic external defibrillator is poor. The indoor positioning method of the automatic external defibrillator comprises the following steps: obtaining pose data of the automatic external defibrillator to be positioned relative to an indoor reference point according to a known corresponding relation between a space positioning sequence and pose state data relative to the indoor reference point; on the basis of the pose data of the to-be-positioned automatic external defibrillator relative to the indoor reference point, the actual position information of the to-be-positioned automatic external defibrillator is analyzed in combination with the automatic external defibrillator position database, and the automatic external defibrillator position database is updated to obtain the position information of the to-be-positioned automatic external defibrillator. The position of the indoor automatic external defibrillator can be quickly and accurately positioned.

Description

Technical Field

[0001] The invention belongs to the field of indoor positioning of automatic external defibrillators, and in particular relates to an indoor positioning method, system, medium and equipment of an automatic external defibrillator. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] AED (Automated External Defibrillator) is a portable medical device that can diagnose specific arrhythmias and deliver electric shocks for defibrillation. It can be used by non-professionals to rescue patients with cardiac arrest. In the event of cardiac arrest, using an automated external defibrillator (AED) to defibrillate and perform cardiopulmonary resuscitation on patients within the "golden 4 minutes" of the best rescue time is the most effective way to prevent sudden death. The number of automated external defibrillators in public places in many regions has increased rapidly, and how to quickly and accurately locate automated external defibrillators has become a technical difficulty. Summary of the invention

[0004] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides an indoor positioning method, system, medium and device of an automatic external defibrillator, which can quickly and accurately locate the position of the indoor automatic external defibrillator.

[0005] In order to achieve the above object, the present invention adopts the following technical solution: A first aspect of the present invention provides an indoor positioning method for an automatic external defibrillator.

[0006] An indoor positioning method for an automatic external defibrillator, comprising: Acquire a spatial positioning sequence of the automatic external defibrillator to be positioned; the spatial positioning sequence is composed of device status data of the automatic external defibrillator, spatial environment data, original positioning data based on a single beacon node, and positioning calculation data based on dual beacon nodes; According to the known correspondence between the spatial positioning sequence and the posture state data relative to the indoor reference point, the posture data of the automatic external defibrillator to be positioned relative to the indoor reference point is obtained; the posture data includes the horizontal distance, vertical distance and deviation angle data relative to the indoor reference point; Based on the posture data of the automatic external defibrillator to be located relative to the indoor reference point, combined with the automatic external defibrillator position database, the actual position information of the automatic external defibrillator to be located is parsed, and the automatic external defibrillator position database is updated.

[0007] A second aspect of the present invention provides an indoor positioning system for an automatic external defibrillator.

[0008] An indoor positioning system for an automatic external defibrillator, comprising: A spatial positioning sequence acquisition module, which is used to acquire the spatial positioning sequence of the automatic external defibrillator to be located; the spatial positioning sequence is composed of the device status data of the automatic external defibrillator, the spatial environment data, the original positioning data based on the single beacon node and the positioning calculation data based on the dual beacon nodes; A posture data calculation module is used to obtain the posture data of the automatic external defibrillator to be positioned relative to the indoor reference point according to the known corresponding relationship between the spatial positioning sequence and the posture state data relative to the indoor reference point; the posture data includes the horizontal distance, vertical distance and deviation angle data relative to the indoor reference point; The actual position analysis module is used to analyze the actual position information of the automatic external defibrillator to be located based on the posture data of the automatic external defibrillator to be located relative to the indoor reference point, combined with the automatic external defibrillator position database, and update the automatic external defibrillator position database.

[0009] A third aspect of the present invention provides a computer-readable storage medium.

[0010] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in the indoor positioning method for an automatic external defibrillator as described above.

[0011] A fourth aspect of the present invention provides an electronic device.

[0012] An electronic device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the indoor positioning method of an automatic external defibrillator as described above are implemented.

[0013] The beneficial effects of the present invention are: (1) The present invention utilizes the correspondence between the spatial positioning sequence of the automatic external defibrillator and the posture state data of the indoor reference point to calculate the posture data of the automatic external defibrillator relative to the indoor reference point, and then combines it with the automatic external defibrillator position database to parse the actual position information of the automatic external defibrillator to be located, thereby solving the problem of inaccurate and slow positioning speed of existing indoor positioning equipment, and achieving the effect of quickly and accurately locating the position of the indoor automatic external defibrillator.

[0014] (2) The present invention uses a selective state space linear sequence spatiotemporal prediction model to determine the correspondence between the spatial positioning sequence and the posture state data relative to the indoor reference point, and then combines the original positioning data based on a single beacon node and the positioning calculation data based on a dual beacon node in the spatial positioning sequence of the automatic external defibrillator to achieve an efficient and accurate indoor centimeter-level positioning effect.

[0015] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0017] Figure 1 is a schematic diagram of an electronic device according to an embodiment of the present invention; Figure 2 is a flow chart of an indoor positioning method for an automatic external defibrillator according to an embodiment of the present invention; Figure 3 is a schematic diagram of AOA (Angle-of-Arrival) ranging in an embodiment of the present invention; Figure 4 is a schematic diagram of a selective state space linear sequence spatiotemporal prediction model according to an embodiment of the present invention; Figure 5 The figure is a schematic diagram of the structure of an indoor positioning system of an automatic external defibrillator according to an embodiment of the present invention. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0019] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0020] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0021] Indoor positioning systems are much more technically difficult than outdoor positioning systems due to the complexity of indoor buildings and the fact that there are more indoor obstructions than outdoor ones. At present, various positioning technologies in the field of indoor positioning have certain limitations. For example, RFID (Radio Frequency Identification) positioning has poor system construction capabilities and inaccurate positioning in practical applications due to the limited range of the technology and the lack of communication capabilities. The ultrasonic positioning principle is based on ultrasonic ranging technology, and most of them use reflection ranging methods. By using positioning algorithms and combining multiple sets of ultrasonic distance data, the specific location coordinates of the located object can be calculated. However, on the other hand, ultrasonic waves have high requirements for the environment when receiving reflections, and in actual use, there are technical problems such as poor positioning effects in complex environments. Wi-Fi is mainly limited by the unevenness of crowdsourcing locations, the complex and changeable environment, which easily affects Wi-Fi signals, reduces its positioning accuracy, and the positioning drift phenomenon is particularly serious. In addition, the tag consumes large power and is expensive. In addition, in actual use, the data collection phase of fingerprint positioning is cumbersome and easily affected by base station changes, and there are technical problems such as insufficient accuracy of all locations. Bluetooth uses fingerprint matching or similar base station signal trajectory matching methods, which have higher accuracy. However, in actual use, it requires equipment to be deployed and regularly maintained, and it has technical problems such as being greatly affected by the environment, poor stability, and a small range of system action. Therefore, for indoor public places, how to quickly and accurately locate an automatic external defibrillator is a technical difficulty in indoor positioning. In order to solve the above problems, the present invention provides an indoor positioning method, system, medium and device for an automatic external defibrillator, which can accurately locate the position of an indoor automatic external defibrillator.

[0022] The specific implementation process of the present invention is described in detail below in conjunction with the accompanying drawings and specific implementation process.

[0023] Reference Figure 1 , a schematic diagram of an electronic device is given. It should be noted that, Figure 1 The electronic device 100 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0024] like Figure 1As shown, the electronic device 100 includes a central processing unit (CPU) 101, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 102 or a program loaded from a storage part 108 to a random access memory (RAM) 103. In the RAM 103, various programs and data required for system operation are also stored. The central processing unit 101, the ROM 102, and the RAM 103 are connected to each other through a bus 104. An input / output (I / O) interface 105 is also connected to the bus 104.

[0025] The following components are connected to the I / O interface 105: an input section 106 including a keyboard, a mouse, etc.; an output section 107 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 108 including a hard disk, etc.; and a communication section 109 including a network interface card such as a local area network (LAN) card, a modem, etc. The communication section 109 performs communication processing via a network such as the Internet. A drive 110 is also connected to the I / O interface 105 as needed. A removable medium 111, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 110 as needed, so that a computer program read therefrom is installed into the storage section 108 as needed.

[0026] When the central processing unit 101 in the electronic device of this embodiment executes the program, the following is achieved: Figure 2 The steps in the indoor positioning method of the automatic external defibrillator are shown.

[0027] Figure 2 FIG. 1 is a flow chart of an indoor positioning method for an automatic external defibrillator according to an embodiment of the present invention. Figure 2 As shown, the indoor positioning method of the automatic external defibrillator in this embodiment may include: S201, obtaining a spatial positioning sequence of an automatic external defibrillator to be positioned; the spatial positioning sequence is composed of device status data of the automatic external defibrillator, spatial environment data, original positioning data based on a single beacon node, and positioning calculation data based on dual beacon nodes.

[0028] In step S201, the equipment status data includes but is not limited to basic equipment information data such as the model, energy, usage status, and production time of the automatic external defibrillator; the spatial environment data includes but is not limited to the basic conditions of the location of the automatic external defibrillator, such as external environment information data including the location area, floor height, and building structure.

[0029] The original positioning data based on a single beacon node here refers to the location data obtained by the automatic external defibrillator through ultra-wideband positioning and other technologies. For example, by fusing the information arrival angle data and signal strength data information, the distance measurement of the device terminal is performed based on the two acquired data, and the original positioning data of the automatic external defibrillator can be obtained indoors.

[0030] The calculation process of the positioning calculation data based on the dual beacon node is: The original positioning data based on the single beacon node is subjected to noise elimination calculation to obtain preprocessed positioning data; wherein the noise elimination method can be implemented by using other existing noise elimination methods such as filtering algorithms; Using the pre-processed positioning data, a triangle is formed based on the dual beacon nodes and the automatic external defibrillator to be located, and the positioning calculation data based on the dual beacon nodes is obtained based on the triangulation positioning algorithm.

[0031] Specifically, combined Figure 3 ,AOA ranging uses the angle between the beacon node and the automatic external defibrillator to be located to calculate the distance between the two.

[0032] Figure 3 There are 2 beacon nodes in the system, with coordinates of , , the coordinates of the automatic external defibrillator to be located are The angle at which the signal emitted by the beacon node reaches the automatic external defibrillator to be located is , calculate the distance from each beacon node to the terminal to be located ; ; In this embodiment, a triangulation positioning algorithm based on RSSI (Received Signal Strength Indicator) is used. By utilizing the distances between three known beacon nodes and the terminal device to be located, a distance equation group from the beacon node to the terminal device to be located can be listed according to the point-to-point distance formula, and then the coordinates of the terminal to be located can be calculated.

[0033] Assume that the coordinates of the three beacon nodes are known: , , the coordinates of the terminal device to be located are , the distance from the beacon node to the terminal to be located is , we can get the distance circle equation group from the beacon node to the terminal to be located: ; By simplifying it, we can get the positioning terminal coordinate formula: ; The automatic external defibrillator is deployed as multiple beacon nodes in the positioning area. The beacon nodes at different positions have corresponding signal strength characteristics. In addition, the beacon nodes at different positions in the area are trained multiple times to obtain RSSI (Received Signal Strength Indication) values, and the RSSI values ​​are processed to obtain the RSSI value closest to the actual value as the RSSI value of the beacon node at this position. The measurement data value of AOA is integrated to obtain the positioning calculation data based on dual beacon nodes.

[0034] S202, obtaining the posture data of the automatic external defibrillator to be positioned relative to the indoor reference point according to the known correspondence between the spatial positioning sequence and the posture state data relative to the indoor reference point; the posture data includes the horizontal distance, vertical distance and deviation angle data relative to the indoor reference point.

[0035] In one or more embodiments, a spatial positioning sequence training sample set of an automatic external defibrillator is used to train a selective state space linear sequence spatiotemporal prediction model, thereby determining the correspondence between the spatial positioning sequence and the posture state data relative to an indoor reference point.

[0036] The selective state-space linear sequence spatiotemporal prediction model of this embodiment includes a state-space model, a gated multi-layer perceptron model, a static parameterized channel mapping and space mapping network, and an activation function.

[0037] Among them, the gated multilayer perceptron model consists of a normalized network to solve the problem of uneven data distribution caused by the influence of the previous network during training; the static parameterized channel mapping is used to calculate the data obtained by gate multiplication of the linear results of spatial mapping; the spatial mapping network is used to fuse different influencing parameters in the network, including linear and spatial related parameters; the activation function is used to decide whether to pass the signal and the content to be transmitted to the next network layer.

[0038] according to Figure 4 , the steps of training the selective state space linear sequence spatiotemporal prediction model include: Normalize the spatial positioning sequence training samples of the automatic external defibrillator; Linear mapping is performed on the normalized spatial positioning sequence training samples and the posture state data relative to the indoor reference point. The weights of each parameter in the normalized spatial positioning sequence training samples are dynamically assigned to obtain the preliminary model learning results. The linear mapping obtained from the preliminary model learning results is further processed by the activation function, and then the spatial gating unit method is used to dynamically adjust the weights of each parameter in the spatial positioning sequence training sample to obtain spatial dimension data, and the fused spatial data is obtained based on the spatial mapping; the fused spatial data is further processed by the linear mapping; Repeat all the above steps, and continuously adjust the weights through the preset loss function until the set requirements are met and the training is stopped.

[0039] S203, based on the posture data of the automatic external defibrillator to be located relative to the indoor reference point and in combination with the automatic external defibrillator position database, the actual position information of the automatic external defibrillator to be located is parsed, and the automatic external defibrillator position database is updated.

[0040] In one or more embodiments, the indoor positioning method of the automatic external defibrillator further includes: An automatic external defibrillator map is constructed based on the updated automatic external defibrillator location database, and a route map between the automatic external defibrillator to be located and the user is planned.

[0041] In some other embodiments, in the automatic external defibrillator map, the user's actual location is displayed based on the user's current location information; the location information is also displayed to the user based on the indoor positioning of the automatic external defibrillator, and device auxiliary information and basic status information are added; among them, the device auxiliary information mainly refers to the manufacturer, device number, functional information data, etc.; the device status data mainly refers to the basic information data of the device such as model, energy, usage status, and production time.

[0042] When the position and device status data of the automatic external defibrillator change, the spatial positioning sequence of the automatic external defibrillator is updated.

[0043] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, the computer program including a computer program for executing Figure 2 In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 109, and / or installed from the removable medium 111. When the computer program is executed by the central processing unit 101, various functions defined in the apparatus of the present application are executed.

[0044] in, Figure 2The computer program instructions corresponding to the method shown 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 a product including 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.

[0045] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0046] Figure 5 FIG. 1 is a schematic diagram of the structure of an indoor positioning system of an automatic external defibrillator according to an embodiment of the present invention. Figure 2 The indoor positioning method of the automatic external defibrillator corresponds to Figure 5 As shown, the indoor positioning system of the automatic external defibrillator in this embodiment may include: a spatial positioning sequence acquisition module 301, a posture data calculation module 302 and an actual position analysis module 303.

[0047] The spatial positioning sequence acquisition module 301 is used to acquire the spatial positioning sequence of the automatic external defibrillator to be located; the spatial positioning sequence is composed of the device status data of the automatic external defibrillator, the spatial environment data, the original positioning data based on the single beacon node and the positioning calculation data based on the dual beacon nodes.

[0048] The posture data calculation module 302 is used to obtain the posture data of the automatic external defibrillator to be positioned relative to the indoor reference point based on the known correspondence between the spatial positioning sequence and the posture state data relative to the indoor reference point; the posture data includes the horizontal distance, vertical distance and deviation angle data relative to the indoor reference point.

[0049] Specifically, in the posture data calculation module 302, the spatial positioning sequence training sample set of the automatic external defibrillator is used to train the selective state space linear sequence spatiotemporal prediction model, so as to determine the correspondence between the spatial positioning sequence and the posture state data relative to the indoor reference point.

[0050] The actual position analysis module 303 is used to analyze the actual position information of the automatic external defibrillator to be located based on the posture data of the automatic external defibrillator to be located relative to the indoor reference point and in combination with the automatic external defibrillator position database, and update the automatic external defibrillator position database.

[0051] In one or more embodiments, the indoor positioning system of the automatic external defibrillator further includes: The path planning module is used to construct an automatic external defibrillator map based on the updated automatic external defibrillator location database, and plan a route map between the automatic external defibrillator to be located and the user.

[0052] Figure 5 The specific implementation process of modules 301-303 in the indoor positioning system of the automatic external defibrillator shown in FIG. Figure 2 The specific implementation process of steps S201 to S203 is the same and will not be described in detail here.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for indoor positioning of an automatic external defibrillator, characterized in that: include: Acquire a spatial positioning sequence of the automatic external defibrillator to be positioned; the spatial positioning sequence is composed of device status data of the automatic external defibrillator, spatial environment data, original positioning data based on a single beacon node, and positioning calculation data based on dual beacon nodes; According to the known correspondence between the spatial positioning sequence and the posture state data relative to the indoor reference point, the posture data of the automatic external defibrillator to be positioned relative to the indoor reference point is obtained; the posture data includes the horizontal distance, vertical distance and deviation angle data relative to the indoor reference point; Based on the posture data of the automatic external defibrillator to be located relative to the indoor reference point, combined with the automatic external defibrillator position database, the actual position information of the automatic external defibrillator to be located is parsed, and the automatic external defibrillator position database is updated.

2. The indoor positioning method of the automatic external defibrillator as claimed in claim 1, characterized in that: The spatial positioning sequence training sample set of the automatic external defibrillator is used to train the selective state space linear sequence spatiotemporal prediction model, so as to determine the corresponding relationship between the spatial positioning sequence and the posture state data relative to the indoor reference point.

3. The indoor positioning method of the automatic external defibrillator as claimed in claim 2, characterized in that: The steps for training a selective state-space linear sequence spatiotemporal prediction model include: Normalize the spatial positioning sequence training samples of the automatic external defibrillator; Linear mapping is performed on the normalized spatial positioning sequence training samples and the posture state data relative to the indoor reference point. The weights of each parameter in the normalized spatial positioning sequence training samples are dynamically assigned to obtain the preliminary model learning results. The linear mapping obtained from the preliminary model learning results is further processed by the activation function, and then the spatial gating unit method is used to dynamically adjust the weights of each parameter in the spatial positioning sequence training sample to obtain spatial dimension data, and the fused spatial data is obtained based on the spatial mapping; the fused spatial data is further processed by the linear mapping; Repeat all the above steps, and continuously adjust the weights through the preset loss function until the set requirements are met and the training is stopped.

4. The indoor positioning method of the automatic external defibrillator as claimed in claim 1, characterized in that: The indoor positioning method of the automatic external defibrillator also includes: An automatic external defibrillator map is constructed based on the updated automatic external defibrillator location database, and a route map between the automatic external defibrillator to be located and the user is planned.

5. The indoor positioning method of the automatic external defibrillator as claimed in claim 1, characterized in that: When the position and device status data of the automatic external defibrillator change, the spatial positioning sequence of the automatic external defibrillator is updated.

6. An indoor positioning system for an automatic external defibrillator, characterized in that: include: A spatial positioning sequence acquisition module, which is used to acquire the spatial positioning sequence of the automatic external defibrillator to be located; the spatial positioning sequence is composed of the device status data of the automatic external defibrillator, the spatial environment data, the original positioning data based on the single beacon node and the positioning calculation data based on the dual beacon nodes; A posture data calculation module is used to obtain the posture data of the automatic external defibrillator to be positioned relative to the indoor reference point according to the known corresponding relationship between the spatial positioning sequence and the posture state data relative to the indoor reference point; the posture data includes the horizontal distance, vertical distance and deviation angle data relative to the indoor reference point; The actual position analysis module is used to analyze the actual position information of the automatic external defibrillator to be located based on the posture data of the automatic external defibrillator to be located relative to the indoor reference point, combined with the automatic external defibrillator position database, and update the automatic external defibrillator position database.

7. The indoor positioning system of the automatic external defibrillator according to claim 6, characterized in that: In the posture data calculation module, a spatial positioning sequence training sample set of an automatic external defibrillator is used to train a selective state space linear sequence spatiotemporal prediction model, thereby determining the corresponding relationship between the spatial positioning sequence and the posture state data relative to an indoor reference point.

8. The indoor positioning system of an automatic external defibrillator as claimed in claim 6, characterized in that: The indoor positioning system of the automatic external defibrillator also includes: The path planning module is used to construct an automatic external defibrillator map based on the updated automatic external defibrillator location database, and plan a route map between the automatic external defibrillator to be located and the user.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the indoor positioning method of an automatic external defibrillator as described in any one of claims 1 to 5 are implemented.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the indoor positioning method of an automatic external defibrillator as described in any one of claims 1 to 5 are implemented.

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