A method, system, medium, and apparatus for indoor positioning of an automated external defibrillator

Abstract

The application belongs to the field of indoor positioning of automatic external defibrillators, and provides an indoor positioning method, system, medium and equipment for automatic external defibrillators to solve the problem of poor positioning accuracy of automatic external defibrillators. The indoor positioning method of the automatic external defibrillator comprises obtaining the pose 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 pose state data relative to the indoor reference point; based on the pose data of the automatic external defibrillator to be positioned relative to the indoor reference point, the actual position information of the automatic external defibrillator to be positioned is analyzed combined with the automatic external defibrillator position database, and the automatic external defibrillator position database is updated, which can quickly and accurately position the position of the indoor automatic external defibrillator.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of indoor positioning of automatic external defibrillators, and particularly relates to an indoor positioning method, system, medium and equipment for an automatic external defibrillator. BACKGROUND

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

[0003] An AED (Automated External Defibrillator) is a portable medical device that can diagnose specific arrhythmias and give an electric shock to defibrillate, and is a medical device that can be used by non-professionals to rescue patients with cardiac arrest. When the heart stops beating, within the "golden 4 minutes" of the best rescue time, the use of an automatic external defibrillator (AED) for defibrillation and cardiopulmonary resuscitation is the most effective way to stop sudden death. The number of automatic external defibrillators in public places in many regions is rapidly increasing, and how to quickly and accurately locate the automatic external defibrillator has become a technical difficulty. SUMMARY

[0004] In order to solve the technical problems existing in the background art, the present application provides an indoor positioning method, system, medium and equipment for an automatic external defibrillator, which can quickly and accurately locate the position of an indoor automatic external defibrillator.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0006] The first aspect of the present application provides an indoor positioning method for an automatic external defibrillator.

[0007] An indoor positioning method for an automatic external defibrillator, comprising:

[0008] Obtaining a spatial positioning sequence of an automatic external defibrillator to be positioned; the spatial positioning sequence comprises device state data of the automatic external defibrillator, spatial environment data, original positioning data based on a single beacon node, and positioning calculation data based on a double beacon node;

[0009] According to a known correspondence between the spatial positioning sequence and the pose state data relative to the indoor reference point, obtaining the pose data of the automatic external defibrillator to be positioned relative to the indoor reference point; the pose data comprises horizontal distance, vertical distance and deviation angle data relative to the indoor reference point;

[0010] 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.

[0011] A second aspect of the present invention provides an indoor positioning system for an automatic external defibrillator.

[0012] An indoor positioning system for an automatic external defibrillator, comprising:

[0013] A spatial positioning sequence acquisition module is used to acquire a spatial positioning sequence of the automatic external defibrillator to be located; 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;

[0014] a posture data calculation module configured to obtain posture data of the automated external defibrillator to be positioned relative to the indoor reference point based on a known correspondence between the spatial positioning sequence and posture state data relative to the indoor reference point; the posture data including horizontal distance, vertical distance, and deviation angle data relative to the indoor reference point;

[0015] 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.

[0016] A third aspect of the present invention provides a computer-readable storage medium.

[0017] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the indoor positioning method for an automatic external defibrillator as described above.

[0018] A fourth aspect of the present invention provides an electronic device.

[0019] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps of the indoor positioning method for an automatic external defibrillator as described above are implemented.

[0020] The beneficial effects of the present invention are:

[0021] (1) The application utilizes the corresponding relationship between the spatial positioning sequence of the automatic external defibrillator and the pose state data relative to the indoor reference point, calculates the pose data of the automatic external defibrillator relative to the indoor reference point, and then combines the automatic external defibrillator position database to analyze the actual position information of the automatic external defibrillator to be positioned, thereby solving the problem of inaccurate and slow positioning of the existing indoor positioning equipment, and achieving the effect of quickly and accurately positioning the indoor automatic external defibrillator.

[0022] (2) The application utilizes the selective state space linear sequence space-time prediction model to determine the corresponding relationship between the spatial positioning sequence and the pose 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 double beacon node in the spatial positioning sequence of the automatic external defibrillator, thereby achieving the effect of indoor centimeter-level efficient and accurate positioning.

[0023] The advantages of the additional aspects of the application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0024] The drawings accompanying the specification of the application form part of the application and serve to provide further understanding of the application. The illustrative embodiments of the application and their description serve to explain the application without imposing undue limitation on the application.

[0025] Figure 1 is a schematic diagram of an electronic device according to an embodiment of the application;

[0026] Figure 2 is a flowchart of an indoor positioning method of an automatic external defibrillator according to an embodiment of the application;

[0027] Figure 3 is an AOA (Angle-of-Arrival) ranging schematic diagram according to an embodiment of the application;

[0028] Figure 4 is a selective state space linear sequence space-time prediction model schematic diagram according to an embodiment of the application;

[0029] Figure 5 is a schematic diagram of an indoor positioning system structure of an automatic external defibrillator according to an embodiment of the application. DETAILED DESCRIPTION

[0030] The application will be further described below in conjunction with the drawings and embodiments.

[0031] It should be noted that the following detailed description is illustrative only, and is intended to provide further description in connection with the application. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the application belongs.

[0032] It is also important to note that the use of the terms herein are intended to be illustrative only and are not intended to limit the exemplary embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, elements, components, and / or groups thereof, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0033] Indoor positioning system is much more difficult than outdoor positioning system due to the complexity of indoor buildings and more indoor obstructions than outdoor. Currently, there are certain limitations in various positioning technologies in the field of indoor positioning. For example, RFID (Radio Frequency Identification) positioning has limited distance of action, lacks communication capability, and has poor effect of integration with other systems, so it has technical problems such as poor system construction capability, inaccurate positioning, etc. in actual application. The principle of ultrasonic positioning is based on ultrasonic ranging technology, which mostly adopts reflective ranging method, and the specific position coordinates of the object to be positioned can be calculated by using positioning algorithm and combining distance data measured by multiple ultrasonic waves. On the other hand, ultrasonic waves have high requirements for the environment when receiving reflection, and there are technical problems such as poor positioning effect in complex environment in actual use. Wi-Fi is mainly limited by uneven crowdsourcing positions, complex and variable environment, which easily affects Wi-Fi signal and reduces positioning accuracy, and the phenomenon of positioning drift is particularly serious. In addition, the tags have large power consumption and are expensive. Moreover, the data collection stage of fingerprint positioning is cumbersome in actual use, and is easily affected by base station transformation, and there are technical problems such as insufficient accuracy of all positions. Bluetooth adopts fingerprint matching or similar base station signal trajectory matching method, which has higher accuracy, but needs to be arranged and maintained regularly in actual use, and has technical problems such as being greatly affected by environment, poor stability, and small system range. Therefore, for indoor public places, how to quickly and accurately position an automated external defibrillator is a technical difficulty of indoor positioning. In order to solve the above problems, the present application provides an indoor positioning method, system, medium and equipment for an automated external defibrillator, which can accurately position the position of the indoor automated external defibrillator.

[0034] The specific implementation process of the present application will be described in detail below in combination with the drawings and specific implementation process.

[0035] 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 one example and should not be taken as limiting the functionality or use of embodiments of the application.

[0036] As shown in Figure 1 , the electronic device 100 includes a central processing unit (CPU) 101 that can perform various appropriate actions and processes in accordance with programs stored in a read-only memory (ROM) 102 or programs loaded from a storage section 108 into a random access memory (RAM) 103. Various programs and data required for system operation are also stored in the RAM 103. 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.

[0037] 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 display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; the 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 necessary. A removable medium 111 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 110 as necessary, so that a computer program read out therefrom is installed in the storage section 108 as necessary.

[0038] The central processing unit 101 in the electronic device of the present embodiment, when executing the program, implements the steps in the indoor positioning method of an automated external defibrillator as shown in Figure 2 .

[0039] Figure 2 is a flowchart of an indoor positioning method of an automated external defibrillator in embodiments of the present application, as shown in Figure 2 , the indoor positioning method of an automated external defibrillator in the present embodiment can include:

[0040] S201, obtaining a spatial positioning sequence of an automated external defibrillator to be positioned; the spatial positioning sequence is composed of device state data of the automated external defibrillator, spatial environment data, original positioning data based on a single-beacon node, and positioning calculation data based on a double-beacon node.

[0041] In step S201, the device state data includes, but is not limited to, the model, energy, use state, factory time, and other basic information data of the automatic external defibrillator; and the space environment data includes, but is not limited to, the basic situation of the place where the automatic external defibrillator is located, for example, including the area, floor height, building structure, and other external environment information data of the place.

[0042] The original positioning data based on a single beacon node here refers to the position data obtained by the automatic external defibrillator through ultra-wideband positioning and other technologies. For example, by fusing the angle of arrival information and the signal strength data information, the ranging work of the device terminal is performed based on the two obtained data, and the original positioning data of the automatic external defibrillator can be obtained indoors.

[0043] The calculation process of the positioning calculation data based on the double beacon nodes is as follows:

[0044] The original positioning data based on a single beacon node is subjected to noise elimination calculation to obtain preprocessed positioning data; wherein the noise elimination method can be realized by using a filtering algorithm or other existing noise elimination methods;

[0045] The preprocessed positioning data is used, and a triangle is formed based on the double beacon nodes and the automatic external defibrillator to be positioned, and the positioning calculation data based on the double beacon nodes is obtained based on the triangular positioning algorithm calculation.

[0046] Specifically, in combination with Figure 3 , the AOA ranging is used to calculate the distance between the beacon node and the automatic external defibrillator to be positioned by using the angle therebetween.

[0047] Figure 3 Two beacon nodes are provided in the room, and the coordinates are , The coordinates of the automatic external defibrillator to be positioned are , the angle of the signal emitted by the beacon node to the automatic external defibrillator to be positioned is The distances of the beacon nodes to the terminal to be positioned are calculated ;

[0048] ;

[0049] In this embodiment, the triangular positioning algorithm of RSSI (Received Signal Strength Indicator) is used, the distances between the three known beacon nodes and the terminal to be positioned are used, and the distance equation group of the beacon nodes to the terminal to be positioned is listed according to the point-to-point distance formula, and then the coordinates of the terminal to be positioned are solved.

[0050] Assuming that the coordinates of 3 beacon nodes are , , the coordinates of the terminal device to be positioned are , and the distances from the beacon nodes to the terminal to be positioned are The distance circle equations of the beacon nodes to the terminal to be positioned can be obtained:

[0051] ;

[0052] Simplifying the same, the terminal positioning coordinate formula can be obtained:

[0053] ;

[0054] The automatic external defibrillator is deployed as a plurality of beacon nodes in the positioning area, and the beacon nodes at different positions have corresponding signal strength characteristics. In addition, the RSSI (Received Signal Strength Indication) values of the beacon nodes at different positions in the area are obtained through multiple training, 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 the position. The measurement data value of AOA is fused to obtain the positioning calculation data based on the double beacon nodes.

[0055] S202, according to the known correspondence between the spatial positioning sequence and the pose state data relative to the indoor reference point, the pose data of the automatic external defibrillator to be positioned relative to the indoor reference point is obtained; the pose data includes horizontal distance, vertical distance and deviation angle data relative to the indoor reference point.

[0056] In one or more embodiments, the selective state space linear sequence spatiotemporal prediction model is trained using a spatial positioning sequence training sample set of the automatic external defibrillator, so as to determine the correspondence between the spatial positioning sequence and the pose state data relative to the indoor reference point.

[0057] The selective state space linear sequence spatiotemporal prediction model of the embodiment includes a state space model, a gated multilayer perception machine model, a static parameterized channel mapping and a spatial mapping network, and an activation function.

[0058] The gated multilayer perception machine model is normalized by a network, which is used to solve the problem that the data distribution is uneven due to the influence of the previous network during the training process; the static parameterized channel mapping is used to calculate the data obtained by the gating mechanism multiplication of the linear result of the spatial mapping; the spatial mapping network is used to fuse different influence parameters in the network, including linear and spatial related parameters; and the activation function is used to determine whether to pass the signal and the content to be transmitted to the next network layer.

[0059] According to Figure 4 , the step of training the selective state space linear sequence spatio-temporal prediction model comprises:

[0060] normalizing the spatial positioning sequence training sample of the automatic external defibrillator;

[0061] linearly mapping the normalized spatial positioning sequence training sample and the pose state data relative to the indoor reference point, dynamically assigning weights to each parameter in the normalized spatial positioning sequence training sample, and obtaining a preliminary model learning result;

[0062] performing activation function processing on the linear mapping obtained by the preliminary model learning result, and then dynamically adjusting the weights of each parameter in the spatial positioning sequence training sample using a spatial gating unit method to obtain spatial dimension data, and obtaining fused spatial data based on spatial mapping; and performing linear mapping processing on the fused spatial data again;

[0063] repeating all the above steps, and constantly adjusting the weights through a preset loss function until the set requirements are met and the training is stopped.

[0064] S203, based on the pose data of the automatic external defibrillator to be positioned relative to the indoor reference point, combining the automatic external defibrillator position database, analyzing the actual position information of the automatic external defibrillator to be positioned, and updating the automatic external defibrillator position database.

[0065] In one or more embodiments, the indoor positioning method of the automatic external defibrillator further comprises:

[0066] constructing an automatic external defibrillator map based on the updated automatic external defibrillator position database, and planning a route map between the automatic external defibrillator to be positioned and the user.

[0067] In some other embodiments, in the automatic external defibrillator map, the actual positioning of the user is displayed according to the current positioning information of the user; and the positioning information is also displayed to the user according to the indoor positioning of the automatic external defibrillator, and device auxiliary information and basic state information are added; wherein the device auxiliary information mainly refers to the production manufacturer, device number, and function information data possessed; and the device state data mainly refers to the model number, energy, use state, and factory time of the device basic information data.

[0068] When the position and device state data of the automatic external defibrillator change, the spatial positioning sequence of the automatic external defibrillator is updated.

[0069] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program which bears on a computer readable medium and which contains program code for performing Figure 2 the methods illustrated. In such embodiments, the computer program can be downloaded and installed from a network by the communication section 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 performed.

[0070] wherein, Figure 2 Computer program instructions corresponding to the methods illustrated can also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowcharts Figure 1 one flowchart or multiple flowcharts and / or blocks Figure 1 one block or multiple blocks.

[0071] Those of ordinary skill in the art can understand that all or part of the flowcharts in the above-described embodiments can be implemented by computer programs instructing relevant hardware, and the programs can be stored in a computer-readable storage medium and, when executed, can include the flowcharts of the embodiments of the above-described methods. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), or the like.

[0072] Figure 5 is a schematic structural diagram of an indoor positioning system of an automatic external defibrillator according to an embodiment of the present application. The embodiment corresponds to an indoor positioning method of an automatic external defibrillator according to Figure 2 the embodiment, as illustrated in Figure 5 The indoor positioning system of the automatic external defibrillator according to the embodiment can include a spatial positioning sequence acquisition module 301, a pose data calculation module 302, and an actual position analysis module 303.

[0073] The spatial positioning sequence acquisition module 301 is configured to acquire a spatial positioning sequence of the automatic external defibrillator to be positioned. The spatial positioning sequence includes device state data of the automatic external defibrillator, spatial environment data, original positioning data based on a single beacon node, and positioning calculation data based on a double beacon node.

[0074] The pose data calculation module 302 is configured to obtain the pose data of the automatic external defibrillator to be positioned relative to the indoor reference point according to a known correspondence between the spatial positioning sequence and the pose state data relative to the indoor reference point; the pose data includes horizontal distance, vertical distance and deviation angle data relative to the indoor reference point.

[0075] Specifically, in the pose data calculation module 302, the selective state space linear sequence space-time prediction model is trained by using the spatial positioning sequence training sample set of the automatic external defibrillator, so as to determine the correspondence between the spatial positioning sequence and the pose state data relative to the indoor reference point.

[0076] The actual position analysis module 303 is configured to analyze the actual position information of the automatic external defibrillator to be positioned based on the pose data of the automatic external defibrillator to be positioned relative to the indoor reference point, in combination with the automatic external defibrillator position database, and update the automatic external defibrillator position database.

[0077] In one or more embodiments, the indoor positioning system of the automatic external defibrillator further comprises:

[0078] The path planning module is configured to construct an automatic external defibrillator map based on the updated automatic external defibrillator position database, and plan a route map between the automatic external defibrillator to be positioned and the user.

[0079] Figure 5 The specific implementation process of the modules 301-303 in the indoor positioning system of the automatic external defibrillator shown is the same as the specific implementation process of the steps S201-S203 in the indoor positioning system of the automatic external defibrillator shown in the foregoing embodiment, and will not be described in detail here. Figure 2

[0080] The above only describes the preferred embodiments of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.​

Claims

1. A method for indoor positioning of an automated external defibrillator, comprising: The method comprises the following steps: acquiring a spatial positioning sequence of an automatic external defibrillator to be positioned; the spatial positioning sequence comprises device state data, spatial environment data, original positioning data based on a single beacon node, and positioning calculation data based on a double beacon node; obtaining pose data of the automatic external defibrillator to be positioned relative to an indoor reference point according to a known correspondence between the spatial positioning sequence and the pose state data relative to the indoor reference point; the pose data comprises horizontal distance, vertical distance, and deviation angle data relative to the indoor reference point; based on the pose data of the automatic external defibrillator to be positioned relative to the indoor reference point, combining an automatic external defibrillator position database, analyzing actual position information of the automatic external defibrillator to be positioned, and updating the automatic external defibrillator position database; training a selective state space linear sequence space-time prediction model by using a spatial positioning sequence training sample set of the automatic external defibrillator, so as to determine the correspondence between the spatial positioning sequence and the pose state data relative to the indoor reference point; when the position and device state data of the automatic external defibrillator change, updating the spatial positioning sequence of the automatic external defibrillator; the calculation process of the positioning calculation data based on the double beacon node is: performing noise elimination calculation on the original positioning data based on the single beacon node to obtain preprocessed positioning data; wherein the noise elimination method is realized by using a filtering algorithm; based on the preprocessed positioning data, forming a triangle with the double beacon node and the automatic external defibrillator to be positioned, and calculating the positioning calculation data based on the double beacon node based on a triangular positioning algorithm.

2. The method of Claim 1, wherein, The steps of training the selective state space linear sequence space-time prediction model comprise: normalizing the spatial positioning sequence training sample of the automatic external defibrillator; performing linear mapping processing on the normalized spatial positioning sequence training sample and the pose state data relative to the indoor reference point, dynamically assigning weights of each parameter in the normalized spatial positioning sequence training sample to obtain a preliminary model learning result; performing activation function processing on the linear mapping result obtained by the preliminary model learning result, and then dynamically adjusting the weights of each parameter in the spatial positioning sequence training sample by using a spatial gating unit method to obtain spatial dimension data, and obtaining fusion spatial data based on spatial mapping; performing linear mapping processing on the fusion spatial data again; repeating all the above steps, and constantly adjusting the weights by using a preset loss function until a set requirement is met and the training is stopped.

3. The method of Claim 1, wherein the AED is located in a room. The indoor positioning method of the automatic external defibrillator further comprises: constructing an automatic external defibrillator map based on the updated automatic external defibrillator position database, and planning a route map between the automatic external defibrillator to be positioned and a user.

4. An indoor positioning system for an automated external defibrillator employing the method of indoor positioning of an automated external defibrillator according to any one of claims 1 to 3, characterized in that The method comprises the following steps: a spatial positioning sequence acquisition module is configured to acquire a spatial positioning sequence of an automatic external defibrillator to be positioned; the spatial positioning sequence comprises device state data, spatial environment data, original positioning data based on a single beacon node, and positioning calculation data based on a double beacon node; a pose data calculation module configured to obtain pose data of the AED to be positioned relative to the indoor reference point according to a known correspondence between the spatial positioning sequence and the pose state data relative to the indoor reference point; the pose data includes horizontal distance, vertical distance, and deviation angle data relative to the indoor reference point; an actual position analysis module configured to analyze actual position information of the AED to be positioned based on the pose data of the AED to be positioned relative to the indoor reference point, in combination with the AED position database, and update the AED position database.

5. The indoor positioning system for an automated external defibrillator of claim 4, wherein, In the pose data calculation module, the selective state space linear sequence spatio-temporal prediction model is trained by using a spatial positioning sequence training sample set of the AED, so as to determine the correspondence between the spatial positioning sequence and the pose state data relative to the indoor reference point.

6. The indoor positioning system for an automated external defibrillator of claim 4, wherein, The indoor positioning system of the AED further includes: a path planning module configured to construct an AED map based on the updated AED position database, and plan a route map between the AED to be positioned and the user.

7. A computer-readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the steps in the indoor positioning method of the AED according to any one of claims 1-3.

8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the program to implement the steps in the indoor positioning method of the AED according to any one of claims 1-3.

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