Indoor interphone positioning method, system and related equipment

Abstract

The invention provides an indoor interphone positioning method and system and related equipment, and the method comprises the steps: deploying a positioning infrastructure in a target indoor area, and the positioning infrastructure comprises a Bluetooth beacon positioning network and a Wi-Fi access point positioning network; deploying a positioning server; establishing communication connection between the management terminal and the positioning server and between the interphone and the positioning server; when the interphone is positioned, acquiring satellite initial positioning data of the interphone based on a satellite network; scanning the positioning infrastructure through the interphone, and obtaining indoor wireless positioning data by using a fingerprint positioning technology; and uploading the satellite preliminary positioning data and the indoor wireless positioning data to the positioning server for multi-source fusion operation to obtain target positioning data of the interphone. According to the indoor interphone positioning method, the multi-source fusion positioning technology is used, and the positioning reliability and precision of the positioned interphone in the indoor environment are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intercom positioning, and in particular to an indoor intercom positioning method, system and related equipment. Background Art

[0002] As part of the security system, the indoor intercom network-assisted positioning system is closely related to the building intercom system, which clearly belongs to the security industry. The security industry mainly covers multiple subsystems such as video surveillance, access control, anti-theft alarm, and smart parking, which together build a complete security system. Adding positioning functions to indoor intercoms can further improve the intelligence level of the security system. At present, indoor intercom positioning mainly uses a single positioning technology (such as satellite, Bluetooth, and UWB positioning, etc.). Intercoms using a single positioning technology are still difficult to meet user needs in terms of positioning reliability and positioning accuracy.

[0003] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0004] The present invention provides an indoor intercom positioning method, system and related equipment. The main purpose of the present invention is to solve the technical problems mentioned in the background technology of the prior art.

[0005] A first aspect of the present invention provides an indoor intercom positioning method, comprising:

[0006] Deploy a positioning infrastructure in the target indoor area, the positioning infrastructure comprising a Bluetooth beacon positioning network and a WiFi access point positioning network;

[0007] Deploy a positioning server, which is used to receive multi-source positioning data uploaded by the walkie-talkie, perform data processing and position calculation, and provide a map interface display and API interface;

[0008] Establishing a communication connection between the management terminal and the intercom and the positioning server;

[0009] When positioning the intercom in the target indoor area, obtaining preliminary satellite positioning data of the intercom based on the satellite network;

[0010] Scanning the positioning infrastructure in the target indoor area through the intercom, and obtaining indoor wireless positioning data using fingerprint positioning technology, wherein the multi-source positioning data includes the satellite preliminary positioning data and the indoor wireless positioning data;

[0011] The satellite preliminary positioning data and the indoor wireless positioning data are uploaded to the positioning server for multi-source fusion calculation to obtain the target positioning data of the intercom.

[0012] In an optional implementation manner of the first aspect of the present invention, the deploying the positioning infrastructure in the target indoor area includes:

[0013] For the Wi-Fi access point positioning network, dividing the target indoor area into a number of reference points;

[0014] Deploying a WiFi access point device at each of the reference points;

[0015] Using a WiFi data collection device to collect signal characteristic data of the WiFi access point device, and associating it with the location data of the WiFi access point device;

[0016] The associated signal feature data and location data form a fingerprint library;

[0017] The fingerprint library is used to train the first machine learning algorithm model to obtain a WiFi positioning model.

[0018] In an optional implementation manner of the first aspect of the present invention, the deploying the positioning infrastructure in the target indoor area further includes:

[0019] For the Bluetooth beacon positioning network, obtaining the actual layout and crowd density of the target indoor area;

[0020] Determine a setting position of a Bluetooth beacon device based on an actual layout of the target indoor area;

[0021] Determine the layout spacing of the Bluetooth beacon devices based on the crowd density;

[0022] Setting the Bluetooth beacon device according to the setting position and the deployment interval;

[0023] Counting the intensity changes of Bluetooth signals in the target indoor area, and using a multipath filtering algorithm to determine the optimal signal positioning path;

[0024] The second machine learning algorithm model is trained using the optimal signal positioning path to obtain a Bluetooth beacon positioning model.

[0025] In an optional implementation manner of the first aspect of the present invention, scanning the positioning infrastructure in the target indoor area by the intercom and obtaining indoor wireless positioning data by using fingerprint positioning technology includes:

[0026] Scanning the positioning infrastructure in the target indoor area by the intercom to obtain a characteristic spectrum of indoor space clutter;

[0027] Obtaining indoor signal characteristic distribution of the positioning infrastructure based on the indoor spatial clutter characteristic spectrum;

[0028] Classifying the positioning signal based on the indoor signal feature distribution;

[0029] The WiFi positioning model is used to process the classified WiFi signal feature data to obtain WiFi positioning data;

[0030] Using the Bluetooth beacon positioning model to process the classified Bluetooth beacon signal feature data to obtain Bluetooth beacon positioning data;

[0031] The WiFi positioning data and the Bluetooth beacon positioning data are packaged to obtain indoor wireless positioning data.

[0032] In an optional implementation of the first aspect of the present invention, the using the WiFi positioning model to process the classified WiFi signal feature data to obtain WiFi positioning data includes:

[0033] Obtaining WiFi strength positioning sub-data using the WiFi positioning model based on the signal strength data in the WiFi signal feature data;

[0034] Obtaining WiFi transceiver positioning sub-data using the WiFi positioning model based on the time feature data in the WiFi signal feature data;

[0035] A weighted operation is performed on the WiFi strength positioning sub-data and the WiFi transceiver positioning sub-data to obtain WiFi positioning data.

[0036] In an optional implementation of the first aspect of the present invention, the using the Bluetooth beacon positioning model to process the classified Bluetooth beacon signal feature data to obtain the Bluetooth beacon positioning data includes:

[0037] The Bluetooth beacon positioning model is used to obtain Bluetooth beacon positioning data based on the signal strength data of the Bluetooth beacon positioning data.

[0038] In an optional implementation manner of the first aspect of the present invention, uploading the satellite preliminary positioning data and the indoor wireless positioning data to the positioning server for multi-source fusion operation to obtain the target positioning data of the walkie-talkie includes:

[0039] Using the preliminary satellite positioning data as reference positioning data of the intercom in the target indoor area;

[0040] Based on the WiFi positioning data in the indoor wireless positioning data, the reference positioning data is corrected and optimized to obtain preliminary positioning data;

[0041] The preliminary positioning data is corrected and optimized based on the Bluetooth beacon positioning data in the indoor wireless positioning data to obtain the target positioning data of the walkie-talkie.

[0042] A second aspect of the present invention provides an indoor intercom positioning system, the indoor intercom positioning system comprising:

[0043] A positioning infrastructure deployment module, used to deploy positioning infrastructure in a target indoor area, wherein the positioning infrastructure includes a Bluetooth beacon positioning network and a WiFi access point positioning network;

[0044] A positioning server deployment module is used to deploy a positioning server, which is used to receive multi-source positioning data uploaded by the intercom, perform data processing and position calculation, and provide a map interface display and an API interface;

[0045] A communication connection establishing module, used to establish a communication connection between the management terminal and the intercom and the positioning server;

[0046] A satellite positioning data acquisition module, used to obtain preliminary satellite positioning data of the intercom based on a satellite network when positioning the intercom in a target indoor area;

[0047] An indoor positioning data acquisition module, used to scan the positioning infrastructure in the target indoor area through the intercom, and obtain indoor wireless positioning data using fingerprint positioning technology, wherein the multi-source positioning data includes the satellite preliminary positioning data and the indoor wireless positioning data;

[0048] The fusion operation module is used to upload the satellite preliminary positioning data and the indoor wireless positioning data to the positioning server for multi-source fusion operation to obtain the target positioning data of the walkie-talkie.

[0049] A third aspect of the present invention provides an intercom device, the intercom device comprising: a memory and at least one processor, the memory storing instructions, the memory and the at least one processor being interconnected via a line;

[0050] The at least one processor calls the instructions in the memory so that the intercom device executes the indoor intercom positioning method as described in any one of the first aspects of the present invention.

[0051] In a fourth aspect of the present invention, a computer-readable storage medium is provided. A computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, it implements the indoor intercom positioning method as described in any one of the first aspects of the present invention above.

[0052] Beneficial effects: The present invention provides an indoor intercom positioning method, system and related devices. The method includes deploying positioning infrastructure in a target indoor area, where the positioning infrastructure includes a Bluetooth beacon positioning network and a WiFi access point positioning network; deploying a positioning server; establishing a communication connection between a management terminal and an intercom with the positioning server; when the intercom is positioned, obtaining preliminary satellite positioning data of the intercom based on a satellite network; scanning the positioning infrastructure through the intercom and obtaining indoor wireless positioning data using fingerprint positioning technology; uploading the preliminary satellite positioning data and the indoor wireless positioning data to the positioning server for multi-source fusion calculation to obtain target positioning data of the intercom. The indoor intercom positioning method of the present invention uses multi-source fusion positioning technology, which improves the reliability and accuracy of positioning the intercom in an indoor environment. Description of the Drawings

[0053] Figure 1 It is a schematic diagram of an embodiment of the main method steps of an indoor intercom positioning method of the present invention;

[0054] Figure 2 It is a schematic diagram of an embodiment of a network positioning module of an indoor intercom of the present invention;

[0055] Figure 3 It is a schematic diagram of an embodiment of an indoor intercom positioning system of the present invention;

[0056] Figure 4 It is a schematic diagram of an embodiment of an intercom device of the present invention. Detailed Embodiments

[0057] The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of the present invention are used to distinguish similar objects and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" or "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0058] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 The first aspect of the present invention provides an indoor intercom positioning method, comprising:

[0059] S100. Deploy a positioning infrastructure in the target indoor area, wherein the positioning infrastructure includes a Bluetooth beacon positioning network and a WiFi access point positioning network. The present invention aims to solve the shortcomings of existing walkie-talkie indoor positioning technology in terms of accuracy, coverage, cost and deployment difficulty, and realizes high-precision, low-cost and easy-to-deploy positioning services in indoor environments by integrating multiple positioning technologies such as satellite positioning (such as GPS / Beidou), WiFi, Bluetooth, etc., and combining the wide coverage of the walkie-talkie network.

[0060] In an optional implementation manner of step S100 of the present invention, deploying the positioning infrastructure in the target indoor area includes:

[0061] For the WiFi access point positioning network, the target indoor area is divided into a number of reference points; a WiFi access point device is deployed at each of the reference points; a WiFi data acquisition device is used to collect signal feature data of the WiFi access point device and associate it with the location data of the WiFi access point device; the associated signal feature data and location data form a fingerprint library; and the fingerprint library is used to train a first machine learning algorithm model to obtain a WiFi positioning model.

[0062] Specifically, the steps of establishing a corresponding relationship model between WiFi signal strength and position (i.e., WiFi positioning model) of the present invention include: determining an indoor area to be positioned and dividing it into a number of reference points. These reference points are evenly distributed throughout the area to ensure that the entire space can be fully covered. At each reference point, a dedicated data acquisition device is used to collect signal feature data. The data usually includes the MAC address of the access point and the signal strength of each access point. The data collection process needs to be repeated multiple times to reduce the impact of random noise and improve the quality of the data. The collected data will be recorded and associated with the precise location coordinates of the reference point (usually latitude and longitude coordinates or coordinates on an indoor map). These coordinates can be obtained through measuring tools or existing building plans. All collected data will be sorted and stored in a database, which is the so-called "fingerprint library". It contains the locations of multiple reference points and corresponding WiFi signal features. The collected data is cleaned to remove outliers and erroneous data. Data normalization or standardization is performed to ensure comparability between different signal strengths. Feature selection or dimensionality reduction is performed to reduce the data dimension and improve the efficiency of subsequent positioning. The data in the database is trained using a machine learning algorithm to establish a positioning model.

[0063] For the Bluetooth beacon positioning network, the actual layout and crowd density of the target indoor area are obtained; the setting position of the Bluetooth beacon device is determined based on the actual layout of the target indoor area; the layout spacing of the Bluetooth beacon device is determined based on the crowd density; the Bluetooth beacon device is set according to the setting position and the layout spacing; the intensity change of the Bluetooth signal in the target indoor area is counted, and the optimal signal positioning path is determined by using a multi-path filtering algorithm; the second machine learning algorithm model is trained using the optimal signal positioning path to obtain a Bluetooth beacon positioning model.

[0064] Specifically, in the present invention, the determination of the key locations for deploying the Bluetooth beacon positioning network usually needs to be comprehensively considered based on the actual environment and positioning requirements. For example, in a large indoor venue, the key locations may include the venue's entrances and exits, main passages, important display areas, rest areas, etc.

[0065] Deployment and specific location optimization of Bluetooth beacons. For example, in a large indoor venue, in order to ensure the accuracy and coverage of positioning, we can optimize the deployment of Bluetooth beacons according to the actual layout of the venue and the density of people. First of all, in areas with dense traffic, such as the entrance, exit, main passages of the venue, and those popular exhibition areas, we can increase the deployment density of Bluetooth beacons so that these areas can be well covered. A Bluetooth beacon can be deployed at a distance of 5 to 8 meters, so that when people are active in these areas, they can receive the signal of the Bluetooth beacon at any time, and the positioning will be more accurate. In some relatively open or less crowded areas, we can appropriately reduce the deployment density of Bluetooth beacons. For example, in the corners of the venue or some remote passages, a Bluetooth beacon can be deployed every 10 meters or so, which will not cause signal waste and ensure a certain positioning accuracy in these areas.

[0066] In addition, some advanced technical means can be used to optimize the deployment of Bluetooth beacons. For example, a multipath filtering algorithm can be used to statistically analyze the signal strength changes, filter out error signals caused by reflection or interference, and select the optimal path signal for positioning. RSSI smoothing and compensation algorithms can also be used to adjust and filter RSSI values ​​in real time to reduce fluctuations caused by instantaneous interference.

[0067] In the invention, both WiFi positioning and Bluetooth beacon positioning use machine learning models to process positioning data. Machine learning is a method that allows computers to automatically extract features and patterns from data. In positioning data, machine learning models can identify which signals are reliable and which are interfered with, and then improve positioning accuracy by training and adjusting model parameters. Deep learning models are artificial intelligence models. Deep learning can handle more complex and abstract tasks by simulating the structure of the human brain neural network. In positioning data, deep learning models can automatically learn the associations and mutual influences between different signals, thereby more accurately inferring the location of the walkie-talkie.

[0068] Suppose there is a positioning optimization model based on deep learning. This model will first receive data from different positioning sources, such as satellite signals, WiFi signals, Bluetooth signals, etc. Then, the model will preprocess these data, such as removing noise, correcting outliers, etc., to improve the quality of the data. Next, the model will extract features from these data, that is, find out the key information that is useful for positioning. For example, the arrival time and signal strength of satellite signals, the access point information of WI FI signals, etc. With these features, the model will begin to optimize positioning. It will infer the possible location of the walkie-talkie based on these features, and find the most accurate location through continuous iteration and adjustment. In this process, the model will also use some algorithms to optimize the algorithm, such as gradient descent, stochastic gradient descent, etc., to continuously adjust its parameters in order to better fit the data and reduce positioning errors. Finally, after the model training and optimization are completed, it can be used to process new positioning data. Just input the new data into the model to get more accurate and reliable location information.

[0069] S200, deploying a positioning server, the positioning server is used to receive multi-source positioning data uploaded by the walkie-talkie, perform data processing and position calculation, and provide a map interface display and API interface; in the present invention, the positioning server will fuse the received data and calculate the location information of the walkie-talkie using a high-precision positioning algorithm. First, the positioning server will distinguish and process the signals received from different positioning sources (such as WiFi, Bluetooth, satellite, etc.). These signals will contain some positioning-related information, such as signal strength, arrival time, etc. The positioning server is like a super brain, it will collect this information, and then the server will start to fuse this information. Fusion processing is to put different puzzle pieces together to form a complete pattern. In this process, the server will use some mathematical methods and algorithms to analyze and compare this information to find out the associations and differences between them. For example, the WiFi signal can know the approximate area of ​​the walkie-talkie, the Bluetooth signal can be further accurate to the specific location in this area, and the satellite signal can provide the global coordinate position. The server will combine this information, verify and correct each other, and finally obtain a more accurate location information.

[0070] S300, establish a communication connection between the management terminal and the intercom and the positioning server; in the present invention, the management personnel access the positioning server through the management terminal (such as a computer, mobile phone, etc.), view the location information of the intercom in real time, and conduct monitoring and scheduling. More comprehensively, the management terminal system of the present invention can also support functions such as electronic fences, track playback, and event tracing to meet the diverse needs of different users. The intercom is integrated with a network communication module: see Figure 2 The intercom has a built-in or external network communication module (such as WiFi, Bluetooth, etc.) to support data exchange with the positioning server and other intercom devices. Positioning data return: The intercom will return the collected positioning data (including satellite positioning data, WiFi fingerprint data, Bluetooth beacon data, etc.) to the positioning server through the intercom network. Real-time location update: The positioning server calculates and updates the location information of the intercom in real time based on the received data, and displays it to the management personnel through the map interface.

[0071] S400, when positioning the intercom in the target indoor area, obtaining preliminary satellite positioning data of the intercom based on the satellite network; in the present invention, step S400 may be to obtain the preliminary satellite positioning data by using satellite systems such as GPS / Beidou to perform preliminary positioning in an area outdoors or indoors near a window where satellite signals can be received, so as to provide reference data for indoor positioning.

[0072] S500, scanning the positioning infrastructure in the target indoor area through the intercom, and obtaining indoor wireless positioning data using fingerprint positioning technology, wherein the multi-source positioning data includes the satellite preliminary positioning data and the indoor wireless positioning data; in the present invention, the indoor wireless positioning data includes WiFi positioning data and Bluetooth beacon positioning data. In the present invention, in an indoor environment, by scanning the surrounding WiFi access point (AP) signals, the fingerprint positioning technology (i.e., establishing a corresponding relationship model between WiFi signal strength and position) is used to improve positioning accuracy, and by deploying Bluetooth beacons (such as i Beacon) at key indoor locations, scanning Bluetooth beacon signals to achieve accurate positioning. Among them, the deployment density and location of Bluetooth beacons are optimized according to actual needs to ensure coverage and positioning accuracy.

[0073] In an optional implementation manner of the first aspect of the present invention, scanning the positioning infrastructure in the target indoor area by the intercom and obtaining indoor wireless positioning data by using fingerprint positioning technology includes:

[0074] S501. Scan the positioning infrastructure in the target indoor area through the intercom to obtain the indoor space clutter feature spectrum. In the present invention, the spatial clutter spectrum feature hybrid source positioning technology is used: first, the spectral feature map is constructed according to the spectral features of the geographic space through the trained artificial intelligence model. These spectral feature maps can reflect the signal characteristics at different locations. When the device wants to locate, it will collect the surrounding WiFi, Bluetooth, satellite and other signals. These signals are like "clues" that can help find the specific location. The device will compare these signals with the previously drawn spectral feature map to find the best matching location.

[0075] S502, obtaining indoor signal characteristic distribution of the positioning infrastructure based on the indoor space clutter characteristic spectrum; in this step, the signal model in the intercom analyzes the indoor space clutter characteristic spectrum, and distinguishes the signal sources in the indoor space clutter characteristic spectrum based on the signal characteristics of WiFi and Bluetooth in the indoor space clutter characteristic spectrum. After distinguishing different signal sources, the signal characteristics of different signal sources are grouped.

[0076] S503, classifying the positioning signal based on the indoor signal feature distribution; in this step, the signal features belonging to WiFi and Bluetooth in the indoor space clutter feature spectrum are mainly separated, so that the corresponding positioning model can be used to calculate the positioning data according to the separated signal features.

[0077] S504, using the WiFi positioning model to process the classified WiFi signal feature data to obtain WiFi positioning data; in an optional implementation of step S504 of the present invention, this step may specifically include: using the WiFi positioning model based on the signal strength data in the WiFi signal feature data to obtain WiFi strength positioning sub-data; using the WiFi positioning model based on the time feature data in the WiFi signal feature data to obtain WiFi transceiver positioning sub-data; performing weighted operations on the WiFi strength positioning sub-data and the WiFi transceiver positioning sub-data to obtain WiFi positioning data. It should be noted that in the present invention, each WiFi access point device stores its location information in the indoor space.

[0078] S505, using the Bluetooth beacon positioning model to process the classified Bluetooth beacon signal feature data to obtain Bluetooth beacon positioning data; in an optional implementation of step S505 of the present invention, this step may specifically include: using the Bluetooth beacon positioning model based on the signal strength data of the Bluetooth beacon positioning data to obtain the Bluetooth beacon positioning data. Similarly, in the present invention, each Bluetooth beacon device also stores its location information in the indoor space.

[0079] S506: Pack the WiFi positioning data and the Bluetooth beacon positioning data to obtain indoor wireless positioning data. In the present invention, after the WiFi-based positioning data and the Bluetooth-based positioning data are obtained, they are uniformly packaged and sent to the positioning server for multi-source fusion processing.

[0080] S600, uploading the satellite preliminary positioning data and the indoor wireless positioning data to the positioning server for multi-source fusion calculation to obtain the target positioning data of the intercom. In an optional implementation of the first aspect of the present invention, uploading the satellite preliminary positioning data and the indoor wireless positioning data to the positioning server for multi-source fusion calculation to obtain the target positioning data of the intercom includes: using the satellite preliminary positioning data as the reference positioning data of the intercom in the target indoor area; correcting and optimizing the reference positioning data based on the WiFi positioning data in the indoor wireless positioning data to obtain preliminary positioning data; correcting and optimizing the preliminary positioning data based on the Bluetooth beacon positioning data in the indoor wireless positioning data to obtain the target positioning data of the intercom.

[0081] In the present invention, the process of multi-source signal fusion processing by the positioning server can be simply understood as putting different puzzle pieces together to form a complete pattern. In this process, the server will use some mathematical methods and algorithms to analyze and compare this information to find out the associations and differences between them. For example, the WI FI signal can tell us which area the walkie-talkie is approximately in, the Bluetooth signal can be further accurate to the specific location in this area, and the satellite signal can provide the global coordinate position. The positioning server will combine this information, verify and correct each other, and finally obtain a more accurate location information.

[0082] In the present invention, some high-precision algorithms used in data fusion can be as follows, for example, common algorithms include those based on time difference measurement (TDOA), algorithms based on weighted least squares (WLS), and particle filtering algorithms, etc. These algorithms will process and analyze data in different ways according to the characteristics of the signal and the needs of positioning. For example, the TDOA algorithm calculates the position by measuring the difference in the arrival time of the signal at different receivers. It is suitable for indoor environments and urban areas and can achieve high-precision positioning. The WLS algorithm performs weighted processing on the signal strength and ranging error to improve the accuracy and stability of positioning.

[0083] In summary, the main technical features of the technical solution of the present invention are as follows:

[0084] 1. Multi-source fusion positioning technology

[0085] Integration of multiple positioning sources: The present invention integrates multiple positioning technologies such as satellite positioning (such as GPS / Beidou), Wi-Fi positioning, Bluetooth positioning, etc., and achieves high-precision positioning in indoor environments by comprehensively utilizing the advantages of different positioning sources.

[0086] Complementarity: Satellite positioning provides benchmark data in areas such as outdoors or indoors near windows, Wi-Fi positioning enhances indoor positioning accuracy through fingerprint positioning technology, and Bluetooth beacons provide precise location information of key locations indoors.

[0087] 2. Intercom network integration

[0088] Network communication module: The intercom has a built-in or external network communication module (such as Wi-Fi, Bluetooth, etc.) to ensure data exchange with the positioning server and other intercom devices.

[0089] Data feedback and update: The walkie-talkie transmits the collected positioning data to the positioning server in real time. The server calculates and updates the location information of the walkie-talkie based on the data to achieve real-time location monitoring.

[0090] 3. High-precision positioning algorithm

[0091] Hybrid source positioning algorithm: Utilize the hybrid source positioning technology of spatial clutter spectrum characteristic map, combine multiple positioning signals for fusion processing, and improve positioning accuracy.

[0092] AI optimization: The positioning data is optimized through artificial intelligence models to further reduce positioning errors and ensure the accuracy and reliability of positioning results.

[0093] 4. System platform and functions

[0094] Positioning server: responsible for receiving and processing the positioning data sent back by the walkie-talkie, and providing map interface display and API interface to facilitate management personnel to monitor and dispatch.

[0095] Management terminal: supports multiple devices (such as computers, mobile phones, etc.) to access the positioning server and view the location information, operation trajectory, etc. of the walkie-talkie in real time.

[0096] Functional expansion: The system supports multiple functions such as electronic fence, track playback, event tracing, etc. to meet the diverse needs of different users.

[0097] The technical solution of the present invention can obtain the following technical advantages:

[0098] 1. High-precision positioning: Through multi-source fusion positioning technology and high-precision positioning algorithm, high-precision positioning can be achieved in indoor environments.

[0099] 2. Low-cost deployment: No need to build a complex positioning network, and use the existing walkie-talkie network and positioning infrastructure for deployment.

[0100] 3. Easy maintenance and management: The system has a simple structure and is easy to maintain and manage, reducing operation and maintenance costs.

[0101] 4. Wide application: Suitable for various indoor environments, such as shopping malls, hospitals, office buildings, underground parking lots, etc., to meet the positioning needs of different users.

[0102] Through the above technical scheme, the present invention provides an efficient, reliable and easy-to-deploy indoor intercom network-assisted positioning system, which provides strong support for precise positioning in indoor environments.

[0103] See also Figure 3 The second aspect of the present invention provides an indoor intercom positioning system, the indoor intercom positioning system comprising:

[0104] A positioning infrastructure deployment module 10 is used to deploy positioning infrastructure in a target indoor area, wherein the positioning infrastructure includes a Bluetooth beacon positioning network and a WiFi access point positioning network;

[0105] The positioning server deployment module 20 is used to deploy the positioning server, which is used to receive multi-source positioning data uploaded by the intercom, perform data processing and position calculation, and provide a map interface display and API interface;

[0106] A communication connection establishing module 30, used to establish a communication connection between the management terminal and the intercom and the positioning server;

[0107] A satellite positioning data acquisition module 40 is used to obtain preliminary satellite positioning data of the intercom based on a satellite network when positioning the intercom in a target indoor area;

[0108] An indoor positioning data acquisition module 50 is used to scan the positioning infrastructure in the target indoor area through the intercom and obtain indoor wireless positioning data using fingerprint positioning technology, wherein the multi-source positioning data includes the satellite preliminary positioning data and the indoor wireless positioning data;

[0109] The fusion operation module 60 is used to upload the satellite preliminary positioning data and the indoor wireless positioning data to the positioning server for multi-source fusion operation to obtain the target positioning data of the walkie-talkie.

[0110] In an optional implementation of the second aspect of the present invention, the positioning infrastructure deployment module includes:

[0111] The WiFi access point network deployment subunit is used to divide the target indoor area into a number of reference points for the WiFi access point positioning network; deploy WiFi access point devices at each of the reference points; use WiFi data acquisition equipment to collect signal feature data of the WiFi access point devices and associate them with the location data of the WiFi access point devices; form a fingerprint library with the associated signal feature data and location data; use the fingerprint library to train a first machine learning algorithm model to obtain a WiFi positioning model.

[0112] In an optional implementation manner of the second aspect of the present invention, the positioning infrastructure deployment module further includes:

[0113] A Bluetooth beacon positioning network deployment subunit is used to obtain the actual layout and crowd density of the target indoor area for the Bluetooth beacon positioning network; determine the setting position of the Bluetooth beacon device based on the actual layout of the target indoor area; determine the layout spacing of the Bluetooth beacon device based on the crowd density; set the Bluetooth beacon device according to the setting position and the layout spacing; count the intensity changes of the Bluetooth signal in the target indoor area, and use a multi-path filtering algorithm to determine the optimal signal positioning path; use the optimal signal positioning path to train the second machine learning algorithm model to obtain a Bluetooth beacon positioning model.

[0114] In an optional implementation of the second aspect of the present invention, the indoor positioning data acquisition module includes:

[0115] A characteristic spectrum acquisition unit, configured to scan the positioning infrastructure in the target indoor area through the intercom to obtain a characteristic spectrum of indoor space clutter;

[0116] A signal characteristic distribution acquisition unit, configured to obtain indoor signal characteristic distribution of the positioning infrastructure based on the indoor spatial clutter characteristic spectrum;

[0117] A signal classification unit, used for classifying positioning signals based on the indoor signal feature distribution;

[0118] A WiFi positioning data acquisition unit, used to process the classified WiFi signal feature data using the WiFi positioning model to obtain WiFi positioning data;

[0119] A Bluetooth beacon positioning data acquisition unit, used to process the classified Bluetooth beacon signal feature data using the Bluetooth beacon positioning model to obtain Bluetooth beacon positioning data;

[0120] The positioning data packaging unit is used to package the WiFi positioning data and the Bluetooth beacon positioning data to obtain indoor wireless positioning data.

[0121] In an optional implementation of the second aspect of the present invention, the WiFi positioning data acquisition unit includes:

[0122] A WiFi strength positioning sub-data acquisition sub-unit, configured to obtain WiFi strength positioning sub-data based on the signal strength data in the WiFi signal feature data using the WiFi positioning model;

[0123] A WiFi transceiver positioning sub-data acquisition sub-unit, which uses the WiFi positioning model to obtain the WiFi transceiver positioning sub-data based on the time feature data in the WiFi signal feature data;

[0124] The weighted operation subunit is used to perform weighted operation on the WiFi strength positioning sub-data and the WiFi transceiver positioning sub-data to obtain WiFi positioning data.

[0125] In an optional implementation of the second aspect of the present invention, the Bluetooth beacon positioning data acquisition unit includes:

[0126] The Bluetooth strength positioning sub-data acquisition sub-unit is used to obtain Bluetooth beacon positioning data based on the signal strength data of the Bluetooth beacon positioning data by using the Bluetooth beacon positioning model.

[0127] In an optional implementation of the second aspect of the present invention, the fusion operation module includes:

[0128] A reference data selection unit, used to use the preliminary satellite positioning data as reference positioning data of the intercom in the target indoor area;

[0129] A WiFi data positioning optimization unit is used to correct and optimize the reference positioning data based on the WiFi positioning data in the indoor wireless positioning data to obtain preliminary positioning data;

[0130] The Bluetooth beacon positioning optimization unit is used to correct and optimize the preliminary positioning data based on the Bluetooth beacon positioning data in the indoor wireless positioning data to obtain the target positioning data of the walkie-talkie.

[0131] Figure 4 1 is a schematic diagram of the structure of a walkie-talkie device provided by an embodiment of the present invention. The walkie-talkie device may have relatively large differences due to different configurations or performances, and may include one or more processors 70 (central processing units, CPU) (for example, one or more processors) and a memory 80, and one or more storage media 90 (for example, one or more mass storage devices) for storing application programs or data. Among them, the memory and the storage medium may be temporary storage or permanent storage. The program stored in the storage medium may include one or more modules (not shown in the figure), and each module may include a series of instruction operations in the walkie-talkie device. Furthermore, the processor may be configured to communicate with the storage medium and execute a series of instruction operations in the storage medium on the walkie-talkie device.

[0132] The intercom device of the present invention may also include one or more power supplies 100, one or more wired or wireless network interfaces 110, one or more input and output interfaces 120, and / or one or more operating systems, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. It will be appreciated by those skilled in the art that Figure 4 The illustrated walkie-talkie device structure does not constitute a limitation on the walkie-talkie device, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0133] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium. Instructions are stored in the computer-readable storage medium. When the instructions are executed on a computer, the computer executes the steps of the indoor intercom positioning method.

[0134] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system or system or unit described above can refer to the corresponding process in the aforementioned method embodiment and will not be repeated here.

[0135] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of 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 method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc., various media that can store program codes.

[0136] As described above, the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for locating an indoor intercom, characterized in that: include: Deploy a positioning infrastructure in the target indoor area, the positioning infrastructure comprising a Bluetooth beacon positioning network and a WiFi access point positioning network; Deploy a positioning server, which is used to receive multi-source positioning data uploaded by the walkie-talkie, perform data processing and position calculation, and provide a map interface display and API interface; Establishing a communication connection between the management terminal and the intercom and the positioning server; When positioning the intercom in the target indoor area, obtaining preliminary satellite positioning data of the intercom based on the satellite network; Scanning the positioning infrastructure in the target indoor area through the intercom, and obtaining indoor wireless positioning data using fingerprint positioning technology, wherein the multi-source positioning data includes the satellite preliminary positioning data and the indoor wireless positioning data; The satellite preliminary positioning data and the indoor wireless positioning data are uploaded to the positioning server for multi-source fusion calculation to obtain the target positioning data of the intercom.

2. The indoor intercom positioning method according to claim 1, characterized in that: Deploying the positioning infrastructure in the target indoor area includes: For the WiFi access point positioning network, the target indoor area is divided into a number of reference points; Deploying a WiFi access point device at each of the reference points; Using a WiFi data collection device to collect signal characteristic data of the WiFi access point device, and associating it with the location data of the WiFi access point device; The associated signal feature data and location data form a fingerprint library; The fingerprint library is used to train the first machine learning algorithm model to obtain a WiFi positioning model.

3. The indoor intercom positioning method according to claim 2, characterized in that: The deploying of the positioning infrastructure in the target indoor area also includes: For the Bluetooth beacon positioning network, obtaining the actual layout and crowd density of the target indoor area; Determine a setting position of a Bluetooth beacon device based on an actual layout of the target indoor area; Determine the layout spacing of the Bluetooth beacon devices based on the crowd density; Setting the Bluetooth beacon device according to the setting position and the deployment interval; Counting the strength changes of the Bluetooth signal in the target indoor area, and using a multipath filtering algorithm to determine the optimal signal positioning path; The second machine learning algorithm model is trained using the optimal signal positioning path to obtain a Bluetooth beacon positioning model.

4. The indoor intercom positioning method according to claim 3, characterized in that: The step of scanning the positioning infrastructure in the target indoor area by the intercom and obtaining indoor wireless positioning data by using fingerprint positioning technology includes: Scanning the positioning infrastructure in the target indoor area by the intercom to obtain a characteristic spectrum of indoor space clutter; Obtaining indoor signal characteristic distribution of the positioning infrastructure based on the indoor spatial clutter characteristic spectrum; Classifying the positioning signal based on the indoor signal feature distribution; The WiFi positioning model is used to process the classified WiFi signal feature data to obtain WiFi positioning data; Using the Bluetooth beacon positioning model to process the classified Bluetooth beacon signal feature data to obtain Bluetooth beacon positioning data; The WiFi positioning data and the Bluetooth beacon positioning data are packaged to obtain indoor wireless positioning data.

5. The indoor intercom positioning method according to claim 4, characterized in that: The using the WiFi positioning model to process the classified WiFi signal feature data to obtain WiFi positioning data includes: Obtaining WiFi strength positioning sub-data using the WiFi positioning model based on the signal strength data in the WiFi signal feature data; Obtaining WiFi transceiver positioning sub-data using the WiFi positioning model based on the time feature data in the WiFi signal feature data; A weighted operation is performed on the WiFi strength positioning sub-data and the WiFi transceiver positioning sub-data to obtain WiFi positioning data.

6. The indoor intercom positioning method according to claim 4, characterized in that: The step of processing the classified Bluetooth beacon signal feature data using the Bluetooth beacon positioning model to obtain the Bluetooth beacon positioning data comprises: The Bluetooth beacon positioning model is used to obtain Bluetooth beacon positioning data based on the signal strength data of the Bluetooth beacon positioning data.

7. The indoor intercom positioning method according to claim 3, characterized in that: The uploading of the satellite preliminary positioning data and the indoor wireless positioning data to the positioning server for multi-source fusion operation to obtain the target positioning data of the intercom includes: Using the preliminary satellite positioning data as reference positioning data of the intercom in the target indoor area; Based on the WiFi positioning data in the indoor wireless positioning data, the reference positioning data is corrected and optimized to obtain preliminary positioning data; The preliminary positioning data is corrected and optimized based on the Bluetooth beacon positioning data in the indoor wireless positioning data to obtain the target positioning data of the walkie-talkie.

8. An indoor intercom positioning system, characterized in that: The indoor intercom positioning system comprises: A positioning infrastructure deployment module, used to deploy positioning infrastructure in a target indoor area, wherein the positioning infrastructure includes a Bluetooth beacon positioning network and a WiFi access point positioning network; A positioning server deployment module is used to deploy a positioning server, which is used to receive multi-source positioning data uploaded by the intercom, perform data processing and position calculation, and provide a map interface display and API interface; A communication connection establishing module, used to establish a communication connection between the management terminal and the intercom and the positioning server; A satellite positioning data acquisition module, used to obtain preliminary satellite positioning data of the intercom based on a satellite network when positioning the intercom in a target indoor area; An indoor positioning data acquisition module, used to scan the positioning infrastructure in the target indoor area through the intercom, and obtain indoor wireless positioning data using fingerprint positioning technology, wherein the multi-source positioning data includes the satellite preliminary positioning data and the indoor wireless positioning data; The fusion operation module is used to upload the satellite preliminary positioning data and the indoor wireless positioning data to the positioning server for multi-source fusion operation to obtain the target positioning data of the walkie-talkie.

9. A walkie-talkie device, characterized in that: The intercom device comprises: a memory and at least one processor, the memory stores instructions, and the memory and the at least one processor are interconnected via a line; The at least one processor calls the instructions in the memory to enable the intercom device to execute the indoor intercom positioning method according to any one of claims 1 to 7.

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

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