Operating personnel positioning method and device, electronic equipment and storage medium

Abstract

The invention discloses an operator positioning method and device, electronic equipment and a storage medium. The method comprises the following steps: determining a target positioning scene corresponding to an operator in a plurality of preset positioning scenes according to comparison between a visible satellite number and a satellite number threshold value, comparison between a signal-to-noise ratio of a visible satellite and a signal-to-noise ratio threshold value and comparison between reference signal receiving power and a reference signal receiving power threshold value; wherein the preset positioning scene at least comprises an outdoor open scene, an indoor scene, an outdoor shielded scene and a special operation scene; determining a target positioning mode matched with the target positioning scene in a plurality of preset positioning modes; wherein the preset positioning modes at least comprise Beidou satellite positioning, 5G positioning and Beidou satellite and 5G fusion positioning, and the calculation positioning mode assists the Beidou satellite and 5G fusion positioning; and positioning the operator through the target positioning mode, and determining a target positioning result of the operator. According to the scheme, the accuracy of positioning the operator can be improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of positioning, and in particular, to a positioning method, device, electronic device and storage medium for operating personnel. Background Art

[0002] In the oil and gas pipeline operation scenario, operating personnel sometimes carry out operations in some areas with harsh natural environments or prone to natural disasters, and there is a need for high-precision positioning of operating personnel. On the one hand, it is necessary to confirm whether the operating personnel arrive at the designated location safely and on time for operation to ensure the personal safety of the operating personnel; on the other hand, when the operating personnel discover potential safety hazards (such as pipeline corrosion, pipeline leakage, storage tank leakage, etc.), they need to record the location and report it. If the location description is inaccurate, it may cause potential impacts and losses.

[0003] Currently, in terms of high-precision positioning of operating personnel, it is usually mainly based on global navigation satellite positioning. This method can accurately determine the location of operating personnel under outdoor unobstructed conditions, but in complex environments such as with shelters, indoors or underground, satellite signals are easily interfered, and it is difficult to guarantee the positioning accuracy. Summary of the Invention

[0004] The present invention provides a positioning method, device, electronic device and storage medium for operating personnel, which can improve the accuracy of positioning operating personnel.

[0005] In a first aspect, an embodiment of the present invention provides a positioning method for operating personnel, including:

[0006] Determine a target positioning scenario corresponding to the operating personnel among multiple preset positioning scenarios according to the comparison between the number of visible satellites and the satellite number threshold, the comparison between the signal-to-noise ratio of the visible satellites and the signal-to-noise ratio threshold, and the comparison between the received power of the reference signal and the reference signal received power threshold; wherein, the preset positioning scenarios at least include an outdoor open scenario, an indoor scenario, an outdoor occluded scenario, and a special operation scenario;

[0007] Determine a target positioning method adapted to the target positioning scenario among multiple preset positioning methods; wherein, the preset positioning methods at least include Beidou satellite positioning, 5G positioning, Beidou satellite and 5G integrated positioning, and a positioning method assisted by Beidou satellite and 5G integrated positioning through calculation;

[0008] Locate the operating personnel through the target positioning method to determine the target positioning result of the operating personnel.

[0009] In a second aspect, an embodiment of the present invention provides a positioning device for operating personnel, including:

[0010] A first determination module, configured to determine a target positioning scenario corresponding to an operator among a plurality of preset positioning scenarios according to the comparison between the number of visible satellites and a satellite number threshold, the comparison between the signal-to-noise ratio of visible satellites and a signal-to-noise ratio threshold, and the comparison between the reference signal reception power and a reference signal reception power threshold; wherein, the preset positioning scenarios at least include an outdoor open scenario, an indoor scenario, an outdoor occluded scenario, and a special operation scenario.

[0011] A second determination module, configured to determine a target positioning method adapted to the target positioning scenario among a plurality of preset positioning methods; wherein, the preset positioning methods at least include Beidou satellite positioning, 5G positioning, Beidou satellite and 5G integrated positioning, and a positioning method of assisting Beidou satellite and 5G integrated positioning by dead reckoning.

[0012] A third determination module, configured to position the operator by the target positioning method to determine the target positioning result of the operator.

[0013] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the method described in the first aspect.

[0017] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the method described in the first aspect is implemented.

[0018] The technical solution of the embodiment of the present invention divides the operation scenario corresponding to the operator into an outdoor open scenario, an indoor scenario, an outdoor occluded scenario, and a special operation scenario based on the strengths of satellite signals and 5G signals, determines the positioning method adapted to the scenario through the determination of the operator's operation scenario, and the positioning methods include Beidou satellite positioning, 5G positioning, Beidou satellite and 5G integrated positioning, and a positioning method of assisting Beidou satellite and 5G integrated positioning by dead reckoning, and realizes positioning through the positioning method adapted to the scenario. This solution uses a positioning method adapted to the operation scenario for positioning in different operation scenarios, which can make the positioning result more conform to the actual operation scenario and improve the accuracy of positioning the operator.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0021] Figure 1 is a flowchart of a method for positioning operating personnel provided in Embodiment 1 of the present invention;

[0022] Figure 2 is a schematic diagram of an assisted Beidou satellite and 5G fusion positioning by a deduced positioning method provided in Embodiment 1 of the present invention;

[0023] Figure 3 is a schematic diagram of the matching relationship between a preset positioning scenario and a preset positioning method provided in Embodiment 1 of the present invention;

[0024] Figure 4 is a flowchart of a method for detecting detention provided in Embodiment 2 of the present invention;

[0025] Figure 5 is a flowchart of a method for detecting a fall provided in Embodiment 2 of the present invention;

[0026] Figure 6 is a schematic structural diagram of a device for positioning operating personnel provided in Embodiment 3 of the present invention;

[0027] Figure 7 is a schematic structural diagram of an electronic device implementing the embodiments of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] In order to enable those skilled in the art to better understand the solutions of the present invention, the following clearly and completely describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, rather than all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0029] It should be noted that the terms "first", "second", etc. in the present invention are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "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.

[0030] Embodiment 1

[0031] Figure 1 It is a flowchart of a method for positioning operating personnel provided according to Embodiment 1 of the present invention. This embodiment is applicable to the situation of positioning operating personnel. This method can be executed by an operating personnel positioning device, and the device can be implemented in the form of software and / or hardware and integrated in an electronic device. Further, the electronic device includes, but is not limited to: intelligent terminals, wearable devices, etc.

[0032] As Figure 1 shown, the method includes:

[0033] S110. Determine a target positioning scenario corresponding to the operating personnel among multiple preset positioning scenarios according to the comparison between the number of visible satellites and the satellite number threshold, the comparison between the signal-to-noise ratio of the visible satellites and the signal-to-noise ratio threshold, and the comparison between the reference signal received power and the reference signal received power threshold; wherein, the preset positioning scenarios at least include an outdoor open scenario, an indoor scenario, an outdoor occluded scenario, and a special operation scenario.

[0034] In the electronic device of the embodiment of the present invention, a Beidou positioning and timing module may be included. The Beidou positioning and timing module may include a Beidou positioning and timing chip. After the module is powered on, it will actively search for Beidou satellite signals, obtain Beidou position and time information, and send the Beidou positioning and time information to the controller of the electronic device through a serial port.

[0035] Visible satellites can be understood as satellites for which the Beidou positioning and timing module can search for Beidou satellite signals. The number of visible satellites is the number of visible satellites, and the number of visible satellites can be determined by the Beidou positioning and timing module. The determined number of visible satellites can also be visually displayed for the operating personnel to view. The satellite number threshold is a threshold set for the number of satellites. It is generally considered that at least 4 satellites are required for satellite positioning, so the satellite number threshold can be set to 4, or this threshold can be adjusted according to actual needs.

[0036] The signal-to-noise ratio (SNR) of visible satellites can be understood as a key indicator for measuring the satellite signal quality of visible satellites, which describes the ratio of satellite signal power to noise power. The SNR threshold can be a threshold set for the SNR of visible satellites. In the Global Navigation Satellite System (GNSS), the SNR range is usually 30 - 45 dB-Hz outdoors and attenuates to 10 - 20 dB-Hz indoors. The selection of the SNR threshold can be determined based on data experiments.

[0037] In the electronic device according to the embodiment of the present invention, a 5G positioning and timing module can be included. The 5G positioning and timing module can include a 5G card. After the module is powered on, it will actively search for the mobile communication signal of the 5G base station, obtain ranging and time information, and send the ranging and time information to the controller of the electronic device through the serial port.

[0038] The reference signal received power (RSRP) can be understood as the average power of the reference signal received by the electronic device from the base station, that is, the intensity of the specific reference signal sent by the base station received by the electronic device. The RSRP threshold can be a threshold set for the reference signal received power. 5G RSRP is usually -100 to -80 dBm outdoors and increases to -80 to -60 dBm indoors. The selection of the RSRP threshold can be determined based on data experiments.

[0039] In the embodiment of the present invention, multiple positioning scenarios, that is, preset positioning scenarios, can be determined in advance. The preset positioning scenarios at least include an outdoor open scenario, an indoor scenario, an outdoor occluded scenario, and a special operation scenario. Among them, the outdoor open scenario can be an operation scenario without being occluded by the surrounding environment outdoors; the indoor scenario can be an operation scenario indoors such as a station yard; the outdoor occluded scenario can be an operation scenario occluded by the surrounding environment outdoors, such as in a dense forest or near a building; the special operation scenario can be a scenario with relatively complex operation conditions, such as inside a storage tank or underground space. The preset positioning scenarios are not limited, and can be specifically set according to actual operation needs.

[0040] In this step, by comparing the number of visible satellites with the satellite number threshold, it can be determined whether the number of visible satellites in the current operation scenario can meet the requirements of Beidou satellite positioning; by comparing the signal-to-noise ratio of the visible satellites with the signal-to-noise ratio threshold, it can be determined whether the quality of the satellite signals in the current operation scenario meets the requirements of Beidou satellite positioning; by comparing the received power of the reference signal with the reference signal received power threshold, it can be determined whether the intensity of the 5G signal in the current operation scenario can meet the requirements of 5G positioning; by comprehensively comparing the above multiple thresholds, the operation scenario where the operator is currently located can be determined from multiple preset positioning scenarios, that is, the target positioning scenario is determined.

[0041] S120. Determine a target positioning method adapted to the target positioning scenario among multiple preset positioning methods; wherein, the preset positioning methods at least include Beidou satellite positioning, 5G positioning, Beidou satellite and 5G integrated positioning, and the dead reckoning positioning method assisting Beidou satellite and 5G integrated positioning.

[0042] In the embodiments of the present invention, multiple positioning methods, that is, preset positioning methods, can be determined in advance. Among the preset positioning methods, Beidou satellite positioning can be a method that realizes positioning only through Beidou satellites; 5G positioning can be a method that realizes positioning only through 5G base stations; Beidou satellite and 5G integrated positioning can be a method that realizes positioning by comprehensively considering the positioning results of Beidou satellite positioning and 5G base station positioning; the dead reckoning positioning method assisting Beidou satellite and 5G integrated positioning can be a method that realizes positioning by assisting Beidou satellite and 5G integrated positioning through the dead reckoning positioning method. Among them, the dead reckoning positioning method can be Pedestrian Dead Reckoning (PDR).

[0043] In this step, the matching relationship between each preset positioning scenario and each preset positioning method can be set in advance, such as setting that preset positioning scenario one matches preset positioning method one, and preset positioning scenario two matches preset positioning method two; in the case of determining the target positioning scenario, the positioning method that matches the target positioning scenario among multiple preset positioning methods can be determined through the above-mentioned pre-set matching relationship, that is, the target positioning method is determined.

[0044] S130. Position the operator through the target positioning method to determine the target positioning result of the operator.

[0045] In the case where the target positioning method is Beidou satellite positioning, positioning the operator through the target positioning method to determine the target positioning result of the operator, specifically:

[0046] The basic principle of Beidou satellite positioning can be realized based on the trilateral intersection method. In theory, three satellites can solve a positioning result. However, due to the different accuracy of the satellite atomic clock and the terminal receiver (i.e., electronic device) clock, there is a deviation, so the clock error can also be solved as an unknown quantity. The solution equation of Beidou satellite positioning can be:

[0047]

[0048] Among them, P BDS It can be the target positioning result of the operator determined by Beidou satellite positioning, (x, y, z) is the coordinates of the positioning result, that is, the coordinates of the electronic device carried by the operator; (x j ,y j ,z j ) can be the position of the Beidou satellite, j represents the Beidou satellite, such as four Beidou satellites; c is the speed of light; t j It can be the time from Beidou satellite to terminal receiver; Δt is the clock difference; p j It can be the pseudorange corresponding to the Beidou satellite; Δp is the correction value for the pseudorange.

[0049] When the target positioning method is 5G positioning, the operator is positioned by the target positioning method to determine the target positioning result of the operator, specifically:

[0050] 5G positioning is implemented using the Time Difference of Arrival (TDOA). The basic principle is to assume that the reference base station is base station 0 (x 0 ,y 0 ), connect electronic device (x,y) to base station 1 (x 1 ,y 1 ) is the time of arrival (TOA) equation to the reference base station 0(x 0 ,y 0 ) to form the TDOA equation of base station 1 and reference base station 0; similarly, base station 2 (x 2 ,y 2 ) and the TDOA equation of the reference base station 0; each TDOA equation forms a hyperbola, and the intersection of the two hyperbolas is the position of the electronic device (x, y), that is, the target positioning result P 5G The solution equation for 5G positioning can be:

[0051]

[0052] Where c is the speed of light; t 0 ,t 1 ,t 2The times from base station 0, base station 1, and base station 2 to the electronic device respectively.

[0053] In the case where the target positioning method is the integrated positioning of Beidou satellite and 5G, the operator is positioned through the target positioning method to determine the target positioning result of the operator. Specifically:

[0054] The integrated positioning of Beidou satellite and 5G is realized by using the weighted fusion method, that is, the positioning result P of the Beidou satellite BDS and the positioning result P of 5G 5G are weighted and fused to obtain the target positioning result P corresponding to the integrated positioning of Beidou satellite and 5G. The solution equation for the integrated positioning of Beidou satellite and 5G can be:

[0055] P = ω BDS P BDS + ω 5G P 5G

[0056] where w BDS is the weighted weight corresponding to P BDS and w 5G is the weighted weight corresponding to P 5G and the sum of the two weighted weights is 1.

[0057] In one embodiment, the integrated positioning of Beidou satellite and 5G is realized by using the weighted fusion method, and the weight allocation of the weighted fusion includes the following steps:

[0058] Input the multi-source sensor time-series data into the long short-term memory network, and combine the self-attention mechanism for feature enhancement to determine the hidden state of the last time step in the long short-term memory network; wherein, the multi-source sensor time-series data at least includes the signal-to-noise ratio of visible satellites, the reference signal received power, the accelerometer data, and the gyroscope data;

[0059] Perform normalization calculation based on the hidden state through the normalization function to determine the predicted weight allocation for the integrated positioning of Beidou satellite and 5G;

[0060] Determine the target weight allocation for the integrated positioning of Beidou satellite and 5G through the mean square error loss function of the predicted weight allocation and the ideal weight allocation.

[0061] That is, the weighted weights for adaptive Beidou satellite positioning and 5G positioning based on deep learning algorithms. The dynamic changes of sensor data are captured through Long Short-Term Memory networks (LSTM). Suppose the input data is multi-source sensor time-series data within a time window, which can include 20 time steps, and each time step has multiple features such as the signal-to-noise ratio of visible satellites, reference signal received power, accelerometer data (such as the X-axis component), and gyroscope data (such as the Z-axis component). The multi-source sensor time-series data is input into the LSTM for unit calculation, including steps such as input gate, forget gate, output gate, candidate cell state, cell state update, and hidden state calculation. The formula for updating the hidden state based on LSTM can be expressed as:

[0062] h t = LSTM(x t + h t-1 + c t-1 )

[0063] where x t is the input data at time t; h t is the hidden state at time t; h t-1 is the hidden state at time t-1; c t-1 is the memory state at time t-1.

[0064] Then, the hidden state h t output by the LSTM is enhanced based on the self-attention mechanism for the features of important moments, and the hidden state of the last time step of the LSTM output is denoted as h 2 .

[0065] Through a normalization function (such as the Softmax function), normalization calculation is performed based on h 2 , and the expression is as follows: w' = softmax(h 2 W f + b f ). Where w' is the predicted weight assignment, that is, the assignment of the weighted weights for Beidou satellite positioning and 5G positioning obtained by prediction, including w' BDS corresponding to P BDS and w' 5G corresponding to P 5G ; W f is the weight matrix; b f is the bias vector. Specifically, the weight calculation formula is as follows, where z1 and z2 are two input vectors, both equal to h 2 W f + b f .

[0066]

[0067] By means of the mean square error loss function of the predicted weight allocation w' = [w' BDS , w' 5G and the ideal weight allocation w'' = [w'' BDS , w'' 5G , the model is driven to learn the optimal weight allocation strategy to determine the target weight allocation w = [w BDS , w 5G for the integrated positioning of Beidou satellites and 5G. The expression of the mean square error loss function is:

[0068]

[0069] In the case where the target positioning method is dead reckoning positioning method to assist the integrated positioning of Beidou satellites and 5G, the operator is positioned by the target positioning method to determine the target positioning result of the operator. Specifically:

[0070] The first positioning result when the operator enters the special operation scenario and the second positioning result when the operator leaves the special operation scenario are determined through the integrated positioning of Beidou satellites and 5G;

[0071] Based on the dead reckoning positioning method, the candidate positioning result of the operator in the special operation scenario is determined based on the first positioning result and the second positioning result;

[0072] Based on the candidate positioning result, the first positioning result and the second positioning result, Kalman filtering is performed to determine the target positioning result.

[0073] This method integrates Beidou, 5G, and PDR technologies to complete positioning. The first positioning result of the integrated positioning of Beidou satellites and 5G when the operator enters special operation scenarios such as inside storage tanks and underground spaces is used as the starting point for PDR positioning calculation, and the second positioning result of the integrated positioning of Beidou satellites and 5G when the operator leaves the special operation scenario is used as the ending point for PDR positioning calculation. Position estimation is performed through PDR technology between the positioning calculation starting point and the positioning calculation ending point to determine the candidate positioning result of the operator in the special operation scenario.

[0074] Since the position estimation of PDR has the characteristic of recursive calculation, errors will accumulate when errors occur. Therefore, the integrated positioning results of Beidou + 5G (i.e., the first positioning result and the second positioning result) can be used as observables to correct the candidate positioning result.

[0075] Figure 2 It is a schematic diagram of a dead reckoning positioning method assisting the integrated positioning of Beidou satellites and 5G provided in Embodiment 1 of the present invention. As Figure 2As shown, the Beidou + 5G integrated positioning result and the PDR positioning result (i.e., the candidate positioning result) are used as inputs, and the Kalman filter is used to optimize the position error of the candidate positioning result to obtain the integrated position, that is, the target positioning result of the operator. Through filtering optimization, the target positioning result can be made smoother, which is beneficial to providing continuous positioning.

[0076] It should be noted that through the above S110 - S130, the target positioning scenario corresponding to the operator can be determined in real time, the target positioning method matching the target positioning scenario can be determined in real time, and then the target positioning result of the operator can be determined in real time, that is, the real-time positioning of the operator can be realized during the operation of the operator.

[0077] The technical solution of the embodiment of the present invention divides the operation scenario corresponding to the operator into an outdoor open scenario, an indoor scenario, an outdoor occluded scenario, and a special operation scenario based on the strengths of satellite signals and 5G signals. The positioning method adapted to this scenario is determined through the determination of the operator's operation scenario. The positioning methods include Beidou satellite positioning, 5G positioning, Beidou satellite and 5G integrated positioning, and dead reckoning positioning method assisting Beidou satellite and 5G integrated positioning. Positioning is achieved through the positioning method adapted to this scenario. This solution can use a positioning method adapted to the operation scenario for positioning in different operation scenarios, making the positioning result more in line with the actual operation scenario and improving the accuracy of positioning the operator.

[0078] In one embodiment, the target positioning scenario corresponding to the operator among multiple preset positioning scenarios is determined according to the comparison between the number of visible satellites and the satellite number threshold, the comparison between the signal-to-noise ratio of the visible satellites and the signal-to-noise ratio threshold, and the comparison between the received reference signal power and the reference signal power threshold, including:

[0079] When the number of visible satellites is not less than the satellite number threshold and the signal-to-noise ratio of the visible satellites is greater than the signal-to-noise ratio threshold, the outdoor open scenario is determined as the target positioning scenario;

[0080] When the number of visible satellites is less than the satellite number threshold, the signal-to-noise ratio of the visible satellites is less than the signal-to-noise ratio threshold, and the received reference signal power is greater than the reference signal power threshold, the indoor scenario is determined as the target positioning scenario;

[0081] When the number of visible satellites is less than the satellite number threshold or the signal-to-noise ratio of the visible satellites is less than the signal-to-noise ratio threshold, and the received reference signal power is less than the reference signal power threshold, the outdoor occluded scenario is determined as the target positioning scenario;

[0082] When the number of visible satellites is less than the satellite number threshold, the signal-to-noise ratio of the visible satellites is less than the signal-to-noise ratio threshold, and the reference signal received power is less than the reference signal received power threshold, the special operation scenario is determined as the target positioning scenario.

[0083] That is, when the number of visible satellites Nsat is greater than or equal to the satellite number threshold such as 4, and the signal-to-noise ratio SNR of the visible satellites is greater than the signal-to-noise ratio threshold α, it indicates that both the number of visible satellites and the quality of satellite signals in the current operation scenario meet the requirements of Beidou satellite positioning, and the outdoor open scenario is determined as the target positioning scenario; when Nsat is less than 4, SNR is less than α, and the reference signal received power RSRP is greater than the reference signal received power threshold β, it indicates that both the number of visible satellites and the quality of satellite signals in the current operation scenario do not meet the requirements of Beidou satellite positioning, but the intensity of 5G signals can meet the requirements of 5G positioning, and the indoor scenario is determined as the target positioning scenario; when Nsat is less than 4 or SNR is less than α and RSRP is less than β, it indicates that either the number of visible satellites or the quality of satellite signals in the current operation scenario meets the requirements of Beidou positioning, and the intensity of 5G signals does not meet the requirements of 5G positioning, and the outdoor occluded scenario is determined as the target positioning scenario; when Nsat is less than 4, SNR is less than α, and RSRP is less than β, it indicates that both the number of visible satellites and the quality of satellite signals in the current operation scenario do not meet the requirements of Beidou positioning, and the intensity of 5G signals also does not meet the requirements of 5G positioning, and the special operation scenario is determined as the target positioning scenario.

[0084] In one embodiment, determining the target positioning method adapted to the target positioning scenario among multiple preset positioning methods includes:

[0085] When the target positioning scenario is the outdoor open scenario, the Beidou satellite positioning is determined as the target positioning method;

[0086] When the target positioning scenario is the indoor scenario, the 5G positioning is determined as the target positioning method;

[0087] When the target positioning scenario is the outdoor occluded scenario, the Beidou satellite and 5G integrated positioning is determined as the target positioning method;

[0088] When the target positioning scenario is the special operation scenario, the dead reckoning positioning method assisted by the Beidou satellite and 5G integrated positioning is determined as the target positioning method.

[0089] Figure 3 It is a schematic diagram of the matching relationship between a preset positioning scenario and a preset positioning method provided by Embodiment 1 of the present invention. As Figure 3As shown in the figure, BeiDou satellite positioning is used in outdoor open scenarios; 5G positioning is used in indoor scenarios; combined BeiDou + 5G positioning is used in outdoor occluded scenarios; combined BeiDou + 5G + PDR positioning is used in special operation scenarios such as inside storage tanks and underground spaces.

[0090] Embodiment 2

[0091] Based on the above embodiment to determine the target positioning result of the operator, the embodiment of the present invention detects the abnormal motion state of the operator.

[0092] In the oil and gas pipeline operation scenario, there is a need to detect the abnormal motion state of the operator. The detection of abnormal motion state can be, for example, personnel falling, staying for a long time, etc., which helps to detect abnormal situations in time for emergency treatment, ensure personnel safety, and reduce or avoid unnecessary accidents. Since pipeline operations are often in remote areas and do not have the conditions for video monitoring implementation, the present invention intends to select to use an inertial measurement unit equipped in an electronic device as the data source for abnormal detection.

[0093] Figure 4 is a flowchart of a detention detection method provided according to Embodiment 2 of the present invention, as Figure 4 shown, the detention detection method includes:

[0094] S410. During the process of detecting the detention of the operator, determine the target start time; wherein, the target start time is the time when the speed of the operator starts to be 0, and the speed of the operator is determined by an inertial measurement unit.

[0095] S420. Starting from the target start time, determine the continuous duration during which the speed of the operator is 0 and the target positioning result corresponding to the operator does not change.

[0096] S430. If the continuous duration exceeds the set duration, determine that the operator is in a detained state.

[0097] During the process of detecting the detention of the operator, continuously collect the speed and target positioning result of the operator. The speed of the operator is obtained through an inertial measurement unit (Inertial Measurement Unit, IMU), and the target positioning result of the operator is obtained through the method shown in Embodiment 1.

[0098] Use the accelerometer in the IMU to determine the acceleration a(t) of the operator at time t. The calculation formula is as follows, where g is the acceleration due to gravity; a x (t), a y (t), a z (t) are accelerations of different components.

[0099]

[0100] After determining the acceleration a(t) of the operator at time t, integrate the acceleration to determine the velocity v(t) at time t.

[0101] If v(t) is not 0 and the target positioning result changes continuously within a certain period of time, the situation of personnel staying is not detected; if v(t) is 0 at a certain moment, set this moment as the target start time; starting from the target start time, determine the duration during which v(t) remains 0 and the target positioning result remains unchanged, that is, the continuous duration; if the continuous duration exceeds the set duration, it is determined that the operator is in a staying state, and if the continuous duration does not exceed the set duration, it is determined that the operator is not in a staying state. Among them, the set duration can be determined according to actual needs and is not limited here.

[0102] Figure 5 It is a flowchart of a fall detection method provided according to Embodiment 2 of the present invention. As Figure 5 shown, the fall detection method includes:

[0103] S510. During the process of detecting the fall of the operator, use an inertial measurement unit to determine the current acceleration, current position information, and current human body tilt angle at the current detection time, as well as the previous acceleration, previous position information, and previous human body tilt angle at the previous detection time.

[0104] S520. In the case where the change in the current acceleration compared to the previous acceleration exceeds the first range and the current acceleration is greater than the set acceleration threshold, if the change in the current position information compared to the previous position information does not exceed the second range or the change in the target positioning result corresponding to the current detection time compared to the target positioning result corresponding to the previous detection time does not exceed the third range, perform a fall state judgment.

[0105] S530. If the change in the current human body tilt angle compared to the previous human body tilt angle exceeds the fourth range and the current human body tilt angle is greater than the set tilt angle threshold, it is determined that the operator is in a fall state.

[0106] Use the gyroscope in the IMU to determine the angular velocity ω(t) of the operator at time t. The calculation formula is as follows, where ω x (t), ω y (t), ω z (t) are the angular velocities of different components.

[0107]

[0108] After determining the angular velocity ω(t) of the operator at time t, the angular velocity is integrated, and the body tilt angle α(t) at time t is determined based on the composite Simpson's formula. In this way, the current body tilt angle at the current detection time and the previous body tilt angle at the previous detection time can be determined.

[0109] By the above method of determining the acceleration a(t) at time t, the current acceleration at the current detection time and the previous acceleration at the previous detection time can be determined. Based on the acceleration a(t) at time t, integrating in combination with the velocity-displacement formula, the position information s(t) can be obtained. In this way, the current position information at the current detection time and the previous position information at the previous detection time can be obtained.

[0110] In the case where the current acceleration changes significantly compared with the previous acceleration and the current acceleration is greater than the set acceleration threshold, if the current position information changes little or remains unchanged compared with the previous position information, or the target positioning result at the current detection time changes little or remains unchanged compared with the previous detection time, it indicates that the operator has fallen or jumped, and further fall state judgment is required.

[0111] Since the body posture angle of the operator changes significantly when falling, while the posture angle remains basically unchanged during rapid jumping, squatting, etc., to distinguish the fall behavior of the operator from behaviors such as jumping and squatting, on the above basis, the body tilt angle is introduced for determination. If the current body tilt angle changes significantly compared with the previous body tilt angle and the current body tilt angle is greater than the set tilt angle threshold, behaviors such as jumping and squatting are excluded, and it is determined that the operator is in a fallen state.

[0112] It should be noted that the first range above is not limited, as long as it can be determined that the acceleration changes significantly; the second range is not limited, as long as it can be determined that the position information changes little or remains unchanged; the third range is not limited, as long as it can be determined that the target positioning result changes little or remains unchanged; the fourth range is not limited, as long as it can be determined that the body tilt angle changes significantly.

[0113] It should be noted that the set acceleration threshold is not limited. The set acceleration threshold needs to conduct multiple tests on various behaviors of the operator, extract the acceleration characteristic values, and establish a characteristic value-behavior relationship model through analyzing the relationship between the acceleration characteristic values and behaviors to determine. The determination method of the set tilt angle threshold is basically the same as that of the set acceleration threshold.

[0114] Optionally, when a(t) does not change or a(t) is less than the set acceleration threshold at a certain moment, and a(t) is not 0, it is determined that the operator is in a walking state and there is no abnormal situation.

[0115] Optionally, when a(t) changes significantly at a certain moment and a(t) is less than the set acceleration threshold, if s(t) continues to change and the target positioning result changes synchronously, it is determined that the operator is in a jogging state and there is no abnormal situation.

[0116] Optionally, the real-time target positioning result and abnormal motion state detection result of the operator can be transmitted to the cloud server. A personnel location management module and an abnormal detection module can be set up on the cloud server. The personnel location management module can display the target positioning result of the operator in real time, perform path analysis, motion trajectory detection, etc. The abnormal detection module can display the motion state of the operator in real time. When abnormal behaviors such as falling and staying occur, it can record the location, time, etc. of the abnormal behavior, form corresponding abnormal text descriptions, and synchronously save this information to form abnormal alarm information. The operator can also send location information to the cloud server for emergency help by pressing a one-key call for help.

[0117] The technical solution of the embodiment of the present invention detects the abnormal motion state of the operator through a multi-threshold algorithm. When the motion state is abnormal, abnormal alarm information can be formed. The management personnel can effectively confirm the state and location of the operator through the abnormal alarm information and quickly perform emergency handling, ensuring the safety of the operator.

[0118] Embodiment III

[0119] Figure 6 FIG. is a structural schematic diagram of a personnel positioning device provided according to Embodiment III of the present invention. This embodiment is applicable to the situation of positioning operators, such as Figure 6 As shown, the specific structure of the device includes:

[0120] A first determination module 61, configured to determine a target positioning scenario corresponding to the operator in multiple preset positioning scenarios according to the comparison between the number of visible satellites and the satellite number threshold, the comparison between the signal-to-noise ratio of the visible satellites and the signal-to-noise ratio threshold, and the comparison between the reference signal reception power and the reference signal reception power threshold; wherein, the preset positioning scenarios at least include an outdoor open scenario, an indoor scenario, an outdoor occluded scenario, and a special operation scenario;

[0121] A second determination module 62, configured to determine a target positioning method adapted to the target positioning scenario among multiple preset positioning methods; wherein, the preset positioning methods at least include Beidou satellite positioning, 5G positioning, Beidou satellite and 5G fusion positioning, and dead reckoning positioning method assisted Beidou satellite and 5G fusion positioning;

[0122] A third determination module 63, configured to position the operator through the target positioning method to determine the target positioning result of the operator.

[0123] The operator positioning device provided in this embodiment determines the target positioning scenario corresponding to the operator in multiple preset positioning scenarios through the first determination module based on the comparison between the number of visible satellites and the satellite number threshold, the comparison between the signal-to-noise ratio of visible satellites and the signal-to-noise ratio threshold, and the comparison between the reference signal reception power and the reference signal reception power threshold; wherein, the preset positioning scenarios at least include an outdoor open scenario, an indoor scenario, an outdoor occluded scenario, and a special operation scenario; the second determination module determines the target positioning method adapted to the target positioning scenario among multiple preset positioning methods; wherein, the preset positioning methods at least include Beidou satellite positioning, 5G positioning, Beidou satellite and 5G integrated positioning, and the deduced positioning method assisting Beidou satellite and 5G integrated positioning; the third determination module locates the operator through the target positioning method to determine the target positioning result of the operator. This solution can make the positioning result more conform to the actual operation scenario and improve the accuracy of operator positioning by adopting a positioning method adapted to the operation scenario in different operation scenarios.

[0124] Further, the first determination module 61 is specifically configured to:

[0125] When the number of visible satellites is not less than the satellite number threshold and the signal-to-noise ratio of the visible satellites is greater than the signal-to-noise ratio threshold, determine the outdoor open scenario as the target positioning scenario;

[0126] When the number of visible satellites is less than the satellite number threshold, the signal-to-noise ratio of the visible satellites is less than the signal-to-noise ratio threshold, and the reference signal reception power is greater than the reference signal reception power threshold, determine the indoor scenario as the target positioning scenario;

[0127] When the number of visible satellites is less than the satellite number threshold or the signal-to-noise ratio of the visible satellites is less than the signal-to-noise ratio threshold, and the reference signal reception power is less than the reference signal reception power threshold, determine the outdoor occluded scenario as the target positioning scenario;

[0128] When the number of visible satellites is less than the satellite number threshold, the signal-to-noise ratio of the visible satellites is less than the signal-to-noise ratio threshold, and the reference signal reception power is less than the reference signal reception power threshold, determine the special operation scenario as the target positioning scenario.

[0129] Further, the second determination module 62 is specifically configured to:

[0130] When the target positioning scenario is the outdoor open scenario, determine the Beidou satellite positioning as the target positioning method;

[0131] When the target positioning scenario is the indoor scenario, determine the 5G positioning as the target positioning method;

[0132] When the target positioning scenario is the outdoor occluded scenario, the integrated positioning of Beidou satellite and 5G is determined as the target positioning method;

[0133] When the target positioning scenario is the special operation scenario, the dead reckoning positioning method assisting the integrated positioning of Beidou satellite and 5G is determined as the target positioning method.

[0134] Furthermore, the integrated positioning of Beidou satellite and 5G is realized by means of weighted fusion, and the weight assignment of the weighted fusion includes the following steps:

[0135] Input the multi-source sensor time-series data into the long short-term memory network, combine the self-attention mechanism for feature enhancement, and determine the hidden state at the last time step in the long short-term memory network; wherein, the multi-source sensor time-series data at least includes the signal-to-noise ratio of visible satellites, the reference signal received power, the accelerometer data, and the gyroscope data;

[0136] Perform normalization calculation based on the hidden state through a normalization function to determine the predicted weight assignment for the integrated positioning of Beidou satellite and 5G;

[0137] Determine the target weight assignment for the integrated positioning of Beidou satellite and 5G through the mean square error loss function of the predicted weight assignment and the ideal weight assignment.

[0138] Furthermore, when the target positioning method is the dead reckoning positioning method assisting the integrated positioning of Beidou satellite and 5G, the third determination module 63 is specifically used for:

[0139] Determine the first positioning result when the operator enters the special operation scenario and the second positioning result when leaving the special operation scenario through the integrated positioning of Beidou satellite and 5G;

[0140] Determine the candidate positioning result of the operator in the special operation scenario based on the first positioning result and the second positioning result through the dead reckoning positioning method;

[0141] Perform Kalman filtering based on the candidate positioning result, the first positioning result, and the second positioning result to determine the target positioning result.

[0142] Furthermore, the device further includes a detention detection module, which is used for:

[0143] Determine the target start time during the process of detecting the detention of the operator; wherein, the target start time is the time when the speed of the operator starts to be 0, and the speed of the operator is determined by using an inertial measurement unit;

[0144] Starting from the target start time, determine the duration during which the speed of the operator is 0 and the corresponding target positioning result of the operator does not change;

[0145] If the duration exceeds the set duration, determine that the operator is in a detained state.

[0146] Furthermore, the device further includes a fall detection module for:

[0147] During the process of detecting the fall of the operator, use the inertial measurement unit to determine the current acceleration, current position information, and current body tilt angle at the current detection time, as well as the previous acceleration, previous position information, and previous body tilt angle at the previous detection time;

[0148] In the case where the change in the current acceleration compared to the previous acceleration exceeds the first range and the current acceleration is greater than the set acceleration threshold, if the change in the current position information compared to the previous position information does not exceed the second range or the change in the target positioning result corresponding to the current detection time compared to the target positioning result corresponding to the previous detection time does not exceed the third range, perform a fall state judgment;

[0149] If the change in the current body tilt angle compared to the previous body tilt angle exceeds the fourth range and the current body tilt angle is greater than the set tilt angle threshold, determine that the operator is in a fallen state.

[0150] The operator positioning device provided by the embodiments of the present invention can execute the operator positioning method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects for executing the method.

[0151] Embodiment 4

[0152] Figure 7 It is a schematic structural diagram of an electronic device implementing the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0153] Such as Figure 7As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. Among them, the memory stores a computer program executable by the at least one processor. The processor 11 can execute various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0154] Multiple components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0155] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include but are not limited to a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the operator positioning method.

[0156] In some embodiments, the operator positioning method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the operator positioning method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the operator positioning method by any other appropriate means (e.g., by means of firmware).

[0157] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems-on-chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0158] The computer programs for implementing the methods of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0159] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0160] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0161] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0162] A computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0163] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0164] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for positioning a worker, characterized in that: include: Determine a target positioning scene corresponding to the operator in a plurality of preset positioning scenes according to a comparison between the number of visible satellites and a threshold value of the number of satellites, a comparison between the signal-to-noise ratio of the visible satellites and a threshold value of the signal-to-noise ratio, and a comparison between the reference signal received power and a threshold value of the reference signal received power; wherein the preset positioning scenes at least include an outdoor open scene, an indoor scene, an outdoor obstructed scene, and a special operation scene; Determine a target positioning method that is adapted to the target positioning scenario among multiple preset positioning methods; wherein the preset positioning methods at least include Beidou satellite positioning, 5G positioning, Beidou satellite and 5G fusion positioning, and Beidou satellite and 5G fusion positioning assisted by dead reckoning positioning method; The operator is positioned by using the target positioning method to determine the target positioning result of the operator.

2. The method according to claim 1, characterized in that According to the comparison between the number of visible satellites and the satellite number threshold, the comparison between the signal-to-noise ratio of the visible satellites and the signal-to-noise ratio threshold, and the comparison between the reference signal receiving power and the reference signal receiving power threshold, the target positioning scenario corresponding to the operator in multiple preset positioning scenarios is determined, including: When the number of visible satellites is not less than a satellite number threshold and the signal-to-noise ratio of the visible satellites is greater than a signal-to-noise ratio threshold, determining the outdoor open scene as the target positioning scene; When the number of visible satellites is less than the satellite number threshold, the signal-to-noise ratio of the visible satellites is less than the signal-to-noise ratio threshold, and the reference signal received power is greater than the reference signal received power threshold, determining the indoor scene as the target positioning scene; When the number of visible satellites is less than the satellite number threshold or the signal-to-noise ratio of the visible satellites is less than the signal-to-noise ratio threshold, and the reference signal received power is less than the reference signal received power threshold, determining the outdoor obstructed scene as the target positioning scene; When the number of visible satellites is less than the satellite number threshold, the signal-to-noise ratio of the visible satellites is less than the signal-to-noise ratio threshold, and the reference signal receiving power is less than the reference signal receiving power threshold, the special operation scenario is determined as the target positioning scenario.

3. The method according to claim 1, characterized in that Determining a target positioning method that is adapted to the target positioning scenario among multiple preset positioning methods includes: When the target positioning scene is the outdoor open scene, determining the Beidou satellite positioning as the target positioning mode; When the target positioning scenario is the indoor scenario, determining the 5G positioning as the target positioning mode; When the target positioning scenario is the outdoor obstructed scenario, determining the Beidou satellite and 5G fusion positioning as the target positioning mode; When the target positioning scenario is the special operation scenario, the inferred positioning method assists Beidou satellite and 5G fusion positioning and is determined as the target positioning method.

4. The method according to claim 1, characterized in that: The Beidou satellite and 5G fusion positioning is achieved by weighted fusion, and the weight allocation of the weighted fusion includes the following steps: Inputting multi-source sensor time series data into a long short-term memory network, combining the self-attention mechanism to perform feature enhancement, and determining the hidden state of the last time step in the long short-term memory network; wherein the multi-source sensor time series data at least includes the signal-to-noise ratio of visible satellites, the reference signal receiving power, the accelerometer data, and the gyroscope data; Performing normalization calculation based on the hidden state through a normalization function to determine the prediction weight distribution of the Beidou satellite and 5G fusion positioning; The target weight distribution of the Beidou satellite and 5G fusion positioning is determined by the mean square error loss function of the predicted weight distribution and the ideal weight distribution.

5. The method according to claim 1, characterized in that The target positioning method is the dead reckoning positioning method assisted by Beidou satellite and 5G fusion positioning, positioning the operator by the target positioning method, and determining the target positioning result of the operator, including: Determine a first positioning result when the operator enters the special operation scene and a second positioning result when the operator leaves the special operation scene through Beidou satellite and 5G fusion positioning; Determine, by dead reckoning positioning, a candidate positioning result of the operator in the special operating scene based on the first positioning result and the second positioning result; Kalman filtering is performed based on the candidate positioning results, the first positioning result, and the second positioning result to determine the target positioning result.

6. The method according to claim 1, characterized in that Also includes: In the process of performing detention detection on the operator, a target starting time is determined; wherein the target starting time is the time when the speed of the operator starts to be 0, and the speed of the operator is determined by an inertial measurement unit; Starting from the target start time, determining the duration during which the speed of the operator is 0 and the target positioning result corresponding to the operator does not change; If the duration exceeds the set duration, it is determined that the operator is in a stranded state.

7. The method according to claim 1, characterized in that Also includes: In the process of performing fall detection on the operator, the inertial measurement unit is used to determine the current acceleration, current position information and current body inclination angle at the current detection moment, as well as the previous acceleration, previous position information and previous body inclination angle at the previous detection moment; In the case where the current acceleration changes by more than a first range compared to the previous acceleration and the current acceleration is greater than a set acceleration threshold, if the current position information does not change by more than a second range compared to the previous position information or the target positioning result corresponding to the current detection moment does not change by more than a third range compared to the target positioning result corresponding to the previous detection moment, a fall state judgment is performed; If the current human body inclination angle changes by more than a fourth range compared to the previous human body inclination angle and the current human body inclination angle is greater than a set inclination angle threshold, it is determined that the operator is in a falling state.

8. A worker positioning device, characterized in that: include: A first determination module is used to determine a target positioning scene corresponding to an operator in a plurality of preset positioning scenes according to a comparison between the number of visible satellites and a satellite number threshold, a comparison between a signal-to-noise ratio of visible satellites and a signal-to-noise ratio threshold, and a comparison between a reference signal received power and a reference signal received power threshold; wherein the preset positioning scenes include at least an outdoor open scene, an indoor scene, an outdoor obstructed scene, and a special operation scene; The second determination module is used to determine a target positioning method adapted to the target positioning scenario from among a plurality of preset positioning methods; wherein the preset positioning methods at least include Beidou satellite positioning, 5G positioning, Beidou satellite and 5G fusion positioning, and Beidou satellite and 5G fusion positioning assisted by a dead reckoning positioning method; The third determination module is used to locate the operator by using the target positioning method and determine the target positioning result of the operator.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the 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 program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

Images