Beidou gun positioning system

Abstract

The invention discloses a Beidou gun positioning system, and relates to the technical field of intelligent safety, and the system comprises a gun positioning module which is used for positioning the use position of a gun in real time, and monitoring the real-time position and track of an on-duty person based on a 4G Beidou positioning chip; the gun abnormity alarm module is used for integrating gun positioning, including off-location alarm, route deviation alarm, fence crossing alarm, anti-disassembly alarm and low-power alarm, and sending alarm information to the intelligent gun management platform through Beidou positioning; the wireless charging module is used for ensuring sufficient power of the gun and preventing insufficient power from influencing the functions of the gun; and the intelligent gun management platform processes the data through the intelligent gun management platform. Through a Beidou positioning technology, an alarm mechanism and a comprehensive management platform, real-time accurate positioning, abnormal behavior monitoring and safety management of the gun are realized, and the accuracy, safety and intelligent level of gun management are improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent security technology, and particularly to a Beidou gun positioning system. Background Art

[0002] With the continuous development of the social security situation, the need for gun management has become more urgent, especially the management of guns carried by on-duty personnel. Existing gun management systems usually manage guns and detect abnormalities based on traditional manual registration or simple alarm systems, but these systems usually have problems such as slow response, insufficiently real-time data, and inability to comprehensively monitor the usage of guns. With the progress of technology, especially the rapid development of Beidou satellite positioning technology and 4G communication technology, intelligent gun management systems have gradually become an important means to improve gun management efficiency and ensure on-duty safety.

[0003] Current gun positioning systems can track the position of guns through GPS or other means, but there are still some limitations. For example, they cannot process abnormal behaviors such as the gun leaving its position, deviating from the preset route, or crossing the safety fence in real time, lack an effective alarm mechanism and operation logs, and cannot effectively improve the management and control efficiency of guns. In addition, most traditional gun positioning systems rely on manual charging and lack an intelligent wireless charging mechanism, resulting in the possible impact on gun functions when the battery runs out, increasing management risks.

[0004] The present invention provides an intelligent gun positioning management system based on the Beidou positioning system. By introducing advanced positioning technology, abnormal behavior alarm mechanism, intelligent management platform and other means, it realizes the all-round management and monitoring of guns, and can better ensure the safety of on-duty personnel and the standardized use of guns. Summary of the Invention

[0005] Based on the above-mentioned disadvantages of the prior art, the purpose of the present invention is to provide a Beidou gun positioning system to solve the above technical problems.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A Beidou gun positioning system, comprising:

[0007] A gun positioning module, used for real-time positioning of the gun usage location, and monitoring the real-time position and trajectory of on-duty personnel based on a 4G Beidou positioning chip;

[0008] A gun abnormal alarm module, used for aggregating gun positioning, matching the gun positioning with the preset on-duty route and on-duty area, generating alarm information when there is a route deviation or crossing of the fence, including out-of-position alarm, route deviation alarm and crossing fence alarm, and also including anti-disassembly alarm and low battery alarm, and sending the alarm information to the intelligent gun management platform through Beidou positioning;

[0009] Wireless charging module: When the firearm is taken out of the armory and placed in the holster, it is charged by the wireless charging chip in the power board to ensure that the firearm has sufficient power and avoid the impact of insufficient power on the firearm's functions.

[0010] Intelligent firearm management platform: Receives firearm positioning information and alarm information through the 4G Beidou positioning chip, and can view the real-time dynamics and location of the firearm on the map through the intelligent firearm management platform, which is used to process data through the intelligent firearm management platform.

[0011] The present invention is further configured such that the firearm positioning module includes a main control chip, a clock chip, an attitude sensing chip, a storage chip, an esim chip, a 4G Beidou positioning chip, a positioning antenna interface, a 4G antenna interface, a power interface, a connected wireless charging coil, a connected firearm positioning main board, a wireless charging chip, and a connected battery interface.

[0012] The present invention is further configured such that the main control chip is used to receive and process data from the 4G Beidou positioning chip and the attitude sensing chip, and upload the processed data to the intelligent firearm management platform in real time through the 4G Beidou positioning chip.

[0013] The present invention is further configured such that the attitude sensing chip is used to detect the usage situation of the firearm by the duty personnel in real time, prevent the duty personnel from misusing the firearm, and generate an alarm message and upload it to the intelligent firearm management platform when the firearm attitude detection is abnormal.

[0014] Firearm abnormal alarm module: Used to detect abnormal behaviors including firearm displacement, route deviation, and crossing the fence. The firearm generates an alarm message and uploads the alarm location to the intelligent firearm management platform in real time.

[0015] The present invention is further configured such that the intelligent firearm management platform includes user permissions and operation log functions. The user permissions include users who enter the intelligent firearm management platform and have corresponding permission levels to view and process alarm information and the real-time status of the firearm according to the set permissions.

[0016] The operation log is used to record the corresponding operations of the firearm being taken or stored, as well as the operation records of the platform management personnel handling alarm information in their daily work, providing a basis for responsibility tracing.

[0017] The present invention is further configured such that the system further includes a firearm position historical trajectory recording function, which records the real-time position route, status, and abnormal alarm behaviors of the firearm through the storage chip, and combines with the clock chip to obtain the time when the action occurs, for the management personnel to view the historical route trajectory of the firearm.

[0018] The present invention is further configured such that the firearm positioning module uploads real-time positioning to the server, and the server sets a virtual fence, which is used to generate an alarm message when the firearm deviates from the preset route, and uploads data to the intelligent firearm management platform in real time to notify the management personnel to perform corresponding processing;

[0019] The setting logic of the virtual fence includes: taking the armed duty personnel as the center of the virtual circular fence area, forming a virtual circular fence area with a radius R, and the radius R is adjusted according to the urban environment, the size of the duty area, and the task requirements. When the virtual circular fence area is not tangent or does not intersect with the preset route, it means crossing the fence, generating an alarm message, and prompting the management personnel of the intelligent firearm management platform to perform corresponding processing.

[0020] The present invention is further configured such that the implementation logic of the route deviation includes:

[0021] Obtain satellite signals and a channel transmission matrix, and calculate the observed signal according to the satellite signals and the channel transmission matrix;

[0022] Perform observation decomposition on the observed signal to obtain the pseudo-range and clock deviation between the satellite signal and the target three-dimensional position;

[0023] Calculate the target three-dimensional position according to the pseudo-range and clock deviation between multiple satellite signals and the target three-dimensional position;

[0024] Perform route modeling on the preset duty route to obtain a segmented curve, and calculate the trajectory deviation degree according to the target three-dimensional position and the segmented Bezier curve;

[0025] When the trajectory deviation degree is greater than the preset trajectory deviation degree threshold, an alarm message is generated.

[0026] The present invention is further configured such that the calculation logic of the observed signal is: Γ(t) = Φ·Ψ s (t)·Λ(θ,φ) + ∈(t), where Γ(t) is the observed signal, Φ is the channel transmission matrix, Ψ s (t) is the original Beidou satellite signal, Λ(θ,φ) is the antenna pattern function, and ∈(t) is the Gaussian noise term, which reflects the noise interference in the transmission process of the observed signal;

[0027] The relationship logic between the pseudo-range and clock deviation between the multiple satellite signals and the target three-dimensional position and the obtained target three-dimensional position is: ρ k = ∥p u - p k ∥ + c·δt, where ρ k is the pseudo-range between the satellite signal and the target three-dimensional position, p u is the target three-dimensional coordinate, p kwhere \(\mathbf{r}\) is the known three - dimensional satellite coordinates, \(c\) is the speed of light, and \(\delta t\) is the clock deviation;

[0028] The calculation logic of the piece - wise Bessel curve is as follows: where \(C(s)\) is the piece - wise Bessel curve, \(B_{i,n}(s)\) is the Bessel basis function, \(n\) is the order of the Bessel curve, \(s\) is the normalized parameter of the path, and \(P_i\) n,k is the control point of the Bessel curve; k

[0029] The calculation logic of the trajectory deviation degree is as follows: where \(D(t)\) is the real - time trajectory deviation degree, \(T(t)\) is the real - time trajectory, \(\|T(t)-C(s)\|\) represents the geometric distance between the real - time trajectory and the Bessel curve, \(\kappa\) is the curvature - sensitive coefficient, and \(\dot{\theta}\) is the yaw - rate of change.

[0030] The present invention provides a Beidou gun positioning system, including a gun positioning module for real - time positioning of the gun usage location, monitoring the real - time location and trajectory of the duty personnel based on a 4G Beidou positioning chip; a gun abnormal alarm module for aggregating gun positioning, matching the gun positioning with a preset duty route and duty area, generating alarm information when there is a route deviation or crossing of the fence, including out - of - position alarm, route - deviation alarm, and fence - crossing alarm, and also including anti - disassembly alarm and low - battery alarm, and sending the alarm information to the intelligent gun management platform through Beidou positioning; a wireless charging module for charging the gun through a wireless charging chip in the power board when the gun is taken out of the gun storage room and placed in the gun holster, ensuring sufficient gun battery power and avoiding the impact of insufficient power on gun functions; an intelligent gun management platform for receiving gun positioning information and alarm information through a 4G Beidou positioning chip, and viewing the real - time dynamics and position of the gun on the map through the intelligent gun management platform, and processing the data through the intelligent gun management platform. The beneficial effects include:

[0031] 1. Real - time and accurate gun positioning and monitoring: The system uses Beidou satellite positioning technology to accurately and real - time position the usage location and trajectory of the gun, ensuring that the dynamic information of the gun is always under monitor. By matching with the preset duty route and area, abnormal behaviors such as the gun deviating from the normal trajectory, crossing the fence, or being out of position can be detected and reported in a timely manner, greatly improving the accuracy and real - time performance of gun management;

[0032] 2. Intelligent alarm function for abnormal behaviors: The system can automatically detect and alarm multiple gun abnormal behaviors, including out - of - position alarm, route - deviation alarm, fence - crossing alarm, anti - disassembly alarm, and low - battery alarm. Through the alarm mechanism, the management personnel can receive the alarm information immediately and take corresponding measures, greatly enhancing the security of gun management;

[0033] 3. The intelligent gun management platform provides comprehensive management functions: Through the intelligent gun management platform, the system can not only view the location and dynamics of guns in real time, but also process alarm information. The management platform has a user permission control function, which can provide access and operation permissions according to different permission levels to ensure data security and operation standardization. At the same time, the operation log function records every operation during the use of the gun, providing a strong basis for responsibility tracing.

[0034] The above description is only an overview of the technical solution of this application. In order to be able to understand the technical means of this application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features and advantages of this application more obvious and understandable, the following specifically presents the specific implementation manners of this application. Brief Description of the Drawings

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce 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, without creative efforts, other drawings can be obtained according to these drawings. In the drawings:

[0036] Figure 1 It is a functional diagram of the main board of the gun positioning module in a Beidou gun positioning system shown in an exemplary embodiment of the present invention;

[0037] Figure 2 It is a diagram of the gun positioning module;

[0038] Figure 3 It is an interface diagram of the intelligent gun management platform;

[0039] Figure 4 It is a logic diagram for determining the route deviation of the gun-carrying duty personnel shown in an exemplary embodiment of the present invention.

[0040] Among them, 1. Main control chip, 2. Clock chip, 3. Attitude sensing chip, 4. Storage chip, 5. esim chip, 6. 4G Beidou positioning chip, 7. Positioning antenna interface, 8. 4G antenna interface, 9. Power supply interface, 10. Connect the wireless charging coil, 11. Connect the gun positioning main board, 12. Wireless charging chip, 13. Connect the battery interface. Detailed Description of the Invention

[0041] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the protection scope of the present invention.

[0042] It should be noted that the diagrams provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner. Therefore, only the components related to the present invention are shown in the diagrams, rather than being drawn according to the number, shape, and size of the components in actual implementation. The type, quantity, and proportion of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0043] In the following description, a large number of details are explored to provide a more thorough explanation of the embodiments of the present invention. However, it is obvious to those skilled in the art that the embodiments of the present invention can be implemented without these specific details. In other embodiments, well-known structures and devices are shown in the form of block diagrams rather than in detail to avoid making the embodiments of the present invention difficult to understand.

[0044] A Beidou gun positioning system, as Figures 1 - 3 shown, includes:

[0045] A gun positioning module, which is used to real-time locate the position where the gun is used, and monitor the real-time position and trajectory of the duty personnel based on a 4G Beidou positioning chip;

[0046] A gun abnormal alarm module, which is used to aggregate gun positioning, match the gun positioning with the preset duty route and duty area, and generate alarm information when there is a route deviation or when crossing the fence, including out-of-position alarm, route deviation alarm, and crossing fence alarm, and also includes anti-disassembly alarm and low battery alarm, and sends the alarm information to the intelligent gun management platform through Beidou positioning;

[0047] A wireless charging module, when the gun is taken out of the gun storage room and placed in the gun holster, charges the gun through the wireless charging chip in the power board, which is used to ensure that the gun has sufficient power and avoid the influence of insufficient power on the gun function;

[0048] An intelligent gun management platform, which receives gun positioning information and alarm information through a 4G Beidou positioning chip, and can view the real-time dynamics and position of the gun on the map through the intelligent gun management platform, and is used to process the data through the intelligent gun management platform.

[0049] The present invention is further configured such that the gun positioning module includes a main control chip, a clock chip, a posture sensing chip, a storage chip, an esim chip, a 4G Beidou positioning chip, a positioning antenna interface, a 4G antenna interface, a power interface, a wireless charging coil connection, a gun positioning mainboard connection, a wireless charging chip and a battery connection interface.

[0050] The present invention is further configured such that the main control chip is used to receive and process data from the 4G Beidou positioning chip and the attitude sensing chip, and upload the processed data to the intelligent gun management platform in real time through the 4G Beidou positioning chip.

[0051] The present invention is further configured that the posture sensing chip is used to perform real-time detection of the use of guns by on-duty personnel to prevent on-duty personnel from using guns in violation of regulations, and when the gun posture detection is abnormal, an alarm message is generated and uploaded to the smart gun management platform;

[0052] The gun abnormal alarm module is used to detect abnormal behaviors including gun leaving its position, deviating from the route, and crossing the fence. The gun generates alarm information and uploads the alarm location to the smart gun management platform in real time.

[0053] The present invention is further configured that the intelligent gun management platform includes user permissions and operation log functions, and the user permissions include the alarm information and real-time status of the gun of the corresponding permission level that the user who enters the intelligent gun management platform can view and process according to the set permissions;

[0054] The operation log is used to record the corresponding operations of taking away or storing guns, as well as the operation records of platform managers handling alarm information in their daily work, providing a basis for responsibility tracing.

[0055] The present invention is further configured such that the system further includes a gun position history trajectory recording function, which records the real-time position route, status and abnormal alarm behavior of the gun through a storage chip, and obtains the time when the action occurs in combination with a clock chip, so that management personnel can view the gun's historical route trajectory.

[0056] The present invention is further configured such that the gun positioning module uploads the real-time positioning to the server, and the server sets a virtual fence for generating an alarm message when the gun deviates from the preset route, and uploads the data to the intelligent gun management platform in real time to notify the management personnel to carry out corresponding processing;

[0057] The setting logic of the virtual fence includes: taking the armed duty personnel as the center of the virtual circular fence area, and forming a virtual circular fence area with a radius R. The radius R is adjusted according to the urban environment, the size of the duty area, and the task requirements. When the virtual circular fence area is neither tangent to nor intersects with the preset route, it indicates crossing the fence, and an alarm message is generated to prompt the management personnel of the intelligent firearm management platform to perform corresponding processing.

[0058] As Figure 4 shown, the present invention is further configured such that the implementation logic of the route deviation includes:

[0059] Obtain the satellite signal and the channel transmission matrix, and calculate the observed signal according to the satellite signal and the channel transmission matrix. The present invention is further configured such that the calculation logic of the observed signal is: Γ(t) = Φ·Ψ s (t)·Λ(θ,φ) + ∈(t), where Γ(t) is the observed signal, Φ is the channel transmission matrix, Ψ s (t) is the original Beidou satellite signal, Λ(θ,φ) is the antenna pattern function, ∈(t) is the Gaussian noise term, reflecting the noise interference in the transmission process of the observed signal; specifically, the satellite signal Ψ s (t) is the original signal transmitted from the Beidou satellite, and the signal Ψ s (t) is transformed by the channel transmission matrix Φ. The channel matrix is used to transform the original signal Ψ s (t) according to the characteristics of the channel to obtain a signal that has been attenuated and interfered. The signal is processed by the antenna pattern function Λ(θ,φ). The antenna pattern function describes the receiving gain of the antenna for signals in different directions. The receiving sensitivity of the antenna is related to the incident angle θ and azimuth angle φ of the signal. The antenna pattern function is used to adjust the signal to the actual received signal strength. The signal will be interfered by environmental noise, hardware noise, etc. during the propagation and reception processes. Therefore, a noise term ∈(t) is added. The signal after channel transformation, the signal after antenna gain, and the noise term ∈(t) are synthesized to obtain the final observed signal Γ(t), that is: Γ(t) = Φ·Ψ s (t)·Λ(θ,φ) + ∈(t). The observed signal Γ(t) represents the actual signal received by the receiver at time t. Among them, Γ(t) includes the effective signal from the satellite and the noise and interference in the transmission process.

[0060] The observed signal is observed and decomposed to obtain the pseudorange and clock bias between the satellite signal and the target three-dimensional position. Specifically, by decomposing the observed signal, the pseudorange and clock bias are extracted from the received signal, which specifically includes: obtaining the geometric distance between the target and the satellite, and obtaining the Euclidean distance between the two points through the known position and three-dimensional position of the satellite; when the satellite signal propagates in space, it takes a certain time to reach the target position. The pseudorange between the target and the satellite is calculated according to the propagation time of the signal and the arrival time of the signal. Since the clocks of the receiver and the satellite are not completely synchronized, the received pseudorange will also include the clock bias. The pseudorange and clock bias between the satellite signal and the target three-dimensional position are obtained through the observation and decomposition of the observed signal.

[0061] The target three-dimensional position is calculated based on the pseudorange and clock bias between multiple satellite signals and the target three-dimensional position. The relationship logic between the pseudorange and clock bias between the multiple satellite signals and the target three-dimensional position and the obtained target three-dimensional position is: ρ k = ∥p u - p k ∥ + c·δt, where ρ k is the pseudorange between the satellite signal and the target three-dimensional position, p u is the target three-dimensional coordinate, p k is the known satellite three-dimensional coordinate, c is the speed of light, and δt is the clock bias. Specifically, the pseudorange formula is obtained according to the relationship between the pseudorange and clock bias between the satellite and the target and the obtained target three-dimensional position. When there are multiple satellites, multiple pseudorange equations are obtained, and a non-linear equation set containing the target three-dimensional position and clock bias is obtained through the multiple pseudorange equations, and the target three-dimensional position is obtained by solving the non-linear equation set.

[0062] The preset duty route is modeled to obtain a segmented curve, and the trajectory deviation degree is calculated according to the target three-dimensional position and the segmented Bézier curve. The calculation logic of the segmented Bézier curve is: where C(s) is the segmented Bézier curve, B n,k (s) is the Bézier basis function, n is the order of the Bézier curve, s is the normalized parameter of the path, and P k is the control point of the Bézier curve. Specifically, the segmented Bézier curve is modeled according to the preset duty route of the target, and the deviation degree between the target position and the trajectory of the preset duty route is calculated through the Bézier curve. The calculation logic of the trajectory deviation degree is: where D(t) is the real-time trajectory deviation degree, T(t) is the real-time trajectory, ∥T(t) - C(s)∥ represents the geometric distance between the real-time trajectory and the Bézier curve, and κ is the curvature sensitivity coefficient. is the rate of change of the heading angle; specifically, by traversing all points s on the preset duty route trajectory, calculating the Euclidean distance between the target and the points on the preset duty route trajectory, and selecting the point s on the preset duty route trajectory that minimizes the distance; the trajectory curvature κ and the rate of change of the target's heading angle act together to adjust the weight of the deviation degree, ensuring that a greater weight is given when the curve changes rapidly, so as to reflect the severity of the target deviating from the preset trajectory.

[0063] When the trajectory deviation degree is greater than the preset trajectory deviation degree threshold, an alarm message is generated. Specifically, when the trajectory deviation of the target exceeds the preset threshold, the system will trigger an alarm to notify that the target deviates from the predetermined route, and the value of the deviation threshold is set according to the specific application scenario. In the feasible embodiment of the present invention, the deviation threshold is set to 0.5 meters to 1 meter.

[0064] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that contains one or more collections of available media. The available media can be magnetic media (such as floppy disks, hard disks, magnetic tapes), optical media (such as DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0065] It should be understood that the term "and / or" in this article is only a description of the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. In addition, the character " / " in this article generally represents an "or" relationship between the associated objects before and after, but it may also represent an "and / or" relationship, which can be specifically understood with reference to the context.

[0066] In this application, "at least one" means one or more, and "a plurality" means two or more. "At least one of the following" or a similar expression means any combination of these items, including any combination of single item(s) or plural item(s). For example, at least one of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0067] It should be understood that in various embodiments of this application, the magnitude of the serial numbers of the above processes does not mean the sequence of execution. The execution sequence of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this application.

[0068] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professionals can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0069] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0070] In several embodiments provided in this application, it should be understood that the disclosed system can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0071] The units described as separate components may or may not be physically separated. The components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0072] In addition, in each embodiment of the present application, each functional unit can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0073] If the above-mentioned functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0074] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A Beidou gun positioning system, characterized in that: The system comprises: The gun positioning module is used to locate the gun in real time and monitor the real-time position and trajectory of the on-duty personnel based on the 4G Beidou positioning chip; The gun abnormality alarm module is used to collect gun positioning, match the gun positioning with the preset duty route and duty area, and generate alarm information when the route deviates or crosses the fence, including departure alarm, route deviation alarm and fence crossing alarm, as well as anti-disassembly alarm and low battery alarm. The alarm information is sent to the intelligent gun management platform through Beidou positioning; Wireless charging module: When a gun is taken out of the gun storage room and put into the holster, the gun is charged through the wireless charging chip in the power board to ensure that the gun has sufficient power to avoid insufficient power affecting the function of the gun; The intelligent gun management platform receives gun positioning information and alarm information through the 4G Beidou positioning chip, and uses the intelligent gun management platform to view gun dynamics and locations on the map in real time, and is used to process data through the intelligent gun management platform.

2. A Beidou gun positioning system according to claim 1, characterized in that: The gun positioning module includes a main control chip, a clock chip, a posture sensing chip, a storage chip, an esim chip, a 4G Beidou positioning chip, a positioning antenna interface, a 4G antenna interface, a power interface, a wireless charging coil, a gun positioning mainboard, a wireless charging chip and a battery interface.

3. A Beidou gun positioning system according to claim 2, characterized in that: The main control chip is used to receive and process data from the 4G Beidou positioning chip and the attitude sensing chip, and upload the processed data to the intelligent gun management platform in real time through the 4G Beidou positioning chip.

4. A Beidou gun positioning system according to claim 2, characterized in that: The posture sensing chip is used to detect the use of guns by on-duty personnel in real time to prevent them from using guns in violation of regulations. When the gun posture is detected to be abnormal, an alarm message is generated and uploaded to the smart gun management platform. The gun abnormal alarm module is used to detect abnormal behaviors including gun leaving its position, deviating from the route, and crossing the fence. The gun generates alarm information and uploads the alarm location to the smart gun management platform in real time.

5. A Beidou gun positioning system according to claim 1, characterized in that: The intelligent gun management platform includes user permissions and operation log functions. The user permissions include the alarm information and real-time status of guns at the corresponding permission level that users who enter the intelligent gun management platform can view and process according to the set permissions; The operation log is used to record the corresponding operations of taking away or storing guns, as well as the operation records of platform managers handling alarm information in their daily work, providing a basis for responsibility tracing.

6. A Beidou gun positioning system according to claim 1, characterized in that: The system further includes a gun location history trajectory recording function, which records the real-time location route, status and abnormal alarm behavior of the gun through a storage chip, and combines with a clock chip to obtain the time when the action occurs, so that management personnel can view the gun's historical route trajectory.

7. A Beidou gun positioning system according to claim 1, characterized in that: The gun positioning module uploads the real-time positioning to the server, and the server sets a virtual fence to generate an alarm message when the gun deviates from the preset route, and uploads the data to the intelligent gun management platform in real time to notify the management personnel to take corresponding measures; The setting logic of the virtual fence includes: taking the armed on-duty personnel as the center of the virtual circular fence area, and forming a virtual circular fence area with a radius R, and the radius R is adjusted according to the urban environment, the size of the duty area, and the task requirements. When the virtual circular fence area is not tangent to or does not intersect with the preset route, it means that the fence has been crossed, and an alarm message is generated to prompt the administrator of the smart gun management platform to take corresponding measures.

8. The Beidou gun positioning system according to claim 1, characterized in that: The implementation logic of the route deviation includes: Acquire satellite signals and channel transmission matrices, and calculate observation signals according to the satellite signals and channel transmission matrices; Performing observation decomposition on the observation signal to obtain a pseudorange and a clock deviation between the satellite signal and the target three-dimensional position; The three-dimensional position of the target is obtained by calculating the pseudo-range and clock deviation between the multiple satellite signals and the three-dimensional position of the target; The preset duty route is modeled to obtain a segmented curve, and the trajectory deviation is calculated based on the target three-dimensional position and the segmented Bezier curve; When the trajectory deviation is greater than a preset trajectory deviation threshold, an alarm message is generated.

9. A Beidou gun positioning system according to claim 8, characterized in that: The calculation logic of the observation signal is: Γt=Φ·Ψ s t·Λθ,φ+∈t, where Γt is the observed signal, Φ is the channel transmission matrix, and Ψ s t is the original signal of BeiDou satellite, Λθ,φ is the antenna pattern function, ∈t is the Gaussian noise term, which reflects the noise interference of the observation signal during the transmission process; The relationship logic between the pseudoranges and clock deviations between the multiple satellite signals and the target three-dimensional position and the obtained target three-dimensional position is: k =∥p u -p k ∥+c·δt, where ρ k is the pseudorange between the satellite signal and the target 3D position, p u is the target 3D coordinate, p k are the known three-dimensional coordinates of the satellite, c is the speed of light, and δt is the clock deviation; The calculation logic of the piecewise Bezier curve is: Among them, Cs is a piecewise Bezier curve, B n,k s is the Bezier basis function, n is the order of the Bezier curve, s is the normalized parameter of the path, P k are the control points of the Bezier curve; The calculation logic of the trajectory deviation is: Where Dt is the real-time trajectory deviation, Tt is the real-time trajectory, ∥Tt-Cs∥ represents the geometric distance between the real-time trajectory and the Bezier curve, κ is the curvature sensitivity coefficient, is the rate of change of heading angle.

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