Searching navigation system
By introducing a mechanism of server coordination and assistance terminals in the navigation system, using the characteristic information of the target object for intelligent search, the limitations of existing navigation technology when finding specific target objects are solved, and efficient and intelligent target object search is achieved.
Patent Information
- Application Number
- CN202510064365.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-15
- Publication Date
- 2025-06-13
AI Technical Summary
Existing navigation technology has limitations when finding specific target objects, and cannot intelligently search based on the target object's characteristic information, especially when the target object's location is unknown or difficult to accurately describe, it cannot provide effective help.
It provides a search navigation system, including a helper terminal, a server and an assist terminal. Through the server, the helper terminal and an assist terminal are coordinated, and intelligent search is carried out using the characteristic information of the target object. The helper terminal sends a search request to the server. The server sends a search invitation information to the assisting terminal whose satellite position falls within the estimated range, assists the terminal to feedback the search information, and the server extracts valid information and feeds it back to the helper terminal in real time.
It realizes intelligent search based on the feature information of the target object, improves the search efficiency, expands the search range, and provides effective help when the target object location is unknown or difficult to describe, promotes collaboration between users, and enhances the interactiveness and real-timeness of the search process.
Smart Images
Figure BDA0005243804060000041 
Figure BDA0005243804060000121 
Figure FDA0005243804050000021
Abstract
Description
Technical Field
[0001] This application relates to the technical field of positioning and navigation, and particularly to a search navigation system. Background Art
[0002] In daily life, people often face scenarios where they need to search for lost items or missing persons. For example, a schoolbag containing important study materials and personal items is accidentally lost near a school; when visiting a museum, due to the dense crowd, a child accidentally gets lost, and the parents are extremely anxious; or when driving on the road, due to momentary inattention, an important vehicle is lost, resulting in serious impacts on subsequent trips. These search scenarios not only bring inconvenience to people but may also cause property losses or emotional harm.
[0003] Currently, although there are various navigation technologies in the market, such as GPS navigation systems, Beidou navigation systems, etc., these technologies have played an important role in providing position positioning and route planning. However, when searching for specific targets, the existing navigation technologies have obvious limitations. The existing navigation technologies mainly rely on the target position information actively input by users and cannot conduct intelligent searches based on the characteristic information of the target object. This results in the inability of the navigation technology to provide effective assistance when the position of the target object is unknown or difficult to accurately describe. Summary of the Invention
[0004] The purpose of this application is to provide a search navigation system that can improve the above problems.
[0005] The embodiments of this application are implemented as follows:
[0006] This application provides a search navigation system, which includes: a help terminal, a server, and an assistance terminal;
[0007] The help terminal sends a search request and an estimated range for the target object to the server, and the search request includes the target object characteristic information of the target object;
[0008] The server sends a search invitation information for the target object to other assistance terminals whose satellite positioning falls within the estimated range, and the search invitation information also includes the target object characteristic information;
[0009] The assistance terminal feeds back search information to the server, and the server extracts valid information from the search information and feeds it back to the help terminal in real time.
[0010] It can be understood that the search navigation system provided in this application takes the server as the main body, and all terminals connected to the server can be assistance-seeking terminals, sending search requests for the target object to the server. The server uses an effective cooperation mechanism to jointly assist with other connectable terminal devices to search for the target object together, and extracts effective information from numerous search information for feedback. The search navigation system provided by this patent effectively solves the limitations of existing navigation technologies when searching for specific target objects. By coordinating assistance-seeking terminals and assisting terminals through the server, intelligent search based on the characteristic information of the target object is realized. This system not only improves the search efficiency but also expands the search scope, enabling effective assistance even when the location of the target object is unknown or difficult to describe. At the same time, this system promotes cooperation among users, enhances the interactivity and real-time nature of the search process, and provides a brand-new solution for searching for lost items or missing persons.
[0011] In an alternative embodiment of the present application, the search information includes at least one of the following:
[0012] Search result, used to represent whether the assisting terminal has found the target object, that is, the preliminary judgment of whether the assisting terminal itself / the user of the assisting terminal has found the target object;
[0013] Current satellite positioning of the assisting terminal, that is, the current positioning obtained by the assisting terminal through GPS or Beidou satellite technology;
[0014] On-site image of the target object captured by the assisting terminal.
[0015] In an alternative embodiment of the present application, the server extracts effective information from the search information and feeds it back to the assistance-seeking terminal in real time, including: after the server receives the search information fed back by at least two assisting terminals within a preset time period, it sorts the search information according to information effectiveness and filters out at least one of the search information with a higher ranking as the target search information, and takes the provider of the target search information as the target assisting terminal; the server performs secondary calculation on the positioning information of the target assisting terminal to obtain the current recommended positioning; the server takes the current recommended positioning and the on-site image of the target object in the target search information as effective information and feeds it back to the assistance-seeking terminal in real time.
[0016] It can be understood that by effectively screening and sorting the search information fed back by multiple assisting terminals through the server, the most valuable target search information can be quickly extracted. This mechanism not only improves the efficiency of information processing but also ensures that the requesting terminal can receive the most accurate and timely assistance information. At the same time, the server performs secondary calculations on the positioning information of the target assisting terminals, further optimizing the recommended positioning. Combining with the on-site images of the target, it provides comprehensive and accurate information support for the requesting terminal, greatly improving the success rate of finding the target and the user experience.
[0017] In an alternative embodiment of the present application, sorting the search information according to information validity includes: after the server filters out the search information with positive search results, sorting the search information according to at least one of the following 3 reference items. The above server can score the reference items of each search information according to a preset weight, and then sort each search information according to the comprehensive score.
[0018] 1. The number of on-site images of the target. A larger number of images provides more angles and details, helping to understand the current situation and environment of the target more comprehensively; multiple images can corroborate each other, increasing the reliability and accuracy of the information; at the same time, more images also mean that the assisting terminal user may have made more detailed observations and searches, thus increasing the possibility of finding the target.
[0019] 2. The matching degree between the target elements in the on-site images of the target and the target feature information. Images with a high matching degree more directly reflect the characteristics of the target, helping to quickly confirm the identity and location of the target; a high matching degree means that the assisting terminal user accurately identified the target, reducing the possibility of false alarms and missed reports; therefore, the matching degree is an important indicator for evaluating the effectiveness of search information.
[0020] 3. The image quality parameters of the on-site images of the target. Clear images can provide more detailed and realistic visual information, helping the requesting terminal user to more accurately judge the state and location of the target; image quality parameters such as resolution, contrast, and brightness directly affect the clarity and recognizability of the image; therefore, considering the image quality parameters during sorting can ensure that the requesting terminal receives the clearest and most useful image information.
[0021] In an alternative embodiment of the present application, the secondary calculation includes:
[0022] Extract the current satellite positioning of the assisting terminal in each of the target search information, and calculate the center point of the current satellite positioning of each assisting terminal according to the following formula as the current recommended positioning:
[0023]
[0024] Among them, (x, y, z) represents the current recommended location, where (x i , y i , z i ) represents the current satellite location of the i-th assisting terminal, and n represents the total number of the current satellite locations of the assisting terminals received by the server within a preset time period.
[0025] It can be understood that the above preset time period should be short enough so that the server receives multiple target search messages at close times, and the current satellite locations of the assisting terminals in these target search messages can corroborate each other. By calculating the center point of the current satellite locations of each assisting terminal, the current location where the target object appears can be obtained more accurately, that is, the current recommended location.
[0026] In addition, when the target object appears in an indoor area such as a garage, a shopping mall, or a museum, there may be deviations in satellite positioning. If the current satellite location of the assisting terminal is directly used as the positioning information for calculation and recommendation, it may lead to a large deviation in the location of the target object.
[0027] In an optional embodiment of the present application, the above search navigation system further includes: the server extracts the current satellite locations of the assisting terminals in each of the target search messages, and sends an invitation to start the near-field positioning mode to nearby terminals near the current satellite locations of the assisting terminals; after the nearby terminals accept the invitation, they send near-field signals; the assisting terminal screens out at least one of the near-field signals with the strongest signal as the target near-field signal, and sends the terminal identifier of the target nearby terminal that generates the target near-field signal to the server; the server obtains the satellite positioning information of the target nearby terminal as the target nearby terminal positioning information; the secondary calculation includes: combining the target nearby terminal positioning information and the satellite positioning information of the target assisting terminal to obtain the current recommended location.
[0028] It can be understood that in an indoor area such as a garage, a shopping mall, or a museum where satellite positioning may be deviated, this embodiment effectively makes up for the deficiency of satellite positioning by introducing the near-field positioning mode. The server sends an invitation to start the near-field positioning mode to other terminals near the assisting terminal, and using the near-field signals sent by the nearby terminals, the assisting terminal can screen out the target near-field signal with the strongest signal and determine the target nearby terminal accordingly. The server combines the satellite positioning information of the target nearby terminal and the satellite positioning information of the target assisting terminal for secondary calculation to obtain a more accurate current recommended location. This mechanism not only improves the positioning accuracy of the target object location in the indoor environment, but also enhances the reliability and practicability of the search navigation system, providing a more accurate and efficient positioning service for users to search for target objects in complex environments.
[0029] Optionally, the above near-field positioning mode includes at least one of the following: impulse radio ultra-wideband (UWB) positioning mode, infrared positioning mode, RFID positioning mode, ultrasonic positioning mode, Wi-Fi positioning mode, and Bluetooth positioning mode.
[0030] Optionally, the above server can obtain the current city map, and when it is determined that there is an indoor building within a preset range of the current satellite positioning of the assisting terminal, an invitation to start the near-field positioning mode is sent to other terminals near the assisting terminal. It can be understood that by obtaining the city map, the server can intelligently determine whether the assisting terminal is near an indoor building, thereby accurately triggering the near-field positioning mode, effectively improving the accuracy of indoor positioning, reducing unnecessary consumption of positioning resources, and enhancing the efficiency and practicality of the positioning system.
[0031] In an optional embodiment of the present application, the obtaining the current recommended positioning by combining the positioning information of the target nearby terminal and the satellite positioning information of the target assisting terminal includes: receiving the pseudorange between the target nearby terminal and at least 3 preset satellites as the auxiliary pseudorange; receiving the pseudorange between the target assisting terminal and at least 3 preset satellites as the main pseudorange; calculating the mean of the auxiliary pseudorange and the main pseudorange for each of the preset satellites as the average pseudorange; and based on the triangulation principle, substituting the average pseudorange of each of the preset satellites to calculate the satellite positioning as the current recommended positioning.
[0032] In an optional embodiment of the present application, the above search navigation system further includes: the server sends a contact invitation to the target assisting terminal, and after receiving the contact information of the assistant provided by the target assisting terminal, adds the contact information of the assistant to the valid information and sends it to the requesting terminal. It can be understood that the server obtains the contact information of the assistant and sends it to the requesting terminal, which is convenient for the two parties to quickly contact and improves the assistance efficiency. This function enhances the practicality of the system, enabling the requester to quickly obtain the required help.
[0033] In an optional embodiment of the present application, the above search navigation system further includes: the requesting terminal extracts the recommended positioning from the valid information and displays the recommended positioning and the current positioning of the requesting terminal on the city map. Optionally, the above search navigation system further includes: the requesting terminal performs route navigation with the current positioning of the requesting terminal as the starting point and the recommended positioning as the terminal according to the above city map. It can be understood that the requesting terminal displays the recommended positioning and the current positioning, which is convenient for the user to intuitively understand the location information and quickly reach the target location through route navigation, improving the convenience and accuracy of navigation.
[0034] In an alternative embodiment of the present application, the above-mentioned search navigation system further includes: displaying the recommended positioning feedback at each moment on the urban map, outlining the movement route of the target object based on the recommended positioning, and judging the movement mode of the target object according to the movement route and movement speed of the target object. It can be understood that the system displays the recommended positioning in real time, outlines the movement route of the target object, and judges the movement mode, providing more comprehensive dynamic information of the target object for the seeker, which helps to formulate a more reasonable search or tracking strategy.
[0035] Beneficial effects:
[0036] The search navigation system provided by the present application takes the server as the main body, and all terminals connected to the server can be assistance terminals. They send search requests for the target object to the server. The server uses an effective cooperation mechanism to jointly search for the target object with other connectable terminal devices, and extracts effective information from numerous search information for feedback. The search navigation system provided by this patent effectively solves the limitations of existing navigation technologies when searching for specific target objects. By coordinating assistance terminals and help-seeking terminals through the server, intelligent search based on the characteristic information of the target object is achieved. This system not only improves the search efficiency but also expands the search scope, enabling effective assistance even when the location of the target object is unknown or difficult to describe. At the same time, this system promotes cooperation among users, enhances the interactivity and real-time nature of the search process, and provides a brand-new solution for searching for lost items or missing persons.
[0037] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically enumerates alternative embodiments and, in conjunction with the accompanying drawings, makes a detailed description as follows. Brief Description of the Drawings
[0038] To more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other relevant drawings can also be obtained based on these drawings.
[0039] Figure 1 is a schematic diagram of the working scenario of a search navigation system provided by the present application;
[0040] Figure 2 is Figure 1 Another schematic diagram of the working scenario of the search navigation system shown;
[0041] Figure 3 is a schematic diagram of the original data of the positioning information of the terminal near the target and the satellite positioning information of the target assistance terminal;
[0042] Figure 4 It is a schematic diagram of the current recommended positioning obtained after processing the positioning information of the terminal near the target and the satellite positioning information of the target assistance terminal. Detailed implementation manners
[0043] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present application.
[0044] As Figure 1 shown, the present application provides a search navigation system, which includes: a help-seeking terminal, a server, and an assistance terminal.
[0045] The help-seeking terminal sends a search request and an estimated range for the target object to the server. The search request includes the target object feature information of the target object. The above target object can be an animal, a person, a vehicle, etc.; the above estimated range can be the approximate area range where the target object is lost / followed; the above target object feature information can be information such as the category, name, color, brand, relevant number, and target object picture of the target object that can describe the characteristics of the target object. The help-seeking terminal can be any mobile terminal installed with a help-seeking application. For example, a driver of a vehicle at the end of a wedding car queue loses track of the lead car. He can use the help-seeking application on his mobile phone. This help-seeking application allows users to input information such as a description of the lost vehicle and the approximate lost location, and send a help-seeking request to the server. At the same time, the help-seeking application can also receive valid information feedback from the server, such as target search information, recommended positioning, and contact information of assistants, and display this information on the urban map to provide a route navigation function.
[0046] The server sends a search invitation information for the target object to other assistance terminals whose satellite positioning falls within the estimated range. The search invitation information also includes the target object feature information; the assistance terminal feeds back the search information to the server, and the server extracts the valid information from the search information and feeds it back to the help-seeking terminal in real time.
[0047] The server can be a computing platform deployed in the cloud. It receives requests and information from multiple assistance terminals and help terminals, and performs data processing and analysis. For example, when receiving a help request from a help terminal, the server sends a search information request to nearby assistance terminals and collects feedback. The server also sorts and filters the search information based on information validity, and extracts the most valuable target search information. In addition, the server can obtain the current city map, determine whether the assistance terminal is near an indoor building, and decide whether to activate the near-field positioning mode. Another specific example is that the server may be a cluster composed of multiple high-performance computing nodes, running specially designed algorithms to process help and assistance requests. These algorithms may include machine learning algorithms for analyzing and predicting the possible location of the target object, or optimization algorithms for improving the efficiency and accuracy of route navigation.
[0048] An assistance terminal can be generally defined as any terminal device equipped with a camera device or having the function of observation and feedback. This includes but is not limited to intelligent surveillance cameras fixed at various main roads or specific areas in the city, which capture images in real time; it also includes the mobile phone terminals of other users who observe the target object. Users can take photos or videos of the target object through an application on the mobile phone and provide relevant information; there are also other in-vehicle terminals that observe the target object, such as dash cams or intelligent in-vehicle systems installed in vehicles, which can also capture and record the appearance of the target object. These assistance terminals send the observed information to the server to help the server more accurately locate the target object and provide effective search support for the help terminal. Taking the example of losing track of a vehicle in a wedding convoy, the assistance terminal can be an intelligent surveillance camera installed at main roads or specific areas in the city (such as along the wedding convoy route), or a mobile terminal with an assistance application installed on other vehicles participating in the wedding convoy. As an assistance terminal, the intelligent surveillance camera can capture road vehicle images in real time and send these image data to the server. The server analyzes the images captured by the camera through image recognition technology to find vehicles that match the description of the lost vehicle provided by the help terminal. At the same time, drivers of other vehicles participating in the wedding convoy can also use the assistance application on their mobile phones as an assistance terminal. This assistance application can receive search information requests sent by the server, including the description of the lost vehicle, the approximate location where it was lost, etc. During the driving process, the driver can pay attention to the surrounding vehicles. Once a suspected lost vehicle is found, the driver can input search results, such as vehicle location, vehicle pictures, etc., through the assistance application and send them to the server.
[0049] It can be understood that the search navigation system provided by the present application is mainly based on a server, and all terminals in contact with the server can be help terminals. A search request for the target object is sent to the server. The server uses an effective collaboration mechanism to cooperate with other terminal devices that can be contacted to assist in jointly searching for the target object, and extracts effective information from a large amount of search information for feedback. The search navigation system provided by this patent effectively solves the limitations of existing navigation technology when searching for specific targets. By coordinating the help terminal and the assistance terminal through the server, intelligent search based on the characteristic information of the target object is realized. The system not only improves the search efficiency, but also expands the search range, so that effective help can be provided even when the location of the target object is unknown or difficult to describe. At the same time, the system promotes collaboration between users, enhances the interactivity and real-time nature of the search process, and provides a new solution for finding lost items or lost persons.
[0050] In an optional embodiment of the present application, the search information includes at least one of the following:
[0051] The search result is used to indicate whether the assisting terminal has found the target object, that is, the assisting terminal itself / the user of the assisting terminal makes a preliminary judgment on whether the target object has been found;
[0052] Assist the terminal in obtaining the current satellite positioning through GPS or Beidou satellite technology;
[0053] Assist the terminal to capture the on-site image of the target object.
[0054] In an optional embodiment of the present application, the server extracts valid information from the search information and feeds it back to the help terminal in real time, including: after the server receives the search information fed back by at least two assisting terminals within a preset time period, the server sorts the search information according to the validity of the information, and selects at least one of the search information with the highest sorting as the target search information, and takes the provider of the target search information as the target assisting terminal; the server performs a secondary calculation on the positioning information of the target assisting terminal to obtain the current recommended positioning; the server takes the current recommended positioning and the on-site image of the target object in the target finding information as valid information, and feeds it back to the help terminal in real time.
[0055] The above-mentioned preset time length should be short enough, and can be specifically set by a person skilled in the art, and its purpose is to feed back a plurality of search information to the server in the same period of time, so that the server can sort and select the most effective target search information.
[0056] It can be understood that by effectively screening and sorting the search information fed back by multiple assisting terminals through the server, the most valuable target search information can be quickly extracted. This mechanism not only improves the efficiency of information processing but also ensures that the requesting terminal can receive the most accurate and timely assistance information. At the same time, the server performs secondary calculations on the positioning information of the target assisting terminal, further optimizing the recommended positioning. Combining with the on-site images of the target, it provides comprehensive and accurate information support for the requesting terminal, greatly improving the success rate of finding the target and the user experience.
[0057] In an alternative embodiment of the present application, sorting the search information according to information validity includes: after the server filters out the search information with positive search results, sorting the search information according to at least one of the following 3 reference items. The above positive search results are the feedback that the assisting terminal itself / the user of the assisting terminal initially judges to have discovered the target. The above server can score each reference item of each search information according to a preset weight, and then sort each search information according to the comprehensive score.
[0058] 1. The number of on-site images of the target. A larger number of images provides more angles and details, helping to comprehensively understand the current situation and environment of the target; multiple images can corroborate each other, increasing the reliability and accuracy of the information; at the same time, more images also mean that the assisting terminal user may have made more careful observations and searches, thus increasing the possibility of finding the target.
[0059] 2. The matching degree between the target elements in the on-site images of the target and the target feature information. Images with a high matching degree more directly reflect the characteristics of the target, helping to quickly confirm the identity and location of the target; a high matching degree means that the assisting terminal user accurately identifies the target, reducing the possibility of false alarms and missed reports; therefore, the matching degree is an important indicator for evaluating the effectiveness of search information.
[0060] 3. The image quality parameters of the on-site images of the target. Images with clear quality can provide more detailed and realistic visual information, helping the requesting terminal user to more accurately judge the state and location of the target; image quality parameters such as resolution, contrast, and brightness directly affect the clarity and recognizability of the image; therefore, considering the image quality parameters during sorting can ensure that the requesting terminal receives the clearest and most useful image information.
[0061] For example, the server receives search information fed back by 4 assisting terminals within one minute. The server calculates the effectiveness score of each search information according to the following formula:
[0062] S = k1×a / 10 + k2×b + k3×c;
[0063] Among them, k1 represents the validity weight of the on-site image of the target, k2 represents the validity weight of the above matching degree, k3 represents the validity weight of the above image quality parameter, k1 + k2 + k3 = 1, a represents the number of on-site images of the target, b represents the matching degree between the target element and the target feature information in the on-site image of the target within the range of 0% to 100%, c represents the image quality parameter of the on-site image of the target within the range of 0% to 100%. The calculation of the matching degree and the image quality parameter can be assisted by a variety of image technologies. For the matching degree, technologies such as feature point matching, template matching, or convolutional neural network (CNN) in deep learning can be used to evaluate by comparing the similarity between the elements in the on-site image of the target and the preset feature information. For the image quality parameter, image processing algorithms can be used to measure the resolution, contrast, brightness, and clarity of the image, etc. These technologies can quantify the visual quality of the image to ensure that the sorting is based on the most objective and accurate image information.
[0064] The principles of both the Beidou and GPS positioning systems are based on the signal propagation time ranging method between satellites and receivers. By measuring the time it takes for satellite signals to propagate from the satellite to the receiver and multiplying it by the speed of light, the distance from the satellite to the receiver can be calculated. Then, using the principle of triangulation (also known as the three-sphere intersection positioning method), the receiver calculates its precise position on the earth by simultaneously receiving signals from multiple satellites, that is, the current satellite positioning. The server performs secondary calculations on the positioning information of the target assistance terminal to obtain the current recommended positioning. Among them, the positioning information can be the calculated current satellite positioning of the assistance terminal or the original satellite positioning data before the three-sphere intersection positioning method is processed.
[0065] In an alternative embodiment of the present application, the secondary calculation includes:
[0066] Extract the current satellite positioning of each assistance terminal in each target search information, and calculate the center point of the current satellite positioning of each assistance terminal according to the following formula as the current recommended positioning:
[0067]
[0068] Among them, (x, y, z) represents the current recommended positioning, (x i , y i , z i ) represents the current satellite positioning of the i-th assistance terminal, and n represents the total number of current satellite positionings of the assistance terminals received by the server within the preset time period.
[0069] It can be understood that the above preset duration should be short enough so that the server receives multiple target search messages at close moments, and the satellite positioning assistance in these target search messages can corroborate each other. By calculating the center point of the current satellite positioning of each assisting terminal, the current position where the target appears, that is, the current recommended positioning, can be obtained more accurately.
[0070] In addition, when the target appears in indoor areas such as garages, shopping malls, and museums, there may be deviations in satellite positioning. If the current satellite positioning of the assisting terminal is directly used as the positioning information for calculation and recommendation, it may lead to a large deviation in the position of the target.
[0071] In an alternative embodiment of the present application, as Figure 2 shown, the above search navigation system further includes: the server extracts the current satellite positioning of the assisting terminal in each target search message, and sends an invitation to start the near-field positioning mode to nearby terminals near the current satellite positioning of the assisting terminal; after receiving the invitation, the nearby terminal sends a near-field signal; the assisting terminal filters out at least one near-field signal with the strongest signal as the target near-field signal, and sends the terminal identifier of the target nearby terminal that generates the target near-field signal to the server; the server obtains the satellite positioning information of the target nearby terminal as the positioning information of the target nearby terminal; the secondary calculation includes: combining the positioning information of the target nearby terminal and the satellite positioning information of the target assisting terminal to obtain the current recommended positioning.
[0072] It can be understood that in indoor areas where satellite positioning may be deviated, such as garages, shopping malls, and museums, this embodiment effectively makes up for the deficiency of satellite positioning by introducing the near-field positioning mode. The server sends an invitation to start the near-field positioning mode to other terminals near the assisting terminal, and uses the near-field signals sent by the nearby terminals. The assisting terminal can filter out the target near-field signal with the strongest signal and determine the target nearby terminal accordingly. The server combines the satellite positioning information of the target nearby terminal and the satellite positioning information of the target assisting terminal for secondary calculation to obtain a more accurate current recommended positioning. This mechanism not only improves the positioning accuracy of the target position in the indoor environment, but also enhances the reliability and practicability of the search navigation system, providing a more accurate and efficient positioning service for users to search for targets in complex environments.
[0073] Optionally, the above near-field positioning mode includes at least one of the following: impulse radio ultra-wideband (UWB) positioning mode, infrared positioning mode, RFID positioning mode, ultrasonic positioning mode, Wi-Fi positioning mode, Bluetooth positioning mode.
[0074] Optionally, the above server can obtain the current city map and, when it determines that there is an indoor building within the preset range of the current satellite positioning of the assistance terminal, send an invitation to start the near-field positioning mode to other terminals near the assistance terminal. It can be understood that by obtaining the city map, the server can intelligently determine whether the assistance terminal is near an indoor building, thereby accurately triggering the near-field positioning mode, effectively improving the accuracy of indoor positioning, reducing unnecessary consumption of positioning resources, and enhancing the efficiency and practicality of the positioning system.
[0075] When the server determines that the target object is in the indoor area, it sends an invitation to start the near-field positioning mode to the nearby UWB base stations. These base stations, as nearby terminals, start transmitting UWB signals after receiving the invitation. The assistance terminal (such as the user's smartphone or a dedicated positioning device) is equipped with a UWB receiver, filters out the UWB signal with the strongest signal as the target near-field signal, and sends the identifier of the base station that generates this signal to the server. The server combines the accurate position information of the base station and the preliminary satellite positioning information of the assistance terminal for secondary calculation to obtain a more accurate current recommended positioning.
[0076] In the indoor area, infrared emitters and optical sensors are arranged as nearby terminals. After the server sends an invitation to these terminals to start the near-field positioning mode, the infrared emitters start emitting infrared signals at a specific frequency. The assistance terminal is equipped with an optical sensor. After receiving the infrared signal, it determines the most likely position of the infrared emitter by calculating the signal strength and direction. The server combines these positions and the satellite positioning information of the assistance terminal to optimize the recommended positioning.
[0077] In the indoor area, RFID interrogators and multiple transponders are arranged as nearby terminals. After the server invites these terminals to start the near-field positioning mode, the interrogator starts emitting an electromagnetic field signal. After receiving the signal, the transponder returns data containing its own position information. The assistance terminal (such as a device with RFID reading function) sends the position of the transponder corresponding to the strongest signal to the server after receiving this data. The server combines this information to improve the positioning accuracy.
[0078] In the indoor area, ultrasonic transmitters and electronic tags are arranged as nearby terminals. After the server invites these terminals to start the near-field positioning mode, the ultrasonic transmitters start sending ultrasonic signals to the electronic tags. The electronic tag reflects an echo after receiving the signal. The assistance terminal (such as a device with an ultrasonic receiver) determines the position of the electronic tag by calculating the time difference and wave speed after receiving the echo. The server combines these positions and the satellite positioning information of the assistance terminal to optimize the positioning result.
[0079] Arrange multiple Wi-Fi access points in the indoor area as nearby terminals, and establish a fingerprint database in advance. After the server invites these terminals to start the near-field positioning mode, it assists the terminals (such as smartphones) to start scanning the surrounding Wi-Fi signals, and matches the scanning results with the fingerprint database. The location of the Wi-Fi access point with the highest matching degree is used as the target near-field location and sent to the server. The server combines these locations with the satellite positioning information of the assisting terminals to improve the positioning accuracy.
[0080] Arrange multiple Bluetooth beacons in the indoor area as nearby terminals. After the server invites these terminals to start the near-field positioning mode, the Bluetooth beacons start broadcasting signals. After the assisting terminal (such as a smartphone with Bluetooth function) receives the signal, it determines the most likely location of the Bluetooth beacon by measuring the signal strength and calculating the distance. The server combines these locations with the satellite positioning information of the assisting terminals for secondary calculation to obtain a more accurate recommended positioning.
[0081] In an alternative embodiment of the present application, combining the target nearby terminal positioning information and the satellite positioning information of the target assisting terminal to obtain the current recommended positioning includes: receiving the pseudorange between the target nearby terminal and at least 3 preset satellites as the auxiliary pseudorange; receiving the pseudorange between the target assisting terminal and at least 3 preset satellites as the main pseudorange; calculating the mean of the auxiliary pseudorange and the main pseudorange corresponding to each preset satellite as the average pseudorange; based on the triangulation principle, substituting the average pseudorange of each preset satellite to calculate the satellite positioning as the current recommended positioning.
[0082] For example, Figure 3As shown, the server extracts a target search information within a preset duration. The target assistance terminal b's current satellite position is shown as the position (xb, yb, zb) on the city map. The server determines that there are multiple indoor buildings within the preset range of the position (xb, yb, zb), such as the first building 1, the second building 2, the third building 3, and the fourth building 4. The server sends invitations to start the near-field positioning mode to the nearby terminals a1 to a5 near the position (xb, yb, zb). After the nearby terminals a1 to a5 accept the invitations, they send near-field signals. The assistance terminal filters out the 2 near-field signals with the strongest signals as the target near-field signals. Among them, the first target near-field signal is generated by the first target nearby terminal a1, and the second target near-field signal is generated by the second target nearby terminal a3. The server receives the pseudorange between the first target nearby terminal a1 and at least 3 preset satellites as the auxiliary pseudorange d1,j, where d1,j represents the pseudorange between the first target nearby terminal a1 and the jth satellite. The server simultaneously receives the pseudorange between the second target nearby terminal a3 and at least 3 preset satellites as the auxiliary pseudorange d3,j, where d3,j represents the pseudorange between the second target nearby terminal a3 and the jth satellite. The server also receives the pseudorange between the target assistance terminal b and at least 3 preset satellites as the main pseudorange db,j, where db,j represents the pseudorange between the target assistance terminal b and the jth satellite. The above server calculates the mean of the auxiliary pseudorange and the main pseudorange corresponding to each preset satellite according to the following formula as the average pseudorange The server then, based on the principle of triangulation, substitutes the average pseudorange to calculate the satellite positioning as the current recommended positioning as Figure 4 the position (xb', yb', zb') in, and thus feedbacks the current recommended positioning located within the first building 1.
[0083] In an optional embodiment of the present application, the above search navigation system further includes: the server sends a contact invitation to the target assistance terminal. After receiving the contact information of the assistant provided by the target assistance terminal, the server adds the contact information of the assistant to the valid information and sends it to the requesting terminal. It can be understood that the server obtains the contact information of the assistant and sends it to the requesting terminal, which is convenient for both parties to contact quickly and improves the assistance efficiency. This function enhances the practicability of the system and enables the requester to quickly obtain the required help.
[0084] In an alternative embodiment of the present application, the above-mentioned search navigation system further includes: the assistance terminal extracts a recommended location from the valid information and displays the recommended location and the current location of the assistance terminal on the city map. Optionally, the above-mentioned search navigation system further includes: the assistance terminal performs route navigation on the city map with the current location of the assistance terminal as the starting point and the recommended location as the destination. It can be understood that the assistance terminal displays the recommended location and the current location, facilitating the user to intuitively understand the location information and quickly reach the target location through route navigation, improving the convenience and accuracy of navigation.
[0085] In an alternative embodiment of the present application, the above-mentioned search navigation system further includes: displaying the recommended location feedback at each moment on the city map, outlining the movement route of the target object according to the recommended location, and judging the movement mode of the target object according to the movement route and movement speed of the target object. It can be understood that the system displays the recommended location in real time, outlines the movement route of the target object, and judges the movement mode, providing more comprehensive dynamic information of the target object for the seeker, which helps to formulate a more reasonable search or tracking strategy.
[0086] In various embodiments of the present disclosure, the expressions "first", "second", "the first" or "the second" used may modify various components without regard to order and / or importance, but these expressions do not limit the corresponding components. The above expressions are only configured for the purpose of distinguishing an element from other elements. For example, a first user device and a second user device represent different user devices, although both are user devices. For example, without departing from the scope of the present disclosure, the first element may be referred to as the second element, and similarly, the second element may be referred to as the first element.
[0087] When an element (e.g., a first element) is referred to as "(operatively or communicatively) coupled" or "(operatively or communicatively) coupled to" another element (e.g., a second element) or "connected to" another element (e.g., a second element), it should be understood that the one element is directly connected to the other element or the one element is indirectly connected to the other element via yet another element (e.g., a third element). Conversely, it can be understood that when an element (e.g., a first element) is referred to as "directly connected" or "directly coupled" to another element (a second element), then no element (e.g., a third element) is inserted between the two.
[0088] It should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article or device comprising a series of elements not only includes those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising that element. In addition, components, features, and elements with the same name in different embodiments of this application may have the same meaning or different meanings, and their specific meanings need to be determined based on their explanations in the specific embodiments or further in combination with the context in the specific embodiments.
[0089] The above description is only an optional embodiment of this application and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, a technical solution formed by mutually replacing the above features with (but not limited to) technical features with similar functions disclosed in this application.
[0090] Depending on the context, the words "if", "when" as used herein may be interpreted as "when...", "while...", "in response to determining", or "in response to detecting". Similarly, depending on the context, the phrase "if determined" or "if detecting (stated condition or event)" may be interpreted as "when determined", "in response to determining", "when detecting (stated condition or event)", or "in response to detecting (stated condition or event)".
[0091] The above description is only an optional embodiment of this application and an explanation of the technical principles applied. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to the technical solutions formed by the specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, a technical solution formed by mutually replacing the above features with (but not limited to) technical features with similar functions disclosed in this application.
[0092] The above is only an optional embodiment of this application and is not used to limit this application. For those skilled in the art, this application can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.
Claims
1. A navigation system, characterized in that: include: Help terminals, servers and assistance terminals; The help terminal sends a search request and an estimated range for a target object to the server, wherein the search request includes target feature information of the target object; The server sends search invitation information for the target object to other assisting terminals whose satellite positioning falls within the estimated range, wherein the search invitation information also includes characteristic information of the target object; The assisting terminal feeds back the search information to the server, and the server extracts effective information from the search information and feeds back the information to the help-seeking terminal in real time.
2. The search navigation system according to claim 1, characterized in that: The search information includes at least one of the following: Find results; Assist the terminal with current satellite positioning; The on-site image of the target object captured by the assisting terminal.
3. The search navigation system according to claim 2, characterized in that: The server extracts valid information from the search information and feeds it back to the help terminal in real time, including: After receiving the search information fed back by at least two assisting terminals within a preset time period, the server sorts the search information according to the information validity, selects at least one of the search information with a higher sorting as the target search information, and selects the provider of the target search information as the target assisting terminal; The server performs secondary calculation on the positioning information of the target assisting terminal to obtain a current recommended positioning; The server uses the current recommended positioning and the target object scene image in the target search information as effective information, and feeds back to the help terminal in real time.
4. The search navigation system according to claim 3, characterized in that: The searched information is sorted according to information validity, including: After the server screens out the search information of the positive search result, the server sorts the search information according to at least one of the following: The number of on-site images of the target object; The matching degree between the target object elements in the target object scene image and the target object feature information; The image quality parameters of the target object's on-site image.
5. The search navigation system according to claim 3, characterized in that: The secondary calculation includes: The current satellite positioning of the assisting terminal in each of the target search information is extracted, and the center point of the current satellite positioning of each of the assisting terminals is calculated according to the following formula as the current recommended positioning: Wherein, (x, y, z) represents the current recommended location, (x i ,y i ,z i ) represents the current satellite positioning of the ith assisting terminal, and n represents the total number of current satellite positioning of the assisting terminal received by the server within a preset time period.
6. The search navigation system according to claim 3, characterized in that: Also includes: The server extracts the current satellite positioning of the assisting terminal in each of the target finding information, and sends an invitation to start a near-field positioning mode to nearby terminals near the current satellite positioning of the assisting terminal; the nearby terminal sends a near-field signal after accepting the invitation; the assisting terminal selects at least one of the near-field signals with the strongest signal as the target near-field signal, and sends the terminal identifier of the target nearby terminal that generates the target near-field signal to the server; The server obtains satellite positioning information of the terminal near the target as positioning information of the terminal near the target; The secondary calculation includes: combining the positioning information of the terminal near the target and the satellite positioning information of the target assisting terminal to obtain the current recommended positioning.
7. The search navigation system according to claim 6, characterized in that: The combining the positioning information of the terminal near the target and the satellite positioning information of the target assisting terminal to obtain the current recommended positioning includes: Receiving pseudoranges between the target and at least three preset satellites fed back by a terminal near the target as auxiliary pseudoranges; receiving the pseudoranges between the target assisting terminal and at least three preset satellites fed back by the target assisting terminal as the main pseudoranges; Calculating the average of the auxiliary pseudorange and the main pseudorange corresponding to each of the preset satellites as an average pseudorange; Based on the triangulation principle, the average pseudorange of each of the preset satellites is brought in to calculate the satellite positioning as the current recommended positioning.
8. The search navigation system according to claim 3, characterized in that: Also includes: The server sends a contact invitation to the target assistance terminal, and after receiving the assistant contact information provided by the target assistance terminal, adds the assistant contact information to the valid information and sends it to the help-seeking terminal.
9. The search navigation system according to any one of claims 3 to 8, characterized in that: Also includes: The help-seeking terminal extracts the recommended location from the valid information, and displays the recommended location and the current location of the help-seeking terminal on a city map.
10. The search navigation system according to claim 9, characterized in that: Also includes: The recommended positioning fed back at each moment is displayed in the city map, and the moving route of the target object is outlined according to the recommended positioning, and the moving mode of the target object is determined according to the moving route and moving speed of the target object.