Indoor positioning data compression method

Abstract

The invention provides an indoor positioning data compression method, and the method comprises the steps: S1, judging whether a local three-dimensional coordinate system is constructed for a target management and control person at a current positioning data collection moment, and achieving the preliminary judgment whether the positioning data collected by the target management and control person at the current positioning data collection moment is compressed or not. Then, through construction of a local three-dimensional coordinate system and high-dimensional space mapping, secondary verification on whether the positioning data collected by the target management and control personnel is compressed or not at continuous moments is achieved, mutual verification on whether the positioning data at two continuous moments are to-be-compressed data or not is achieved, and the error rate of data compression is reduced. And through the consistency judgment on the polygon of the ground space watch and the vertex number of the reference polygon of the ground space watch, the fault judgment on whether the positioning and tracking of the target management and control personnel are interrupted by the system is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and particularly relates to an indoor positioning data compression method. Background Art

[0002] There are currently many positioning methods for management and control personnel. However, since the positioning of management and control personnel is usually indoors, the positioning accuracy of conventional positioning methods for management and control personnel is not ideal. Existing methods usually solve this problem in the following two directions: 1. Research positioning methods with higher positioning accuracy for management and control personnel indoors, which usually makes the indoor positioning algorithm more complex.

[0003] 2. Collect more indoor positioning data at a higher frequency to ensure the effectiveness of the indoor positioning data relied on by the indoor positioning algorithm for positioning, and thus ensure the positioning effect.

[0004] However, when the data collection frequency increases significantly, such as collecting indoor positioning data of each person once or multiple times per second, and when the number of management and control personnel to be collected simultaneously is huge, it will greatly increase the data processing pressure of the indoor positioning algorithm. Therefore, it is expected to provide an effective data compression method for indoor positioning data, which can accurately compress the indoor positioning data with low or no value for ensuring positioning accuracy in the scenario of collecting more indoor positioning data at a high frequency to ensure indoor positioning accuracy.

[0005] There are various types of indoor positioning data with low value for ensuring positioning accuracy. One of them is: indoor positioning data in which the position of the management and control personnel has not changed during a certain period. The so-called unchanged during a certain period means that: limited by the positioning accuracy of the indoor positioning algorithm, it is difficult to capture the change in the positioning position of the same management and control personnel during this period. For example, when the management and control personnel are sleeping, the change in the positioning position caused by turning over is difficult to be captured. Therefore, the system determines that during the sleeping period, the indoor positioning data collected for the same management and control personnel during this period is data with low value for ensuring the positioning accuracy of this management and control personnel and can be compressed and stored. However, during this period, there may be missed changed data. For example, during the sleep period, the management and control personnel walk from area A to the adjacent area B. If the existing indoor positioning algorithm is difficult to capture the walking change of the management and control personnel from area A to area B and compresses this difficult-to-capture positioning change data, serious consequences may occur.

[0006] Alternatively, during a certain period of sleep, the positioning system malfunctions. For example, during this malfunction period, the positioning system can collect positioning data for the same controlled person at a set frequency, but the positioning location is not updated. In fact, during this period, the controlled person makes a movement such as walking from area A to area B, but the existing indoor positioning algorithm is difficult to capture this location change, and the positioning anomaly analysis of these changed data will also be missed.

[0007] Therefore, the present application aims to solve the following technical problems: When compressing indoor positioning data with low value for ensuring the positioning accuracy of the same controlled person as in the above examples, how to avoid missing actually changed data and timely identify positioning failures such as the interruption of the positioning and tracking of the controlled person by the system in the above scenarios, so as to reduce the data compression error rate. Summary of the Invention

[0008] The present invention aims to reduce the error rate of compressing indoor positioning data of a controlled person in an application scenario where indoor positioning data is collected at a high frequency to ensure the indoor positioning accuracy of the controlled person, and provides an indoor positioning data compression method.

[0009] To achieve this purpose, the present invention adopts the following technical solutions: Provide an indoor positioning data compression method applicable to an application scenario where indoor positioning data is collected at a high frequency to ensure indoor positioning accuracy, including the steps of: S1, at the current positioning data collection moment of collecting positioning data for the target controlled person, determine whether to construct a local three-dimensional coordinate system in real time for the target controlled person on the ground. If so, determine that the positioning data collected for the target controlled person at the current positioning data collection moment is uncompressed data. If not, proceed to step S2. S2, construct the local three-dimensional coordinate system and map it to a high-dimensional space together with the local three-dimensional reference coordinate system. S3, calculate the coincidence degree between the ground space watch polygon in the local three-dimensional coordinate system mapped to the high-dimensional space and the ground space watch reference polygon in the local three-dimensional reference coordinate system also mapped to the high-dimensional space. S4, determine whether the coincidence degree calculated in step S3 is less than a preset coincidence degree threshold. If so, determine that the positioning data collected for the target controlled person at the current positioning data collection moment is uncompressed data. If not, determine that the positioning data collected for the target controlled person at the current positioning data collection moment is data to be compressed. S5. Compress and store the quasi-compression data collected continuously at different times for the same target control personnel.

[0010] Preferably, in step S1, the method for constructing the local three-dimensional coordinate system for the target control personnel on the ground in real time includes the steps of: A1. At the moment of collecting the current positioning data of the target control personnel, determine whether the condition for constructing the local three-dimensional coordinate system for the target control personnel in real time is met. If so, go to step A2; If not, it is determined that the positioning data collected for the target control personnel at the current positioning data collection moment is the uncompressed data. A2. Use the target control personnel as the origin of the local three-dimensional coordinate system, and use the diameter of the semi-circle obtained by dividing the first circle made for the target control personnel at the current positioning data collection moment as the x-axis of the local three-dimensional coordinate system to construct the local three-dimensional coordinate system for the target control personnel.

[0011] Preferably, in step A1, the method for determining whether the condition for constructing the local three-dimensional coordinate system for the target control personnel in real time is met includes the steps of: A11. Use the positioning watch worn by the target control personnel as the center of the circle, make a circle with a preset radius, then divide the made circle into a first semi-circle and a second semi-circle, and then identify the first positioning reference control personnel in the first semi-circle and the second positioning reference control personnel in the second semi-circle. A12. The auxiliary positioning device scans and identifies the positioning positions of the positioning watches worn by the target control personnel and each identified positioning reference control personnel in the ground space, and then outlines the ground space watch polygon with the identified positioning positions of each watch. A13. Determine whether the similarity between the ground space watch polygon and the ground space watch reference polygons outlined for each positioning reference control personnel in the first positioning reference control personnel set and the second positioning reference control personnel set is less than the preset similarity threshold. If so, it is determined that the positioning data collected for the target control personnel at the current positioning data collection moment is the uncompressed data. If not, it is determined that the condition for constructing the local three-dimensional coordinate system for the target control personnel in real time is met.

[0012] Preferably, in step A11, the method for making the circle is as follows: At the current positioning data collection moment, the positioning watch worn on the wrist of the target control personnel sends a positioning reference control personnel selection instruction to the system. The system parses the unique code of the positioning watch carried in the received selection instruction, then matches the identity characteristic information of the target management and control personnel bound to the unique code of the positioning watch from the identity database, and then generates an identity recognition function activation instruction for the auxiliary positioning device; After receiving the activation instruction, the auxiliary positioning device activates the identity recognition function and performs identity recognition on each management and control personnel within the visual range to identify the target management and control personnel associated with the identity characteristic information carried in the activation instruction, and feeds back the recognition result to the system; After receiving the recognition result, the system instructs the auxiliary positioning device to draw a circle with the identified target management and control personnel as the center and the preset radius.

[0013] Preferably, in step A11, the angle between the diameter that divides the first circle made at the current positioning data acquisition moment into the first semi-circle and the second semi-circle and the horizontal line is defined as the first angle, and the angle between the diameter that divides the second circle made at the previous positioning data acquisition moment into the first semi-circle and the second semi-circle and the horizontal line is defined as the second angle, and the first angle is equal to the second angle; At the current positioning data acquisition moment, the method of dividing the first circle made into the first semi-circle and the second semi-circle is as follows: Obtain the second angle for dividing the second circle into semi-circles, and then divide the first circle into semi-circles with the second angle; At the current positioning data acquisition moment and the previous positioning data acquisition moment, for the same target management and control personnel, draw circles with the positioning watch worn by them as the center and the same preset radius.

[0014] Preferably, at the previous positioning data acquisition moment, the method of dividing the second circle into semi-circles is: taking the absolute value of the difference between the first number of management and control personnel in the first semi-circle and the second number of management and control personnel in the second semi-circle after dividing the second circle into semi-circles as the constraint condition, and using a diameter at an arbitrary angle to the horizontal line as the dividing line to divide the second circle into semi-circles.

[0015] Preferably, the first positioning reference management and control personnel identified in step A11 are at least one of the first positioning reference management and control personnel concentrated within the first semi-circle of the second circle made for the same target management and control personnel at the previous positioning data acquisition moment of the current positioning data acquisition moment; The second positioning reference management and control personnel identified in step A11 are at least one of the second positioning reference management and control personnel concentrated within the second semi-circle of the second circle.

[0016] Preferably, in step A12, the method by which the auxiliary positioning device identifies the positioning location of the positioning watch is as follows: Match the unique coding of the positioning watch respectively bound to the identity feature information of the target controlled person and each positioning reference controlled person identified in step A11 from the coding library, and then generate an infrared emission instruction for the positioning watch and send it to the corresponding positioning watch; After each positioning watch successively receives the dedicated infrared emission instruction for the positioning watch, it successively emits infrared signals outward, and the auxiliary positioning device realizes the positioning of each positioning watch in the ground space according to the receiving direction of the infrared signals.

[0017] Preferably, when in step A12, at the current positioning data acquisition moment, the number of the first vertices of the ground space watch polygon outlined for the target controlled person is inconsistent with the number of the second vertices of the ground space watch reference polygon outlined for the same target controlled person at the previous positioning data acquisition moment before the current positioning data acquisition moment, it is determined that the system has no positioning tracking interruption fault for the target controlled person.

[0018] Preferably, in step S2, the method of mapping the local three-dimensional coordinate system constructed in step S1 to a high-dimensional space is as follows: Calculate the first included angle between the first straight line connecting the auxiliary positioning device and the target controlled person in the ground space watch polygon and the horizontal line, and obtain the second included angle between the second straight line connecting the auxiliary positioning device and the same target controlled person in the ground space watch reference polygon and the horizontal line; Rotate the local three-dimensional coordinate system by the first included angle so that the xy-axis plane in the local three-dimensional coordinate system is parallel to the first straight line; rotate the local three-dimensional reference coordinate system by the second included angle so that the xy-axis plane in the local three-dimensional reference coordinate system is parallel to the second straight line; In step S3, the coincidence degree calculation includes the similarity calculation of the first included angle and the second included angle, and the side coincidence degree calculation of the irregular ground space watch polygon and the ground space watch reference polygon mapped in the high-dimensional space; The coincidence degree is the weighted sum value of the similarity value of the first included angle and the second included angle and the side coincidence degrees.

[0019] The present invention has the following beneficial effects: 1. Through the judgment in step S1 on whether to construct a local three-dimensional coordinate system for the target controlled person at the current positioning data acquisition moment, a preliminary judgment on whether to compress the positioning data collected by the target controlled person at the current positioning data acquisition moment is realized. Then, through the construction of the local three-dimensional coordinate system and the high-dimensional space mapping, a secondary verification on whether to compress the positioning data collected by the target controlled person at consecutive moments is realized, and at the same time, a mutual verification on whether the positioning data at two consecutive moments is quasi-compressible data is realized, reducing the error rate of data compression. And through the consistency judgment of the number of vertices of the ground space watch polygon and the ground space watch reference polygon, a fault judgment on whether the positioning tracking of the target controlled person by the system is interrupted is realized.

[0020] 2. Through the shape similarity comparison of the ground space watch polygon in step A13, a preliminary judgment is made on whether the indoor positioning data collected for the target controlled person at the current positioning data acquisition moment is uncompressed data. Compared with directly judging whether it is uncompressed data for the target controlled person by constructing a local three-dimensional coordinate system, the difficulty of identifying uncompressed data is greatly reduced, which is conducive to greatly improving the compression speed of the indoor positioning data of the controlled person.

[0021] 3. After the preliminary screening of uncompressed data using the ground space watch polygon, a local three-dimensional coordinate system is constructed for the target controlled person and mapped to a high-dimensional space to magnify the positioning change characteristics of the target controlled person, thereby realizing a finer-grained judgment on whether the indoor positioning data of the target controlled person is positioning change data, which is conducive to further improving the accuracy of indoor positioning data compression.

[0022] 4. When the number of the first positioning reference control personnel identified in step A11 is inconsistent with the number of the positioning reference control personnel concentrated in the first positioning reference control personnel, and / or the number of the second positioning reference control personnel identified is inconsistent with the number of the positioning reference control personnel concentrated in the second positioning reference control personnel, it can be quickly determined that the system has not had a positioning tracking interruption failure for the control personnel, thereby reducing the data compression error rate. When the number of the first positioning reference control personnel identified in step A11 is consistent with the number of the positioning reference control personnel concentrated in the first positioning reference control personnel, and the number of the second positioning reference control personnel identified is consistent with the number of the positioning reference control personnel concentrated in the second positioning reference control personnel, further calculate the similarity between the ground space watch polygon outlined in step A12 and the ground space watch reference polygons outlined for each positioning reference control personnel in the first positioning reference control personnel set and the second positioning reference control personnel set. When the similarity is lower than the similarity threshold, it can also be quickly determined that the system has not had a positioning tracking interruption failure for the control personnel. That is, step A11 initially ensures the accuracy rate of subsequent data compression, and step A13 further reduces the error rate of data compression. Brief Description of the Drawings

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 It is a flowchart of the implementation steps of the indoor positioning data compression method provided by the embodiments of the present invention; Figure 2 It is an example diagram of the connection lines between the positioning watches worn by each positioning reference control personnel selected in step A11 and the positioning watch worn by the target control personnel to form a ground space watch polygon.

[0025] Explanation of the reference numerals in the drawings is as follows: 10. First semi - circle; 20. Second semi - circle; 100. Ground space watch polygon; 200. Auxiliary positioning device; θ. Second included angle; φ. First included angle. Detailed Embodiment

[0026] The technical solutions of the present invention will be further described below in conjunction with the drawings and through specific embodiments.

[0027] Among them, the accompanying drawings are only for illustrative purposes, showing only schematic diagrams rather than actual diagrams, and should not be construed as a limitation on this application; in order to better illustrate the embodiments of the present invention, some components in the accompanying drawings will be omitted, enlarged or reduced, which do not represent the dimensions of actual products; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted.

[0028] In the accompanying drawings of the embodiments of the present invention, the same or similar reference numerals correspond to the same or similar components; in the description of the present invention, it should be understood that if terms such as "upper", "lower", "left", "right", "inner", "outer", etc. are used to indicate the orientation or positional relationship, it is based on the orientation or positional relationship shown in the accompanying drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, the terms describing the positional relationship in the accompanying drawings are only for illustrative purposes and should not be construed as a limitation on this application. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0029] In the description of the present invention, unless otherwise clearly specified and limited, if terms such as "connection" are used to indicate the connection relationship between components, this term should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] First, a brief description of the application scenario of the indoor positioning data compression method provided by the embodiments of the present invention is given: In some special personnel management scenarios, such as scenarios for managing indoor personnel, it is necessary to accurately locate the position of the managed personnel indoors. However, indoor positioning is limited by factors such as signal occlusion and interference, and the positioning accuracy of conventional indoor positioning algorithms is not ideal. Therefore, existing methods usually adopt improved positioning algorithms to solve this problem. However, improved positioning algorithms usually rely on the application of more positioning devices. For example, multi-view vision positioning is added and the RTK positioning results are fused, which will increase the application cost of indoor positioning. There is also a method that, without improving or with less improvement to the existing positioning algorithms, more indoor positioning data is collected at a higher frequency to ensure the effectiveness of the indoor positioning data on which the indoor positioning algorithm depends for positioning, thereby ensuring the positioning effect. However, not every indoor positioning data collected at a high frequency is valid data. For example, for the same managed personnel during the sleep period, if the change in their positioning position has been within the change threshold range during a certain period of time, the indoor positioning data of this managed personnel during this period can be compressed into one piece of data. However, due to the generally low positioning accuracy of conventional indoor positioning algorithms, it may miss the indoor positioning change data that has actually occurred in the positioning position and is worthy of analyzing the reason for the position change among the indoor positioning data of this managed personnel that has been determined to be compressible into one piece of data during this period. Therefore, how to identify the data in which the indoor positioning of the managed personnel has changed during this period and avoid omission is the first problem that this embodiment needs to solve to reduce the data compression error rate.

[0031] There is also another situation. If a positioning system fails during this period, for example, positioning data can be collected for the same managed personnel at a set frequency, but the positioning position does not update. At this time, how can the positioning system identify this type of positioning failure to further reduce the error rate of data compression?

[0032] To solve the above problems, as Figure 1 shown, this embodiment adopts the following three technical means: 1. By judging whether to construct a local three-dimensional coordinate system for the target managed personnel at the current positioning data collection moment, a preliminary judgment is made on whether to compress the positioning data collected by the target managed personnel at the current positioning data collection moment.

[0033] 2. Through the construction of a local three-dimensional coordinate system and high-dimensional space mapping, a secondary verification is realized on whether to compress the positioning data collected for the target managed personnel at consecutive moments, and at the same time, a mutual verification is realized on whether the positioning data at two consecutive moments is quasi-compressible data.

[0034] 3. By judging the consistency of the number of vertices between the polygon of the ground space watch and the reference polygon of the ground space watch, the system realizes the fault judgment on whether the positioning and tracking of the target control personnel is interrupted.

[0035] The following will explain how the above three technical means are realized one by one.

[0036] In the above first and second technical means, the method of constructing a local three-dimensional coordinate system for the target control personnel on the ground specifically includes the following steps: A1. At the current positioning data acquisition moment of the target control personnel, judge whether the condition for constructing a local three-dimensional coordinate system for the target control personnel in real time is met. If so, go to step A2; If not, it is determined that the positioning data collected for the target control personnel at the current positioning data acquisition moment is uncompressed data. In step A1, the method of judging whether the condition for constructing a local three-dimensional coordinate system for the target control personnel is met includes the following steps: A11. Taking the positioning watch worn by the target control personnel as the center of the circle, making a circle with a preset radius, and then dividing the made circle into a first semi-circle and a second semi-circle (the semi-circle dividing line is as shown in Figure 2 ), then identifying the first positioning reference control personnel in the first semi-circle and the second positioning reference control personnel in the second semi-circle; The following will elaborate on the method of making a circle with the positioning watch worn by the target control personnel as the center of the circle and a preset radius: For example, the current positioning data acquisition moment is t1, and the previous moment of the current positioning data acquisition moment is t0. t0 and t1 are two consecutive positioning data acquisition moments. The method of making a circle is exemplified as follows: At the current positioning data acquisition moment t1, the positioning watch worn on the wrist of the target control personnel sends a positioning reference control personnel selection instruction to the system. The instruction carries the unique code of the positioning watch, and the unique code of the positioning watch is bound to the identity information of the target control personnel. After receiving the selection instruction, the system parses the unique code of the positioning watch carried in the instruction and matches the identity information of the target control personnel bound to the unique code of the positioning watch from the identity database, such as face feature information. Then the system generates a face recognition function activation instruction for the auxiliary positioning device. After receiving the face recognition function activation instruction, the auxiliary positioning device activates the face recognition function and performs face recognition on each control personnel within the field of view to identify the target control personnel associated with the face feature information carried in the activation instruction.

[0037] Then, the system instructs the auxiliary positioning device to use the identified target control personnel as the focus point (center of the circle) and draw a circle with a preset radius. It should be noted here that at the current positioning data collection time t1 and the previous positioning data collection time t0, for the target control personnel, a circle is drawn with the positioning watch they wear as the center of the circle and with the same preset radius.

[0038] The following describes the method of dividing the circle made in step A11 into a first semi - circle and a second semi - circle: In step A11, the angle between the diameter of the first circle made at the current positioning data collection time t1, which is divided into a first semi - circle and a second semi - circle, and the horizontal line is defined as the first angle; the angle between the diameter of the second circle made at the previous positioning data collection time t0, which is divided into a first semi - circle and a second semi - circle, and the horizontal line is defined as the second angle, and the first angle is equal to the second angle. That is to say, when dividing the first circle made at time t1 into semi - circles, only the second angle obtained by dividing the second circle made at time t0 into semi - circles needs to be obtained, without a complex second - angle calculation process.

[0039] The following describes the method of dividing the second circle made at the previous positioning data collection time t0 for collecting positioning data of the same target control personnel into semi - circles: Taking the absolute value of the difference between the number of control personnel in the first semi - circle (defined as the first number) and the number of control personnel in the second semi - circle (defined as the second number) after dividing the second circle into semi - circles as the minimum as the constraint condition, and using a diameter at an arbitrary angle with the horizontal line as the dividing line to divide the second circle into semi - circles.

[0040] Specifically, as Figure 2 shown in, the first semi - circle 10 includes control personnel ④ and control personnel ⑤, and the second semi - circle 20 includes control personnel ② and control personnel ③. That is, both the first number and the second number are 2, so the absolute value of the difference between the first number and the second number is 0, which is the minimum value. Therefore, a point is randomly selected on the arc between control personnel ② and control personnel ④, passing through the target control personnel ① as the center of the circle. The angle θ between the diameter passing through and the horizontal line is the second angle in the above example.

[0041] The first positioning reference control personnel identified in step A11 are: at least one of the first positioning reference control personnel concentrated in the first semi - circle in the second circle made for the same target control personnel at the previous positioning data collection time t0 of the current positioning data collection time t1.

[0042] For example, assume Figure 2Shown is the second circle made for the target management and control personnel ① at the previous positioning data acquisition moment t0. The first semi-circle 10 of this second circle includes management and control personnel ④ and management and control personnel ⑤. At the previous positioning data acquisition moment t0, at least one of management and control personnel ④ and management and control personnel ⑤ can be selected to be added to the first positioning reference management and control personnel set. For example, assume that both management and control personnel ④ and management and control personnel ⑤ are added to the first positioning reference management and control personnel set.

[0043] In step A11, at the current positioning data acquisition moment t1 when positioning data is acquired for the target management and control personnel ①, in the first semi-circle of the first circle made for this target management and control personnel ①, assume that the auxiliary positioning device only recognizes management and control personnel ④ through face recognition and does not recognize management and control personnel ⑤. Then, the recognized management and control personnel ④ is used as the first positioning reference management and control personnel recognized in step A11.

[0044] Similarly, the second positioning reference management and control personnel recognized in step A11 is: at least one in the second positioning reference management and control personnel set determined within the second semi-circle of the second circle made for the same target management and control personnel at the previous positioning data acquisition moment t0 of the current positioning data acquisition moment t1.

[0045] For example, assume Figure 2 Shown is the second circle made for the target management and control personnel ① at the previous positioning data acquisition moment t0. The second semi-circle 20 of this second circle includes management and control personnel ② and management and control personnel ③. At the previous positioning data acquisition moment t0, at least one of management and control personnel ② and management and control personnel ③ can be selected to be added to the second positioning reference management and control personnel set. For example, assume that both management and control personnel ② and management and control personnel ③ are added to the second positioning reference management and control personnel set.

[0046] In step A11, at the current positioning data acquisition moment t1 when positioning data is acquired for the target management and control personnel ①, in the second semi-circle of the first circle made for this target management and control personnel ①, assume that the auxiliary positioning device only recognizes management and control personnel ③ through face recognition and does not recognize management and control personnel ②. Then, the recognized management and control personnel ③ is used as the second positioning reference management and control personnel recognized in step A11.

[0047] After step A11 identifies the first positioning reference management and control personnel and the second positioning reference management and control personnel for the target management and control personnel, in step A1, the method for determining whether the conditions for real-time constructing a local three-dimensional coordinate system for the target management and control personnel transfers to the steps: A12. The auxiliary positioning device scans and identifies the positioning positions of the positioning watches worn by the target management and control personnel and the identified positioning reference management and control personnel in the ground space, and then outlines the ground space watch polygon with the identified positioning positions of the positioning watches. For example, continuing with the above example, in step A11, at the current positioning data collection moment t1, for Figure 2 the first positioning reference control personnel recognized by the target control personnel ① shown in is control personnel ④, and the second positioning reference control personnel recognized is control personnel ③. Then, the auxiliary positioning device scans and identifies the positioning positions of the positioning watches worn by the target control personnel ①, the first positioning reference control personnel ④, and the second positioning reference control personnel ③ in the ground space. Then, the positioning positions of the 3 identified positioning watches are used to outline a ground space watch polygon.

[0048] To ensure the accuracy of identifying the positioning positions of each positioning watch indoors, this embodiment uses an infrared scanning method, specifically: Match from the coding library the unique codes of the positioning watches respectively bound to the identity feature information associated with the target control personnel and each positioning reference control personnel (including the first positioning reference control personnel and the second positioning reference control personnel) identified in step A11, and then generate a positioning watch infrared emission instruction and send it to the corresponding positioning watch; For example, if the positioning reference control personnel identified in step A11 include the first positioning reference control personnel ④ and the second positioning reference control personnel ③, the auxiliary positioning device matches from the coding library the unique codes of the positioning watches respectively bound to the identity features (such as face features) associated with each positioning reference control personnel identified in step A11. For example, the first positioning reference control personnel ④ has an associated face feature, and the unique code of the positioning watch bound to this face feature is assumed to be "DWSB001", and a matching association has been made in advance between this face feature and the positioning watch unique code "DWSB001". Then, after recognizing the face feature of the first positioning reference control personnel ④, according to this matching association relationship, the unique code of the positioning watch bound to this face feature, that is, "DWSB001", is matched from the coding library. Then, a positioning watch infrared emission instruction is generated and sent to the corresponding positioning watch, such as sending it to the positioning watch numbered "DWSB001".

[0049] After generating corresponding positioning watch infrared emission instructions for the target control personnel and each positioning reference control personnel, in step A12, the method for the auxiliary positioning device to identify the positioning positions of the positioning watches changes to: After each positioning watch receives a dedicated positioning watch infrared emission instruction in sequence, it emits an infrared signal, and the auxiliary positioning device locates each positioning watch in the ground space according to the receiving direction of the infrared signal.

[0050] For example, the auxiliary positioning device assumes that for Figure 2The target control personnel ①, the first positioning reference control personnel ④, and the second positioning reference control personnel ③ wearing positioning watches successively send special positioning watch infrared emission instructions. After the positioning watches worn on the target control personnel ①, the first positioning reference control personnel ④, and the second positioning reference control personnel ③ successively receive the positioning watch infrared emission instructions, they successively emit infrared signals. The auxiliary positioning device 200 installed above the heads of the control personnel locates each positioning watch in the ground space according to the receiving direction of the infrared signals. Then, the positioning positions of the identified positioning watches are used to outline a ground space watch polygon, such as Figure 2 the ground space watch polygon 100 exemplified in

[0051] It should be noted here that when the number of the first positioning reference control personnel identified in step A11 is inconsistent with the number of the positioning reference control personnel concentrated in the first positioning reference control personnel, and / or the number of the second positioning reference control personnel identified is inconsistent with the number of the positioning reference control personnel concentrated in the second positioning reference control personnel, it can be quickly determined that the system has no positioning tracking interruption failure for the control personnel, thereby reducing the data compression error rate. When the number of the first positioning reference control personnel identified in step A11 is consistent with the number of the positioning reference control personnel concentrated in the first positioning reference control personnel, and the number of the second positioning reference control personnel identified is consistent with the number of the positioning reference control personnel concentrated in the second positioning reference control personnel, further calculate the similarity between the ground space watch polygon outlined in step A12 and the ground space watch reference polygon accumulated for each positioning reference control personnel in the first positioning reference control personnel set and the second positioning reference control personnel set. When the similarity is lower than the similarity threshold, it can also be quickly determined that the system has no positioning tracking interruption failure for the control personnel. That is, step A11 initially ensures the accuracy rate of subsequent data compression, and step A13 further reduces the error rate of data compression.

[0052] After step A12 outlines the ground space watch polygon, in step A1, the method for determining whether the conditions for real-time construction of a local three-dimensional coordinate system for the target control personnel are met transfers to the step: A13, determine whether the similarity between the ground space watch polygon and the ground space watch reference polygon outlined for each positioning reference control personnel in the first positioning reference control personnel set and the second positioning reference control personnel set is less than a preset similarity threshold, If so, it is determined that the positioning data collected for the target control personnel at the current positioning data acquisition moment is uncompressed data; If not, it is determined that the conditions for real-time construction of a local three-dimensional coordinate system for the target control personnel are met.

[0053] The method for outlining the reference polygon of the ground-space watch is the same as that of the ground-space watch polygon, which will not be elaborated here.

[0054] In step A13, the method for shape similarity matching between the ground-space watch polygon and the ground-space watch reference polygon adopts the existing method and will not be specifically described.

[0055] After determining through step A1 that the condition for real-time construction of a local three-dimensional coordinate system for the target control personnel is met, in step S1, the method for real-time construction of a local three-dimensional coordinate system for the target control personnel on the ground transfers to the steps: A2. Taking the target control personnel as the origin of the local three-dimensional coordinate system, and taking the diameter of the semi-circle segmentation of the first circle made for the target control personnel at the current positioning data acquisition moment as the x-axis of the local three-dimensional coordinate system, a local three-dimensional coordinate system for the target control personnel is constructed, and the xy-axis plane of the local three-dimensional coordinate system is parallel to the first circle made.

[0056] In summary, the indoor positioning data compression method provided by the embodiments of the present invention, as Figure 1 shown, first executes the steps: S1. At the current positioning data acquisition moment when positioning data of the target control personnel is collected, determine whether to construct a local three-dimensional coordinate system for the target control personnel on the ground in real time. If so, it is determined that the positioning data collected for the target control personnel at the current positioning data acquisition moment is uncompressed data. If not, transfer to step S2. S2. Construct a local three-dimensional coordinate system and map it to a high-dimensional space together with the local three-dimensional reference coordinate system. Taking the mapping of the local three-dimensional coordinate system as an example, the mapping method is: Calculate the angle (defined as the first angle) between the straight line connecting the auxiliary positioning device and the target control personnel in the ground-space watch polygon (defined as the first straight line) and the horizontal line, such as Figure 2 the angle φ shown; and obtain the angle (defined as the second angle) between the straight line connecting the auxiliary positioning device and the same target control personnel in the ground-space watch reference polygon (defined as the second straight line) and the horizontal line. It should be noted here that when the positioning watch worn by the control personnel communicates with the auxiliary positioning device via infrared, the angle between the first straight line or the second straight line and the horizontal line (or horizontal plane) can be determined, and the method for calculating this angle adopts the existing method and will not be specifically described.

[0057] It should be emphasized that the first included angle is calculated based on the position of the target control personnel in the ground space watch polygon at the current positioning data collection moment. The second included angle is calculated based on the position of the same target control personnel in the ground space watch reference polygon at the previous positioning data collection moment consecutive to the current positioning data collection moment.

[0058] After obtaining the first included angle and the second included angle, rotate the local three-dimensional coordinate system by the first included angle so that the xy-axis plane in the local three-dimensional coordinate system is parallel to the first straight line; rotate the local three-dimensional reference coordinate system by the second included angle so that the xy-axis plane in the local three-dimensional reference coordinate system is parallel to the second straight line, thereby completing the mapping of the local three-dimensional coordinate system and the local three-dimensional reference coordinate system from the ground space to the high-dimensional space.

[0059] It should be noted here that the local three-dimensional reference coordinate system is constructed for the same target control personnel at the previous positioning data collection moment of the current positioning data collection moment. The construction method is the same as that of the local three-dimensional coordinate system and will not be elaborated here.

[0060] S3. Calculate the coincidence degree of the ground space watch polygon in the local three-dimensional coordinate system mapped to the high-dimensional space and the ground space watch reference polygon in the local three-dimensional reference coordinate system also mapped to the high-dimensional space. The coincidence degree calculation includes: Calculating the similarity of the first included angle and the second included angle, and calculating the coincidence degree of each side of the irregular ground space watch polygon and the ground space watch reference polygon mapped in the high-dimensional space; When the absolute value of the difference between the first included angle and the second included angle is greater than the preset absolute value threshold of the difference, it is determined that the positioning data collected for the target control personnel at the current positioning data collection moment is uncompressed data.

[0061] When the absolute value of the difference between the first included angle and the second included angle is less than or equal to the preset absolute value threshold of the difference, continue to calculate the coincidence degree of each side of the ground space watch polygon and the ground space watch reference polygon mapped in the high-dimensional space. The calculation method of the coincidence degree of each side adopts the existing method. For example, when two sides completely coincide, the coincidence degree is 100%, when they coincide by half, the coincidence degree is 50%, and then calculate the average value of the coincidence degrees associated with two sides with a position correspondence relationship to obtain the coincidence degree of each side of the ground space watch polygon and the ground space watch reference polygon.

[0062] The similarity of the first included angle and the second included angle can be expressed as: the ratio of the absolute value of the difference between the first included angle and the second included angle to the average value of the first included angle and the second included angle. Finally, calculate the weighted sum value of this ratio and the coincidence degree of each side as the coincidence degree of the ground space watch polygon and the ground space watch reference polygon calculated in step S3.

[0063] Step S4: Determine whether the coincidence degree calculated in step S3 is less than a preset coincidence degree threshold. If so, it is determined that the positioning data collected for the target controlled person at the current positioning data collection moment is uncompressed data. If not, it is determined that the positioning data collected for the target controlled person at the current positioning data collection moment is data to be compressed. S5: Compress and store the data to be compressed continuously collected for the target controlled person at different moments.

[0064] So far, through the judgment in step S1 on whether to construct a local three-dimensional coordinate system for the target controlled person at the current positioning data collection moment, the present invention realizes a preliminary judgment on whether to compress the positioning data collected for the target controlled person at the current positioning data collection moment. Then, through the construction of the local three-dimensional coordinate system and the high-dimensional space mapping, a secondary verification on whether to compress the positioning data collected for the target controlled person at consecutive moments is realized, and it is a mutual verification on whether the positioning data at two consecutive moments is data to be compressed, reducing the error rate of data compression. And through the judgment on the consistency of the number of vertices of the ground space watch polygon and the ground space watch reference polygon, the system realizes a fault judgment on whether the positioning and tracking of the target controlled person are interrupted.

[0065] It should be noted that the above specific implementation manners are only preferred embodiments of the present invention and the applied technical principles. Those skilled in the art should understand that various modifications, equivalent replacements, changes, etc. can be made to the present invention. However, as long as these transformations do not deviate from the spirit of the present invention, they should be within the protection scope of the present invention. In addition, some terms used in the specification and claims of this application are not restrictive, but are only for the convenience of description.

Claims

1. A method for compressing indoor positioning data, characterized in that: Includes steps: S1, at the current positioning data collection moment of the target control personnel, determining whether a local three-dimensional coordinate system is constructed in real time for the target control personnel on the ground, If so, determining that the positioning data collected for the target control personnel at the current positioning data collection time is uncompressed data; If not, proceed to step S2; S2, constructing the local three-dimensional coordinate system and mapping it together with the local three-dimensional reference coordinate system to the high-dimensional space; S3, calculating the degree of overlap between the ground space watch polygon in the local three-dimensional coordinate system mapped to the high-dimensional space and the ground space watch reference polygon in the local three-dimensional reference coordinate system also mapped to the high-dimensional space; S4, determining whether the overlap calculated in step S3 is less than a preset overlap threshold value, If so, determining that the positioning data collected for the target control personnel at the current positioning data collection time is uncompressed data; If not, determining that the positioning data collected for the target control personnel at the current positioning data collection time is intended to be compressed data; S5, compressing and storing the to-be-compressed data continuously collected at different times by the same target control personnel.

2. The indoor positioning data compression method according to claim 1, characterized in that: In step S1, the method for constructing the local three-dimensional coordinate system for the target control personnel on the ground in real time includes the following steps: A1, at the moment of collecting the current positioning data of the target control personnel, judging whether the conditions for constructing the local three-dimensional coordinate system for the target control personnel in real time are met, If yes, go to step A2; If not, determining that the positioning data collected for the target control personnel at the current positioning data collection moment is the uncompressed data; A2, taking the target control personnel as the origin of the local three-dimensional coordinate system, and taking the diameter of the semicircle division of the first circle made for the target control personnel at the current positioning data collection moment as the x-axis of the local three-dimensional coordinate system, constructing the local three-dimensional coordinate system for the target control personnel.

3. The indoor positioning data compression method according to claim 2, characterized in that: In step A1, the method for determining whether the target control personnel meets the conditions for constructing the local three-dimensional coordinate system in real time comprises the following steps: A11, taking the positioning watch worn by the target control person as the center, making a circle with a preset radius, and then dividing the circle into a first semicircle and a second semicircle, and then identifying a first positioning reference control person in the first semicircle, and identifying a second positioning reference control person in the second semicircle; A12, the auxiliary positioning device scans and identifies the positioning positions of the target control personnel and the positioning watches worn by the identified reference control personnel in the ground space, and then outlines the ground space watch polygon with the positioning positions of the identified positioning watches; A13, determining whether the similarity between the ground space watch polygon and the ground space watch reference polygons drawn by each positioning reference control personnel in the first positioning reference control personnel set and the second positioning reference control personnel set is less than a preset similarity threshold, If so, determining that the positioning data collected for the target control personnel at the current positioning data collection moment is the uncompressed data; If not, it is determined that the condition for constructing the local three-dimensional coordinate system for the target control personnel in real time is met.

4. The indoor positioning data compression method according to claim 3, characterized in that: In step A11, the method of making a circle is: At the current positioning data collection moment, the positioning watch worn on the wrist of the target control personnel sends a positioning reference control personnel selection instruction to the system; The system parses the unique code of the carried positioning watch from the received selection instruction, then matches the identity feature information of the target control personnel bound to the unique code of the positioning watch from the identity database, and then generates an identity recognition function activation instruction for the auxiliary positioning device; After receiving the activation instruction, the auxiliary positioning device activates the identity recognition function and performs identity recognition on each control person within the field of view, so as to identify the target control person associated with the identity feature information carried in the activation instruction, and feeds back the recognition result to the system; After receiving the recognition result, the system instructs the auxiliary positioning device to draw a circle with the recognized target control person as the center and the preset radius.

5. The indoor positioning data compression method according to claim 3, characterized in that: In step A11, the angle between the diameter of the first semicircle and the second semicircle divided into the first semicircle and the second semicircle at the current positioning data collection moment and the horizontal line is defined as a first angle, and the angle between the diameter of the second semicircle and the first semicircle divided into the second semicircle and the second semicircle at the previous positioning data collection moment of the current positioning data collection moment and the horizontal line is defined as a second angle, and the first angle is equal to the second angle; At the current positioning data collection moment, the method for dividing the first circle into the first semicircle and the second semicircle is: Acquire the second angle for performing semicircular segmentation on the second circle, and then perform semicircular segmentation on the first circle at the second angle; At the current positioning data collection moment and the previous positioning data collection moment, a circle is drawn for the same target control personnel with the positioning watch worn by the target control personnel as the center and the same preset radius.

6. The indoor positioning data compression method according to claim 5, characterized in that: At the time of the last positioning data collection, the method for performing semicircle division on the second circle is: taking the absolute value of the difference between the first number of control personnel in the first semicircle after the second circle is divided into semicircles and the second number of control personnel in the second semicircle as the minimum as a constraint condition, and using the diameter at any angle to the horizontal line as the dividing line to perform semicircle division on the second circle.

7. The indoor positioning data compression method according to claim 3, characterized in that: The first positioning reference control personnel identified in step A11 is: at least one of the first positioning reference control personnel set determined within the first semicircle of the second circle made for the same target control personnel at the previous positioning data collection moment at the current positioning data collection moment; The second positioning reference control personnel identified in step A11 is: at least one of the second positioning reference control personnel set determined in the second semicircle in the second circle.

8. The indoor positioning data compression method according to claim 3, characterized in that: In step A12, the method by which the auxiliary positioning device identifies the positioning position of the positioning watch is: Match the unique codes of the positioning watches bound to the identity feature information associated with the target control personnel and each positioning reference control personnel identified in step A11 from the code library, and then generate an infrared transmission instruction for the positioning watch and send it to the corresponding positioning watch; After receiving the infrared transmission instructions from the special positioning watch, each positioning watch successively transmits infrared signals outward, and the auxiliary positioning device realizes the positioning of each positioning watch in the ground space according to the receiving direction of the infrared signal.

9. The indoor positioning data compression method according to claim 3, characterized in that: When in step A12, at the current positioning data collection moment, the number of first vertices of the ground space watch polygon outlined for the target control personnel is inconsistent with the number of second vertices of the ground space watch reference polygon outlined for the same target control personnel at the previous positioning data collection moment at the current positioning data collection moment, it is determined that the system has not caused a positioning tracking interruption failure for the target control personnel.

10. The indoor positioning data compression method according to any one of claims 3 to 9, characterized in that: In step S2, the method of mapping the local three-dimensional coordinate system constructed in step S1 to a high-dimensional space is: Calculate a first angle between a first straight line between the auxiliary positioning device and the target control person in the ground space watch polygon and a horizontal line, and obtain a second angle between a second straight line between the auxiliary positioning device and the same target control person in the ground space watch reference polygon and a horizontal line; Rotate the local three-dimensional coordinate system at the first angle so that the xy-axis plane in the local three-dimensional coordinate system is parallel to the first straight line; rotate the local three-dimensional reference coordinate system at the second angle so that the xy-axis plane in the local three-dimensional reference coordinate system is parallel to the second straight line; In step S3, the calculation of the degree of overlap includes calculating the similarity between the first angle and the second angle, and calculating the degree of overlap between the irregular ground space watch polygon and the ground space watch reference polygon mapped in the high-dimensional space; The overlap degree is a weighted sum of the similarity values ​​of the first angle and the second angle and the overlap degrees of each edge.

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