Indoor Positioning Data Compression Method

Abstract

The present invention provides an indoor positioning data compression method. By judging whether to construct a local three-dimensional coordinate system for the target management and control personnel at the current positioning data acquisition moment in step S1, a preliminary judgment on whether to compress the positioning data collected by the target management and control personnel at the current positioning data acquisition moment is achieved. Then, through the construction of the local three-dimensional coordinate system and high-dimensional space mapping, a secondary verification on whether to compress the positioning data collected by the target management and control personnel at consecutive moments is realized, and it is a mutual verification on whether the positioning data at two consecutive moments are quasi-compressible data, reducing the error rate of data compression. And by judging the consistency 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 management and control personnel by the system is interrupted 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:

[0003] 1. Research positioning methods with higher positioning accuracy for management and control personnel indoors, which usually makes the indoor positioning algorithm more complex.

[0004] 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.

[0005] However, when the data collection frequency increases significantly, such as collecting the 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.

[0006] The types of indoor positioning data with low value for ensuring positioning accuracy are diverse. One of them is: the indoor positioning data where 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.

[0007] 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 behavior such as walking from area A to area B, but the existing indoor positioning algorithm is difficult to capture this position change, and the abnormal analysis of these changed data will also be missed.

[0008] Therefore, the present application aims to solve the following technical problems:

[0009] 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

[0010] 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.

[0011] To achieve this purpose, the present invention adopts the following technical solutions:

[0012] 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:

[0013] S1. At the current positioning data collection moment when collecting positioning data for the target controlled person, judge whether to construct a local three-dimensional coordinate system for the target controlled person on the ground in real time.

[0014] If so, determine that the positioning data collected for the target controlled person at the current positioning data collection moment is uncompressed data.

[0015] If not, proceed to step S2.

[0016] 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.

[0017] 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.

[0018] S4. Judge whether the coincidence degree calculated in step S3 is less than a preset coincidence degree threshold.

[0019] 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;

[0020] If not, it is determined that the positioning data collected for the target controlled person at the current positioning data collection moment is quasi-compressed data;

[0021] S5. Compress and store each of the quasi-compressed data collected continuously for the same target controlled person at different times.

[0022] Preferably, in step S1, the method for constructing the local three-dimensional coordinate system for the target controlled person on the ground includes the steps of:

[0023] A1. At the current positioning data collection moment of the target controlled person, determine whether the condition for constructing the local three-dimensional coordinate system for the target controlled person in real time is met.

[0024] If so, proceed to step A2;

[0025] If not, it is determined that the positioning data collected for the target controlled person at the current positioning data collection moment is the uncompressed data;

[0026] A2. Take the target controlled person as the origin of the local three-dimensional coordinate system, and take the diameter of the first circle made for the target controlled person at the current positioning data collection moment after dividing the circle into a semi-circle as the x-axis of the local three-dimensional coordinate system, and construct the local three-dimensional coordinate system for the target controlled person.

[0027] Preferably, in step A1, the method for determining whether the condition for constructing the local three-dimensional coordinate system for the target controlled person in real time is met includes the steps of:

[0028] A11. Take the positioning watch worn by the target controlled person 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 controlled person in the first semi-circle and the second positioning reference controlled person in the second semi-circle;

[0029] A12. The auxiliary positioning device scans and identifies the positioning positions of the positioning watches worn by the target controlled person and each identified positioning reference controlled person in the ground space, and then outlines the ground space watch polygon with the identified positioning positions of each watch;

[0030] A13. Determine whether the similarity between the ground space watch polygon and the ground space watch reference polygons outlined for each positioning reference controlled person in the first positioning reference controlled person set and the second positioning reference controlled person set is less than a preset similarity threshold.

[0031] If so, it is determined that the positioning data collected for the target controlled person at the current positioning data collection moment is the uncompressed data;

[0032] If not, it is determined that the condition for real-time constructing the local three-dimensional coordinate system for the target controlled person is met.

[0033] Preferably, in step A11, the method of making a circle is as follows:

[0034] At the current positioning data collection moment, the positioning watch worn on the wrist of the target controlled person sends a positioning reference controlled person selection instruction to the system;

[0035] The system analyzes the unique code of the positioning watch carried in the received selection instruction, then matches the identity characteristic information of the target controlled person 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;

[0036] After receiving the activation instruction, the auxiliary positioning device activates the identity recognition function and performs identity recognition on each controlled person within the visual field to identify the target controlled person associated with the identity characteristic information carried in the activation instruction, and feeds back the recognition result to the system;

[0037] After receiving the recognition result, the system instructs the auxiliary positioning device to make a circle with the identified target controlled person as the center and a preset radius.

[0038] Preferably, in step A11, the angle between the diameter of the first circle divided into the first semi-circle and the second semi-circle and the horizontal line at the current positioning data collection moment is defined as the first angle, and the angle between the diameter of the second circle divided into the first semi-circle and the second semi-circle and the horizontal line at the previous positioning data collection moment is defined as the second angle, and the first angle is equal to the second angle;

[0039] At the current positioning data collection moment, the method of dividing the made first circle into the first semi-circle and the second semi-circle is as follows:

[0040] 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;

[0041] At the current positioning data collection moment and the previous positioning data collection moment, for the same target controlled person, make a circle with the positioning watch worn by him as the center and a preset same radius.

[0042] Preferably, at the previous positioning data acquisition moment, the method for dividing the second circle into semi - circles is as follows: taking the minimum absolute value of the difference between the first number of controlled personnel in the first semi - circle after dividing the second circle into semi - circles and the second number of controlled personnel in the second semi - circle 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.

[0043] Preferably, the first positioning reference controlled personnel identified in step A11 are at least one of the first positioning reference controlled personnel concentrated in the first semi - circle of the second circle made for the same target controlled personnel at the previous positioning data acquisition moment of the current positioning data acquisition moment;

[0044] The second positioning reference controlled personnel identified in step A11 are at least one of the second positioning reference controlled personnel concentrated in the second semi - circle of the second circle.

[0045] Preferably, in step A12, the method for the auxiliary positioning device to identify the positioning position of the positioning watch is as follows:

[0046] Match the unique coding of the positioning watch respectively bound with the identity feature information associated with the target controlled personnel and each positioning reference controlled personnel identified in step A11 from the coding library, and then generate a positioning watch infrared emission instruction and send it to the corresponding positioning watch;

[0047] After each positioning watch receives the dedicated positioning watch infrared emission instruction successively, it emits infrared signals successively. The auxiliary positioning device realizes the positioning of each positioning watch in the ground space according to the receiving direction of the infrared signals.

[0048] 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 personnel is inconsistent with the number of the second vertices of the ground - space watch reference polygon outlined for the same target controlled personnel at the previous positioning data acquisition moment of the current positioning data acquisition moment, it is determined that the system does not have a positioning tracking interruption fault for the target controlled personnel.

[0049] Preferably, in step S2, the method for mapping the local three - dimensional coordinate system constructed in step S1 to a high - dimensional space is as follows:

[0050] Calculate the first included angle between the first straight line connecting the auxiliary positioning device and the target controlled personnel 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 personnel in the ground - space watch reference polygon and the horizontal line;

[0051] 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 connection; 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 connection;

[0052] In step S3, the calculation of the coincidence degree includes the calculation of the similarity degree between the first included angle and the second included angle, and the calculation of 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;

[0053] The coincidence degree is the weighted sum value of the similarity degree value between the first included angle and the second included angle and the coincidence degree of each side.

[0054] The present invention has the following beneficial effects:

[0055] 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, the present invention realizes a preliminary judgment on whether to compress the positioning data collected by the target controlled person at the current positioning data acquisition moment. Then, through the construction of the local three-dimensional coordinate system and the high-dimensional space mapping, the present invention realizes a secondary verification on whether to compress the positioning data collected by the target controlled person at continuous moments, and at the same time realizes a mutual verification on whether the positioning data at two consecutive moments is quasi-compressible data, reducing the error rate of data compression. And through the judgment of the consistency of the number of vertices of the ground space watch polygon and the ground space watch reference polygon, the present invention realizes a fault judgment on whether the positioning tracking of the target controlled person by the system is interrupted.

[0056] 2. Through the comparison of the shape similarity 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 recognition difficulty of uncompressed data is greatly reduced, which is beneficial to greatly improving the compression speed of the indoor positioning data of the controlled person.

[0057] 3. After the preliminary screening of uncompressed data by using the ground space watch polygon, by constructing a local three-dimensional coordinate system for the target controlled person and mapping it to the high-dimensional space to amplify the positioning change characteristics of the target controlled person, a finer granularity judgment on whether the indoor positioning data of the target controlled person is positioning change data is realized, which is beneficial to further improving the accuracy of indoor positioning data compression.

[0058] 4. When the number of the first positioning reference management and control personnel identified in step A11 is inconsistent with the number of the positioning reference management and control personnel concentrated in the first positioning reference management and control personnel, and / or when the number of the second positioning reference management and control personnel identified is inconsistent with the number of the positioning reference management and control personnel concentrated in the second positioning reference management and control personnel, it can be quickly determined that the system has not experienced a positioning tracking interruption failure for the management and control personnel, thereby reducing the data compression error rate. When the number of the first positioning reference management and control personnel identified in step A11 is consistent with the number of the positioning reference management and control personnel concentrated in the first positioning reference management and control personnel, and the number of the second positioning reference management and control personnel identified is consistent with the number of the positioning reference management and control personnel concentrated in the second positioning reference management and 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 management and control personnel in the first positioning reference management and control personnel set and the second positioning reference management and control personnel set. When the similarity is lower than the similarity threshold, it can also be quickly determined that the system has not experienced a positioning tracking interruption failure for the management and 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

[0059] In order 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, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0060] Figure 1 is the implementation step diagram of the indoor positioning data compression method provided by the embodiment of the present invention;

[0061] Figure 2 is an example diagram of the ground space watch polygon formed by connecting the positioning watches worn by each positioning reference management and control personnel selected in step A11 and the positioning watch worn by the target management and control personnel.

[0062] Explanation of the reference numerals in the drawings is as follows:

[0063] 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 DESCRIPTION OF THE EMBODIMENTS

[0064] The technical solutions of the present invention will be further described below in conjunction with the drawings and through specific embodiments.

[0065] Among them, the attached drawings are only for illustrative purposes, showing only schematic diagrams rather than physical diagrams, and should not be construed as a limitation to this application; in order to better illustrate the embodiments of the present invention, some components in the attached drawings are omitted, enlarged or reduced, which do not represent the dimensions of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the attached drawings may be omitted.

[0066] In the attached 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 attached drawings. It 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 attached drawings are only for illustrative purposes and should not be construed as a limitation to this application. For those of ordinary skill in the art, the specific meanings of the above terms can be understood according to specific circumstances.

[0067] 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.

[0068] 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:

[0069] In some special personnel control scenarios, such as the scenario of controlling indoor personnel, it is necessary to accurately locate the position of the controlled 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, and thus ensure the positioning effect. However, not every indoor positioning data collected at a high frequency is valid data. For example, for the same controlled personnel during the sleep period, if the change in their positioning position remains within the change threshold range within a certain period of time, the indoor positioning data of this controlled personnel within this period of time 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 controlled personnel that has been determined to be able to be compressed into one piece of data within this period of time. Therefore, how to identify the data in which the indoor positioning of the controlled personnel has changed within this period of time and avoid omission is the first problem that this embodiment needs to solve to reduce the data compression error rate.

[0070] There is another situation. If a positioning system fails within this period of time, for example, positioning data can be collected for the same controlled 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 so as to further reduce the error rate of data compression?

[0071] To solve the above problems, as Figure 1 shown, this embodiment adopts the following three technical means:

[0072] 1. By judging whether to construct a local three-dimensional coordinate system for the target controlled personnel at the current positioning data acquisition moment, a preliminary judgment is made on whether to compress the positioning data collected at the current positioning data acquisition moment for the target controlled personnel.

[0073] 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 controlled 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.

[0074] 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 of whether the positioning and tracking of the target control personnel are interrupted.

[0075] The following will explain how each of the above three technical means is achieved one by one.

[0076] 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 in real time specifically includes the steps:

[0077] A1. At the moment of collecting the current positioning data 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.

[0078] If so, go to step A2;

[0079] If not, it is determined that the positioning data collected for the target control personnel at the current positioning data collection moment is uncompressed data;

[0080] 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 steps:

[0081] 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;

[0082] 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:

[0083] For example, the current positioning data collection moment is t1, and the previous moment of the current positioning data collection moment is t0. t0 and t1 are two consecutive positioning data collection moments. An example of the circle-making method is as follows:

[0084] At the current positioning data collection time t1, the positioning watch worn on the wrist of the target controlled person sends a positioning reference controlled person 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 controlled person. After receiving the selection instruction, the system analyzes the unique code of the positioning watch carried in the instruction and matches the identity information of the target controlled person 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 controlled person within its field of vision to identify the target controlled person associated with the face feature information carried in the activation instruction.

[0085] Then, the system instructs the auxiliary positioning device to draw a circle with the identified target controlled person as the focus point (center) and 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, a circle is drawn with the positioning watch worn by the target controlled person as the center and the same preset radius.

[0086] The following describes the method of dividing the circle made in step A11 into a first semi - circle and a second semi - circle:

[0087] In step A11, the angle between the diameter of the first circle made at the current positioning data collection time t1 when 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 when 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, 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.

[0088] 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 controlled person into a first semi - circle and a second semi - circle:

[0089] Taking the minimum absolute value of the difference between the number of controlled persons in the first semi - circle (defined as the first number) and the number of controlled persons in the second semi - circle (defined as the second number) after dividing the second circle into semi - circles as the constraint condition, the second circle is divided into semi - circles with a diameter at an arbitrary angle to the horizontal line as the dividing line.

[0090] Specifically, such as Figure 2As shown, 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 quantity and the second quantity are 2, so the absolute value of the difference between the first quantity and the second quantity 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. The angle θ between the diameter passing through and the horizontal line is the second angle in the above example.

[0091] The first positioning reference control personnel identified in step A11 are: at the previous positioning data acquisition time t0 of the current positioning data acquisition time t1, at least one of the first positioning reference control personnel concentrated in the first semi - circle of the second circle made for the same target control personnel.

[0092] For example, assume Figure 2 As shown, it is the second circle made for the target control personnel ① at the previous positioning data acquisition time t0. The first semi - circle 10 of this second circle includes control personnel ④ and control personnel ⑤. At the previous positioning data acquisition time t0, at least one of control personnel ④ and control personnel ⑤ can be selected and added to the first positioning reference control personnel set. For example, assume both control personnel ④ and control personnel ⑤ are added to the first positioning reference control personnel set.

[0093] In step A11, at the current positioning data acquisition time t1 when positioning data is collected for the target control personnel ①, in the first semi - circle of the first circle made for this target control personnel ①, assume the auxiliary positioning device only identifies control personnel ④ through face recognition and does not identify control personnel ⑤. Then, the identified control personnel ④ is used as the first positioning reference control personnel identified in step A11.

[0094] Similarly, the second positioning reference control personnel identified in step A11 are: at the previous positioning data acquisition time t0 of the current positioning data acquisition time t1, at least one of the second positioning reference control personnel concentrated in the second semi - circle of the second circle made for the same target control personnel.

[0095] For example, assume Figure 2 As shown, it is the second circle made for the target control personnel ① at the previous positioning data acquisition time t0. The second semi - circle 20 of this second circle includes control personnel ② and control personnel ③. At the previous positioning data acquisition time t0, at least one of control personnel ② and control personnel ③ can be selected and added to the second positioning reference control personnel set. For example, assume both control personnel ② and control personnel ③ are added to the second positioning reference control personnel set.

[0096] In step A11, at the current positioning data acquisition moment t1 when acquiring positioning data for the target controlled person ①, in the second semi-circle of the first circle for the target controlled person ①, assuming that the auxiliary positioning device only recognizes the controlled person ③ through face recognition and does not recognize the controlled person ②, then the recognized controlled person ③ is used as the second positioning reference controlled person recognized in step A11.

[0097] After identifying the first positioning reference controlled person and the second positioning reference controlled person for the target controlled person through step A11, in step A1, the method for determining whether the conditions for real-time constructing a local three-dimensional coordinate system for the target controlled person proceeds to the steps:

[0098] A12. The auxiliary positioning device scans and recognizes the positioning positions of the positioning watches worn by the target controlled person and each recognized positioning reference controlled person in the ground space, and then outlines a ground space watch polygon based on the recognized positioning positions of each positioning watch.

[0099] For example, continuing with the above example, in step A11, at the current positioning data acquisition moment t1, for Figure 2 the target controlled person ① shown in, the first positioning reference controlled person recognized is the controlled person ④, and the second positioning reference controlled person recognized is the controlled person ③. Then the auxiliary positioning device scans and recognizes the positioning positions of the positioning watches worn by the target controlled person ①, the first positioning reference controlled person ④, and the second positioning reference controlled person ③ in the ground space. Then, a ground space watch polygon is outlined based on the recognized positioning positions of the 3 positioning watches.

[0100] To ensure the accuracy of recognizing the positioning positions of each positioning watch indoors, this embodiment uses an infrared scanning method, specifically:

[0101] Match the unique codes of the positioning watches respectively bound to the identity characteristic information associated with the target controlled person and each positioning reference controlled person (including the first positioning reference controlled person and the second positioning reference controlled person) recognized 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;

[0102] 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 the unique identification 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 from the coding library. For example, if the first positioning reference control personnel ④ has an associated face feature, and the unique identification code of the positioning watch bound to this face feature is assumed to be "DWSB001", and the matching association between this face feature and the unique identification code "DWSB001" of the positioning watch has been made in advance, then after the face feature of the first positioning reference control personnel ④ is identified, according to this matching association relationship, the unique identification 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 the positioning watch numbered "DWSB001".

[0103] After generating the 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 position of the positioning watch proceeds as follows:

[0104] After each positioning watch receives the dedicated positioning watch infrared emission instruction in sequence, it emits an infrared signal outward, and the auxiliary positioning device locates each positioning watch in the ground space according to the receiving direction of the infrared signal.

[0105] For example, it is assumed that the auxiliary positioning device Figure 2 sends dedicated positioning watch infrared emission instructions to 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 sequence. Then, after 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 receive the positioning watch infrared emission instructions in sequence, they emit infrared signals outward in sequence, and 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 signal. Then, the positioning positions of each identified positioning watch are outlined to form a ground space watch polygon, such as Figure 2 the ground space watch polygon 100 shown in the example.

[0106] 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 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 of 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.

[0107] 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 is met proceeds to the step:

[0108] 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 a preset similarity threshold.

[0109] If so, it is determined that the positioning data collected for the target control personnel at the current positioning data collection moment is uncompressed data.

[0110] 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.

[0111] The method for outlining the ground space watch reference polygon is the same as that of the ground space watch polygon and will not be elaborated here.

[0112] In step A13, the method for performing shape similarity matching on the ground space watch polygon and the ground space watch reference polygon adopts an existing method and will not be specifically described.

[0113] After it is determined in step A1 that the conditions for real-time construction of a local three-dimensional coordinate system for the target control personnel are 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 proceeds to the step:

[0114] 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. The xy-axis plane of the local three-dimensional coordinate system is parallel to the first circle made.

[0115] In summary, the indoor positioning data compression method provided by the embodiment of the present invention, as Figure 1 shown, first executes the steps:

[0116] S1. At the current positioning data acquisition moment when collecting positioning data for the target control personnel, determine whether to construct a local three-dimensional coordinate system for the target control personnel on the ground in real time.

[0117] If so, determine that the positioning data collected for the target control personnel at the current positioning data acquisition moment is uncompressed data.

[0118] If not, go to step S2.

[0119] 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:

[0120] Calculate the angle (defined as the first angle) between the direct line connecting the auxiliary positioning device and the target control personnel in the ground space watch polygon (defined as the first direct line) and the horizontal line, such as Figure 2 the angle φ shown; and obtain the angle (defined as the second angle) between the direct line connecting the auxiliary positioning device and the same target control personnel in the ground space watch reference polygon (defined as the second direct line) and the horizontal line.

[0121] 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 direct line or the second direct line and the horizontal line (or horizontal plane) can be determined. The method for calculating this angle adopts the existing method and will not be specifically described.

[0122] It should be emphasized that the calculation basis of the first angle is: the position of the target control personnel in the ground space watch polygon at the current positioning data acquisition moment. And the calculation basis of the second angle is the position of the same target control personnel in the ground space watch reference polygon at the previous positioning data acquisition moment consecutive to the current positioning data acquisition moment.

[0123] 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 connection; 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.

[0124] It should be noted here that the local three-dimensional reference coordinate system is constructed for the same target management and 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.

[0125] 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. The coincidence degree calculation includes:

[0126] 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;

[0127] 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 management and control personnel at the current positioning data collection moment is uncompressed data.

[0128] 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.

[0129] 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.

[0130] Step S4. Determine whether the coincidence degree calculated in step S3 is less than the preset coincidence degree threshold.

[0131] If so, it is determined that the positioning data collected for the target management and control personnel at the current positioning data collection moment is uncompressed data.

[0132] Otherwise, it is determined that the positioning data collected for the target controlled person at the current positioning data collection moment is quasi-compressed data;

[0133] S5. Compress and store the quasi-compressed data collected continuously for the target controlled person at different moments.

[0134] 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 continuous moments is realized, and it is a mutual verification on whether the positioning data at two consecutive moments is quasi-compressed data, 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 is interrupted.

[0135] 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 description 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: Including steps: S1, at the current positioning data collection moment of the target control personnel, determine 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 moment is uncompressed data; If not, go 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, judging whether the overlap calculated in step S3 is less than a preset overlap threshold, If so, determining that the positioning data collected for the target control personnel at the current positioning data collection moment is uncompressed data; If not, determining that the positioning data collected for the target control personnel at the current positioning data collection moment is to be compressed data; S5, compressing and storing the to-be-compressed data continuously collected at different times by the same target control personnel; 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 person, determining whether the conditions for constructing the local three-dimensional coordinate system for the target control person 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: Constructing a local three-dimensional coordinate system for the target control person, with the target control person as the origin of the local three-dimensional coordinate system and the diameter of the first semicircle segmentation of the target control person at the current positioning data collection time as the x-axis of the local three-dimensional coordinate system; In step A1, the method for determining whether the conditions for constructing the local three-dimensional coordinate system in real time are met for the target control personnel includes the following steps: A11, with the positioning watch worn by the target control person as the center, draw a circle with a preset radius, then divide the circle into a first semicircle and a second semicircle, then identify a first positioning reference control person within the first semicircle, and identify a second positioning reference control person within 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 a watch polygon in the ground space using the identified positioning positions of the positioning watches; A13 is performed to determine whether the similarity between the ground space watch polygon and the ground space watch reference polygons drawn 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, 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.

2. The indoor positioning data compression method according to claim 1, characterized in that: In step A11, the method for making a circle is: At the current positioning data collection moment, the positioning watch worn on the wrist of the target control person sends a positioning reference control person selection instruction to the system; The system parses the unique code of the positioning watch carried from the received selection instruction, then matches the identity feature information of the target control person 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 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.

3. The indoor positioning data compression method according to claim 1, characterized in that: In step A11, the angle between the diameter of the first semicircle and the second semicircle formed by dividing the first circle 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 first semicircle and the second semicircle formed by dividing the second circle at the previous 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: Obtaining the second angle for performing semicircular segmentation on the second circle, and then performing 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 person with the positioning watch worn by the person as the center and the same preset radius.

4. The indoor positioning data compression method according to claim 3, characterized in that: At the time of the last positioning data collection, the method for performing semicircular division on the second circle is: taking the minimum absolute value of the difference between the first number of control personnel in the first semicircle after the second circle is divided into the semicircle and the second number of control personnel in the second semicircle as a constraint condition, and using the diameter at an arbitrary angle to the horizontal line as the dividing line to perform semicircular division on the second circle.

5. The indoor positioning data compression method according to claim 1, 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 formed for the same target control personnel at the previous positioning data collection moment before 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 determined in the second semicircle in the second circle.

6. The indoor positioning data compression method according to claim 1, 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 target control personnel and the unique positioning watch codes associated with the identity information of 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 special infrared emission instruction of the 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.

7. The indoor positioning data compression method according to claim 1, 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.

8. The indoor positioning data compression method according to any one of claims 1 to 7, characterized in that: In step S2, the method for mapping the local three-dimensional coordinate system constructed in step S1 to a high-dimensional space is: Calculating a first angle between a first straight line connecting the auxiliary positioning device and the target control person in the ground space watch polygon and a horizontal line, and obtaining a second angle between a second straight line connecting the auxiliary positioning device and the same target control person in the ground space watch reference polygon and a horizontal line; Rotating the local three-dimensional coordinate system by the first angle so that the xy-axis plane in the local three-dimensional coordinate system is parallel to the first straight line; rotating the local three-dimensional reference coordinate system by 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 overlap calculation includes calculating the similarity between the first angle and the second angle, and calculating the overlap between the edges of 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 the edges.

Images