Intelligent anti-lost tracking system based on dual-mode positioning

Abstract

An intelligent anti-lost tracking system based on dual-mode positioning provided by the present invention comprises a controller and a receiver, the controller and the receiver are both provided with GNSS positioning modules and UWB function modules, the GNSS positioning modules are used for autonomously obtaining respective position information, the UWB positioning modules are used for distance measurement and data transmission between the controller and the receiver, and the UWB function modules are used for receiving the distance measurement and data transmission between the controller and the receiver. The controller is used for sending a control instruction to the receiver, receiving position information from the receiver and dynamically selecting a GNSS or UWB positioning mode according to the GNSS signal quality and the relative distance between the controller and the receiver, and the receiver is used for executing the instruction sent by the controller and reporting the position information of the controller to the controller. The intelligent anti-lost tracking system has the beneficial effects that 1, the intelligent anti-lost tracking system adopts a GNSS + UWB dual-mode positioning technology, indoor and outdoor seamless switching is realized, and the positioning precision is high; and 2, the intelligent anti-lost tracking system avoids interference of equipment in the same frequency band, and has strong anti-interference capability.

Description

Technical Field

[0001] The present invention relates to the field of intelligent tracking technology, and in particular to an intelligent anti-lost tracking system based on dual-mode positioning. Background Art

[0002] With the development of an aging society and the rise of the pet economy, demand for anti-lost devices is growing for monitoring elderly people with Alzheimer's disease, children, pets, and outdoor team members. Currently, mainstream positioning technologies include global navigation satellite systems (GNSS, such as GPS and Beidou) and short-range wireless positioning technologies (such as Bluetooth and UWB), each of which has its own advantages and disadvantages in different scenarios.

[0003] GPS positioning: 1) The signal is weak indoors, underground, or in areas with dense high-rise buildings, and cannot provide effective positioning; 2) The power consumption is high, and low-power devices are not suitable for long-term wear;

[0004] Bluetooth / Wi-Fi positioning: 1) Relies on infrastructure (such as beacons or hotspots), has limited coverage, and low accuracy (typically 5-10 meters); 2) is susceptible to signal interference and lacks stability;

[0005] Pure UWB positioning: Although it has high accuracy (up to centimeter level), its effective range is short (usually <100 meters) and is not suitable for large-scale tracking.

[0006] Existing anti-lost devices: Most rely on only a single positioning technology (such as GPS or Bluetooth), which cannot meet the needs of seamless indoor and outdoor positioning and switching between high and low power scenarios. Summary of the Invention

[0007] In order to solve the problems in the prior art, the present invention provides an intelligent anti-lost tracking system based on dual-mode positioning, including a controller and a receiver, both of which are equipped with a GNSS positioning module and a UWB functional module. The GNSS positioning module is used to autonomously obtain their respective location information, and the UWB positioning module is used for ranging and data transmission between the controller and the receiver. The controller is used to send control instructions to the receiver and receive location information from the receiver, and dynamically select GNSS or UWB positioning mode according to the GNSS signal quality and relative distance between itself and the receiver. The receiver is used to execute the instructions sent by the controller and report its location information to the controller.

[0008] As a further improvement of the present invention, the specific steps of the intelligent anti-lost tracking system dynamically selecting GNSS or UWB positioning mode are as follows:

[0009] Step 1: The controller determines whether the strength of its own GNSS signal and the strength of the receiver's GNSS signal are lower than a preset threshold. If so, the controller executes the next step; otherwise, the controller executes the GNSS positioning communication step.

[0010] Step 2: The controller determines whether the distance between itself and the receiver is within the UWB communication range. If so, it turns on its own UWB function module and sends a UWB turn-on instruction to the receiver. Otherwise, it continues to determine the distance between itself and the receiver.

[0011] Step 3: The receiver turns on its own UWB function module;

[0012] Step 4: The receiver establishes a UWB communication link with the controller;

[0013] Step 5: The receiver sends the distance and direction information collected by the UWB function module to the controller;

[0014] Step 6: The controller calculates the distance and direction between the two based on the received location information sent by the receiver and its own location information;

[0015] The GNSS positioning communication steps include:

[0016] Step S1: The receiver sends distance and azimuth information collected by the GNSS positioning module to the controller;

[0017] Step S2: The controller calculates the distance and direction between the two based on the received position information sent by the receiver and its own position information.

[0018] As a further improvement of the present invention, in step 2, the UWB communication range between the controller and the receiver is twice the actual UWB communication distance.

[0019] As a further improvement of the present invention, there are multiple receivers. To prevent the same frequency between the receivers from interfering with each other, the intelligent anti-lost tracking system implements dynamic frequency switching through the following steps:

[0020] Step A1: Set the reference frequency, the reference frequency range is 100K HZ ~ 1GHz HZ;

[0021] Step A2: Increase the base frequency by 10 MHz.

[0022] Step A3: Divide the 10 MHz frequency into 40 frequency points, with a fixed interval of 250 kHz between each adjacent frequency point.

[0023] Step A4: According to the UUID number of the receiver's own chip, the UUID number is modulo 40 to obtain the frequency used by the receiver.

[0024] As a further improvement of the present invention, the intelligent anti-lost tracking system adds 250KHZ frequency to the 40th frequency point to obtain the frequency point 41 as the common frequency point, adds 250KHZ frequency to the obtained common frequency point to obtain the frequency point 42 as the test frequency point, and then triggers the code matching process by pressing a button. The specific steps are as follows:

[0025] Step B1: The frequency is first switched to the public frequency 41, and the controller sends a pairing instruction and sends the frequency to be used and its own ID to the receiver;

[0026] Step B2: After receiving the data, the receiver saves the controller's ID number and the frequency used, and sends the receiver's own ID to the controller via TDMA technology;

[0027] Step B3: After receiving the feedback message from the receiver, the controller saves the receiver ID information, responds with a reply, and then displays "Pairing Completed";

[0028] Step B4: After receiving the response from the controller, the receiver outputs the pairing code and turns on the buzzer to indicate that the pairing is complete. The receiver then changes the frequency it uses to the frequency sent by the controller during pairing.

[0029] As a further improvement of the present invention, in step B2, the TDMA technology divides the time axis into periodic frames, each frame contains a fixed number of time slots, and each receiver uses the same frequency band to communicate within the allocated dedicated time slots.

[0030] As a further improvement of the present invention, the intelligent anti-lost tracking system also includes a map function module, which is used to display the geographical location of the connected receiver on the display screen of the controller. When using the GNSS positioning mode, the receiver will successfully locate and send the longitude and latitude information of the receiver to the controller through TDMA technology. The controller calculates the longitude and latitude of the receiver and its own longitude and latitude to obtain the direction and distance of the receiver. When using the UWB positioning mode, the UWB function module of the receiver will send a data packet to the controller, and the controller will obtain the direction and distance by calculating the time for the return response; the map function module has an adaptive function, with the receiver at the farthest distance as the maximum magnification ratio. As the distance increases, the ratio also increases; the map function module supports zooming in and out functions, the center point remains unchanged, and the map scale is reduced or increased. When the map scale is manually modified, the adaptive function is turned off.

[0031] As a further improvement of the present invention, the map function module runs the following steps:

[0032] Step a1: With the controller as the center point, the receiver's position is displayed, and the receiver's azimuth angle and distance are calculated using the receiver's GNSS latitude and longitude information;

[0033] Step a2: Use trigonometric functions to convert the receiver's azimuth angle into radians;

[0034] Step a3: Use radians * distance to obtain the X, Y coordinates, which are the receiver's azimuth coordinates and are offset and displayed according to the map scale.

[0035] As a further improvement of the present invention, the intelligent anti-lost tracking system also includes an intercom function module, and the controller can directly conduct a voice call with the receiving end through the intercom function module.

[0036] As a further improvement of the present invention, the intelligent anti-lost tracking system also integrates an electronic fence function module, which supports the setting of a safe area with a maximum radius of 3000M. When the receiver exceeds the fence range, the controller immediately triggers an alarm and pushes an alarm message.

[0037] As a further improvement of the present invention, the intelligent anti-lost tracking system also includes a terminal installed with an application, which establishes a two-way communication link with the controller to realize device status monitoring, remote control, map data synchronization and trajectory visualization functions.

[0038] As a further improvement of the present invention, the controller also includes a first single-chip microcomputer, a display screen, a geomagnetic sensor, a first six-axis sensor, a first power management system, and a control button. The output end of the single-chip microcomputer is connected to the input end of the display screen, and the geomagnetic sensor, the output end of the first six-axis sensor, and the output end of the button are respectively connected to the input end of the single-chip microcomputer. The first power management system is used to provide power to the intelligent anti-lost tracking system. The first single-chip microcomputer is used to send control instructions to the receiver, receive data from the receiver, and undertake core calculations. The geomagnetic sensor is used to obtain the direction of the controller, and the first six-axis sensor is used to calculate the posture of the controller.

[0039] As a further improvement of the present invention, the receiver includes a second single-chip microcomputer, a second power management system, a pairing button, a buzzer and / or a vibration motor and / or a transformer, the input end of the second single-chip microcomputer is connected to the pairing button, the output end of the second single-chip microcomputer is connected to the buzzer and / or the vibration motor and / or the transformer, the second single-chip microcomputer is used to receive instructions issued by the controller and perform corresponding operations according to the instructions issued by the controller, the second power management system is used to provide power to the receiver, and the pairing button is used for pairing operations.

[0040] As a further improvement of the present invention, the intelligent anti-lost tracking system further includes a tracking module, which includes the following steps:

[0041] Step 1: Set up multiple pointer images. Each image represents a display interval, used to show the receiver's position. The offset value is used to switch between each two images. The 360-degree circle is divided into N identical sectors with equal angles. The central angle of each sector is 360° / N, and each sector represents a display interval.

[0042] Step 2: Calculate the azimuth of the controller using the geomagnetic sensor and the first six-axis sensor, and calculate the azimuth of the receiver using the longitude and latitude.

[0043] Step 3: Compare the two azimuth angles and subtract the smaller azimuth angle from the larger azimuth angle to obtain the final result.

[0044] Step 4: Determine the image corresponding to the final result and display it on the controller's display screen. Also displayed are the distance between the controller and the current receiver, the controller's battery level, the current receiver's battery level, the controller's GNSS signal strength, and the current receiver's GNSS signal strength.

[0045] The beneficial effects of the present invention are: 1. The intelligent anti-lost tracking system of the present invention adopts GNSS+UWB dual-mode positioning technology to achieve seamless switching between indoor and outdoor, with high positioning accuracy, effectively solving the blind spot problem of traditional single positioning methods in complex environments; 2. The intelligent anti-lost tracking system of the present invention avoids interference from devices in the same frequency band, has strong anti-interference ability, and increases equipment stability; 3. The intelligent anti-lost tracking system of the present invention covers multiple scenarios such as anti-lost, team management, animal husbandry, and pet training with one set of equipment, switches the working mode through software configuration, and reduces hardware redundancy costs; 4. The intelligent anti-lost tracking system of the present invention supports distance triggering and electronic fence functions; 5. The intelligent anti-lost tracking system of the present invention integrates a buzzer, voice intercom, and vibration feedback, and is highly operational. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 This is a principle block diagram of the controller of the intelligent anti-lost tracking system of the present invention;

[0047] Figure 2 This is a principle block diagram of the receiver of the intelligent anti-lost tracking system of the present invention;

[0048] Figure 3 This is a workflow diagram of the intelligent anti-lost tracking system of the present invention selecting GNSS or UWB positioning mode;

[0049] Figure 4 This is a flowchart of the frequency point dynamic switching workflow of the intelligent anti-lost tracking system of the present invention;

[0050] Figure 5 This is a code matching workflow diagram of the intelligent anti-lost tracking system of the present invention;

[0051] Figure 6 This is a workflow diagram of the map function module of the present invention;

[0052] Figure 7 1 is a flowchart of the tracking module of the present invention. DETAILED DESCRIPTION

[0053] As the first embodiment of the present invention, the present invention discloses an intelligent anti-lost tracking system based on dual-mode positioning, including a controller and a receiver. One controller can control multiple receivers at the same time, or control a specified receiver. One controller can simultaneously control some functional modes of multiple receivers, such as electronic fences, and can also control a certain function of a certain receiver separately. The controller and the receiver use TDMA for communication, and the controller mainly sends instructions, and the receiver is responsible for executing the instructions.

[0054] The intelligent anti-lost tracking system disclosed in the present invention uses the global satellite positioning system + UWB ultra-wideband technology to achieve precise positioning, and the positioning accuracy can reach the centimeter level. The controller can quickly obtain the position of the receiver anytime and anywhere, display the direction and distance in real time, and can also accurately locate in complex environments. The intelligent anti-lost tracking system of the present invention gives priority to satellite positioning when satellite positioning can be received. In scenarios where satellite positioning cannot be received (for example: underground parking lots, buildings, and any place where satellite positioning cannot be received), the intelligent anti-lost tracking system will turn on the UWB function module and use UWB for positioning until the satellite signal is received again, and then switch to satellite positioning and turn off UWB positioning. The intelligent anti-lost tracking system of the present invention mainly uses satellite positioning as the main method and UWB as the auxiliary method to achieve all-terrain positioning.

[0055] The present invention discloses an intelligent anti-lost tracking system based on dual-mode positioning, which includes a controller and a receiver. Both the controller and the receiver are provided with a GNSS positioning module and an UWB functional module. The GNSS positioning module is used to autonomously obtain their respective position information. The UWB positioning module is used for ranging and data transmission between the controller and the receiver. The controller is used to send control instructions to the receiver and receive position information from the receiver, and dynamically select the GNSS or UWB positioning mode according to the GNSS signal quality and relative distance between itself and the receiver. The receiver is used to execute the instructions sent by the controller and report its position information to the controller.

[0056] Hardware:

[0057] like Figure 1As shown, the controller includes a first single-chip microcontroller 10, a display screen 11, a first power management system 13, a geomagnetic sensor 14, and a first six-axis sensor 15. The single-chip microcontroller 10 is connected to the display screen 11, control buttons 12, the geomagnetic sensor 14, and the first six-axis sensor 15, respectively. The first six-axis sensor 15 is used to calculate the controller's posture, while the geomagnetic sensor 14 is used to obtain direction. Both the geomagnetic sensor 14 and the six-axis sensor 15 are installed on the controller, primarily enabling the controller to determine the spatial orientation of the receiver relative to the controller's location. The geomagnetic sensor 14 and the first six-axis sensor 15 are primarily used in tracking and fence modes. The first power management system 13 primarily provides power to the controller. The display screen 11 is a color LCD. The first single-chip microcontroller 10 is responsible for issuing control commands to the receiver, receiving data from the receiver, and performing core computations. The control buttons 12 are configured according to desired functions. For example, the control buttons 12 include a vibration button and a menu button. The vibration button adjusts the vibration frequency, while the menu button displays the menu interface.

[0058] like Figure 2 As shown, the receiver includes a second single-chip microcomputer 20, a second power management system 21, a pairing button 22, a second six-axis sensor 23, a buzzer, and a vibration motor. The second single-chip microcomputer 20 is used to receive instructions issued by the controller and perform corresponding operations according to the instructions issued by the controller. The second power management system 21 is used to provide power to the receiver. The pairing button 22 is used for pairing operations. After receiving a response from the controller, the receiver outputs the pairing code and turns on the buzzer to indicate that the pairing is completed. The second six-axis sensor 23 is used to determine whether the receiver is stationary or in motion. The vibration motor is used to issue a vibration prompt.

[0059] Software part:

[0060] When dynamically selecting GNSS or UWB positioning mode, it will be determined based on the signal strength. The GPS signal strength indoors will be much weaker than that outdoors, and signal loss may occur. The controller can obtain its own location information through its own satellite positioning module (such as: GPS module), and can also receive location information reported by the receiver. These location information are accompanied by the GPS signal strength value and location accuracy.

[0061] like Figure 3 As shown, the specific steps for the intelligent anti-lost tracking system to dynamically select GNSS or UWB positioning mode are as follows:

[0062] Step 1: The controller determines whether its own GNSS signal strength and the receiver GNSS signal strength are lower than a preset threshold. If so, it executes the next step; otherwise, it executes the GNSS positioning communication step.

[0063] Step 2: The controller determines whether the distance between itself and the receiver is within the UWB communication range. If so, it turns on its own UWB function module and sends a UWB turn-on command to the receiver. Otherwise, it continues to determine the distance between itself and the receiver. The UWB communication range between the controller and the receiver is twice the actual UWB communication distance to prevent GPS drift.

[0064] Step 3: The receiver turns on its own UWB function module;

[0065] Step 4: The receiver establishes a UWB communication link with the controller;

[0066] Step 5: The receiver sends the distance and direction information collected by the UWB function module to the controller;

[0067] Step 6: The controller calculates the distance and direction between the two based on the received location information sent by the receiver and its own location information;

[0068] The GNSS positioning communication steps include:

[0069] Step S1: The receiver sends the distance and azimuth information collected by the GNSS positioning module to the controller;

[0070] Step S2: The controller calculates the distance and direction between the two based on the received position information sent by the receiver and its own position information.

[0071] Note: 1. When the controller detects that any receiver has lost its signal, it will directly turn on the UWB function module of that receiver.

[0072] 2. When the UWB function is enabled, the GPS is also running and will determine the GPS signal strength between the controller and the receiver. When both signals are strong, the UWB function will be automatically disabled and the GPS location information will be enabled, displaying the GPS location distance.

[0073] like Figure 4 As shown in the figure, the intelligent anti-lost tracking system realizes dynamic frequency switching through the following steps:

[0074] Step A1: Set the base frequency. The frequency switching can select 100K~1G frequency. It can be set according to different countries. For example, China uses 428.915MHz. The frequency can also be set according to customer requirements.

[0075] Step A2: Increase the frequency by 10 MHz to the set base frequency;

[0076] Step A3: Divide the 10 MHz frequency into 40 frequency points, with each adjacent frequency point having a fixed interval of 250 kHz; for example: frequency point 0 = 428915 kHz + (0*250 kHz) = 428.915 MHz, frequency point 1 = 428915 kHz + (1*250 kHz) = 429.165 MHz, and frequency point 39 = 428915 kHz + (39*250 kHz) = 429.165 MHz;

[0077] Step A4: Based on the UUID number of the receiver's own chip, take the modulus of the UUID number by 40 to obtain the frequency used by the receiver. Because the chip ID of each receiver is unique, the frequency of each receiver is different.

[0078] Each receiver has a fixed ID number when it leaves the factory. When there is information interference, the transmitter randomly selects a frequency from 40 frequencies (such as frequency 10) to prevent information interference between devices.

[0079] The above steps can effectively prevent the problem of mutual interference between receivers with the same frequency.

[0080] The characteristic of wireless communication is that communication can only be carried out at the same frequency, so it is necessary to design a common frequency point for code matching. Add 250K to the frequency point 40 to get the frequency point 41 as the common frequency point. Add 250K to the common frequency point to get the frequency point 42 for testing. Then press button 22 on the receiver to trigger the code matching process. Figure 5 The specific steps are as follows:

[0081] Step B1: The frequency is first switched to the public frequency 41, and the controller sends a pairing instruction and sends the frequency to be used and its own ID to the receiver;

[0082] Step B2: After receiving the data, the receiver saves the controller's ID number and the frequency used, and sends the receiver's own ID to the controller via TDMA (time division multiple access) technology. TDMA technology divides the time axis into periodic frames, each frame containing a fixed number of time slots. Each receiver uses the same frequency band for communication within the allocated dedicated time slots, thereby enabling multiple devices to share spectrum resources. At the same time, it can also reduce interference between signals and ensure the communication quality of each device.

[0083] Step B3: After receiving the feedback message from the receiver, the controller saves the receiver ID information, responds with a reply, and then displays "Pairing Completed";

[0084] Step B4: After receiving the response from the controller, the receiver outputs the pairing code and turns on the buzzer to indicate that the pairing is complete. The receiver then changes the frequency it uses to the frequency sent by the controller during pairing.

[0085] After the pairing is completed, the specific working process of the two devices is as follows:

[0086] After binding is complete, the controller and receiver use the same frequency. The controller can control the receiver by sending its own ID + receiver ID + control command. The receiver compares the controller ID saved during binding to determine whether the command sent by the binding controller is true. If so, it then compares the receiver ID to determine whether the command is sent to the receiver. If both are correct, the subsequent control command will be executed; otherwise, it will not be executed.

[0087] The tracking function of the intelligent anti-lost tracking system of the present invention is similar to that of a compass, except that the arrow points to the direction of the receiver instead of south, and the pointer always faces the direction of the receiver no matter how it is rotated.

[0088] The intelligent anti-lost tracking system also includes a tracking module, which includes the following steps:

[0089] Step 1: Set up multiple pointer images. Each image represents a display range, used to display the receiver's position. The offset value is used to switch between each two images. The offset value is determined by the number of images. If the tracking module has twelve images, the display range of each image is 360° / 12=30°, that is, a new image is switched for every 30-degree increase. If the tracking module has eight images, the display range of each image is 360° / 8=45°, and a new image is switched for every 45-degree increase.

[0090] Divide the 360-degree circumference into N identical sector areas with equal angles. The central angle of each sector is 360° / N. Each sector area represents a display interval, which is represented by a picture with a pointer. The tracking module of the present invention is equipped with twelve pictures with arrows. The display range of each picture is 360° / 12=30°, N=12. The twelve arrow pictures are: 0°, 30°, 60°, 90°, 120°, 150°, 180°, 210°, 240°, 270°, 300°, 330°. The display interval of each picture is 30 degrees. Every 30-degree increase switches to another picture. The display interval of the picture is calculated as follows:

[0091] The display range of the first picture 0°:

[0092] 0° - offset value 15° + buffer 2° = 347°,

[0093] 0° + offset 15° - buffer 2° = 13°

[0094] The second picture shows the 30° display range:

[0095] 30° - 15° offset + 2° buffer = 17°.

[0096] 30° + 15° offset - 2° buffer = 43°

[0097] The third picture shows the 60° display range:

[0098] 60° - 15° offset + 2° buffer = 47°.

[0099] 60° + 15° offset - 2° buffer = 73°.

[0100] The fourth picture shows the 90° display range:

[0101] 90° - offset 15° + buffer 2° = 77°,

[0102] 90° + offset 15° - buffer 2° = 103°,

[0103] If the azimuth of the receiver obtained by the controller is between 47° and 73°, the third picture will be displayed.

[0104] The buffer is set to prevent the azimuth angle from jumping up and down at the critical point, which causes the problem of frequent switching of pictures. For example, 75° is in the display area of ​​the third picture, and 76° is in the display area of ​​the fourth picture. If the buffer is not set, the pictures will switch frequently between these two values. After setting the buffer, when it is 75° or 76°, the pointer will point to the buffer, solving the problem of the pointer frequently switching between 75° in the third picture and 76° in the fourth picture.

[0105] Step 2: Calculate the controller's azimuth angle A using the geomagnetic sensor and the six-axis sensor, and calculate the receiver's azimuth angle B using the longitude and latitude.

[0106] Step 3: Compare the two azimuth angles and subtract the smaller azimuth angle from the larger azimuth angle to obtain the final result C.

[0107] Step 4: Determine the image corresponding to the final result and display it on the controller's display screen. Also displayed are the distance between the controller and the current receiver, the controller's battery level, the current receiver's battery level, the controller's GNSS signal strength, and the current receiver's GNSS signal strength.

[0108] In step 2, the azimuth of the controller is calculated using the geomagnetic sensor and the first six-axis sensor. The specific steps are as follows:

[0109] Step d1: Obtain raw data; measure the controller's tilt angle using an accelerometer to obtain the gravity direction (X, Y, Z), and measure the magnetic field components (X, Y, Z) using a geomagnetic sensor;

[0110] Step d2: Calculate the pitch and yaw angles. Calculate the controller's tilt angle using the accelerometer data from step d1, as follows:

[0111] Tilt angle (pitch angle, roll angle):

[0112] roll=arctan2(A y ,A z )

[0113]

[0114] Among them, A x 、A y 、A z is the raw data of the accelerometer, arctan refers to the inverse tangent function;

[0115] Step d3: Correcting magnetic field data;

[0116] According to the inclination angle in step d3, the magnetic field component is corrected. The formula is as follows:

[0117] X corr =X mag ×cos(pitch)+Z mag ×sin(pitch)

[0118] Y corr =Y mag ×cos(roll)+Z mag ×sin(roll)

[0119] X corr 、Y corr Respectively represent the offset of the target point in the X-axis and Y-axis directions, X mag 、Y mag , Z mag Respectively represent the components of the magnetic field in the X-axis, Y-axis, and Z-axis directions of the sensor;

[0120] Step d4: Calculate the azimuth angle;

[0121] The azimuth is calculated using the magnetic field data corrected in step d3 using the following formula:

[0122] Azimuth = arctan2(Y corr ,X corr )

[0123] Then convert it to 0-360 degrees; since the result of arctan2 may be a negative number (such as -90° represents "due south"), and practical applications usually require an azimuth of 0-360°, conversion is required.

[0124] The specific steps to calculate the azimuth of the receiver using latitude and longitude are as follows:

[0125] Given the longitude and latitude of two points, point A: φ1, λ1, point B: φ2, λ2, convert the longitude and latitude of points A and B to radians, where λ1 represents the longitude of point A, φ1 represents the latitude of point A, λ2 represents the longitude of point B, and φ2 represents the latitude of point B;

[0126] Calculate the azimuth angle (θ) using the following formula:

[0127] Δλ=λ2-λ1

[0128]

[0129] θ = arctan 2(X, Y)

[0130] Convert the angle range to degrees:

[0131] bearing=(θ×180 / π++360)mod 360

[0132] The resulting angle is the azimuth measured clockwise from north, ranging from 0 degrees to 360 degrees.

[0133] As the second embodiment of the present invention, the second embodiment is a further improvement on the first embodiment. The intelligent anti-lost tracking system also includes a map function module, which is used to display the geographical location of the connected receiver on the display screen of the controller. When using the GNSS positioning mode, the receiver will successfully locate and send the longitude and latitude information of the receiver to the controller through TDMA technology. The controller calculates the longitude and latitude of the receiver and its own longitude and latitude to obtain the direction and distance of the receiver. When using the UWB positioning mode, the UWB function module of the receiver will send a data packet to the controller, and the controller will obtain the direction and distance by calculating the time for the return response; the map function module has an adaptive function, with the receiver at the farthest distance as the maximum magnification ratio. As the distance increases, the ratio also increases; the map function module supports zooming in and out functions, the center point remains unchanged, and the map ratio is reduced or increased. When the map ratio is manually modified, the adaptive function is turned off.

[0134] like Figure 6 As shown, the map function module runs the following steps:

[0135] Step a1: With the controller as the center point, the receiver's position is displayed, and the receiver's azimuth angle and distance are calculated using the receiver's GNSS latitude and longitude information;

[0136] Step a2: Use trigonometric functions to convert the receiver's azimuth angle into radians;

[0137] Step a3: Use radians * distance to obtain the X, Y coordinates, which are the receiver's azimuth coordinates and are offset and displayed according to the map scale.

[0138] As the third embodiment of the present invention, this embodiment further improves upon the first embodiment. This intelligent anti-lost tracking system also includes an intercom module, enabling the controller to directly communicate with the receiver via voice. Both the controller and receiver have built-in power amplifiers and speakers, and the controller is equipped with a microphone. The intercom function is conventional technology and will not be described in detail here.

[0139] As the fourth embodiment of the present invention, the fourth embodiment is a further improvement on the first embodiment. The intelligent anti-lost tracking system also integrates an electronic fence function and supports the setting of a safe area with a maximum radius of 3000M. When the receiver exceeds the fence distance, the controller will immediately receive an alarm message and the buzzer will also sound. The receiver will also generate an alarm signal, vibration, electric shock, buzzer alarm and other information. The specific operation method can be set by the controller according to different application scenarios. Electronic fence is a security monitoring technology based on virtual geographic boundaries. Its core principle is to trigger corresponding alarms or control instructions by comparing the spatial relationship between the device location and the preset area in real time. Electronic fence is a prior art and will not be described here.

[0140] As the fifth embodiment of the present invention, the fifth embodiment is a further improvement on the first embodiment. The intelligent anti-lost tracking system also includes a terminal installed with a dedicated application, such as a computer / tablet / mobile phone. The terminal establishes a two-way communication link with the controller to realize device status monitoring, remote control, map data synchronization and trajectory visualization functions.

[0141] For example: Computer / tablet / mobile phone APP: The controller can be connected to the computer / tablet / mobile phone via Bluetooth, and the device information can be displayed or read on the computer / tablet / mobile phone. The computer / tablet / mobile phone can also be used to directly control the receiver. At the same time, the device will also synchronize the map information to the computer / tablet / mobile phone APP via Bluetooth, and the computer / tablet / mobile phone can also be used to directly view the device location, historical trajectory and other information.

[0142] As the sixth embodiment of the present invention, this embodiment further improves upon the first embodiment. The intelligent anti-lost tracking system in this embodiment is primarily used in pet training scenarios. The receiver of this intelligent anti-lost tracking system also features a vibration motor and transformer, enabling vibration, discharge, and alarm functions. The vibration level is divided into 0-100 levels, the discharge level is divided into 0-100 levels, and the buzzer has 10 levels, all precisely controlled using PWM. The controller includes corresponding control buttons, such as a vibration button and an electric shock button, for adjusting the frequency of the receiver's vibration motor and electric shock, respectively.

[0143] The intelligent anti-lost tracking system based on dual-mode positioning of the present invention is a multifunctional application product, which is aimed at preventing elderly people with Alzheimer's disease and children from getting lost. It has the following advantages:

[0144] 1. Real-time positioning monitoring

[0145] 1) The controller can check the location information of the receiver (worn on the elderly / children) at any time (GPS / UWB dual-mode positioning);

[0146] 2) Set the security range of the electronic fence (such as a radius of 500 meters). Once exceeded, an alarm will be triggered immediately and a notification will be pushed to the controller;

[0147] 2. Intelligent tracking mode

[0148] 1) If the target leaves the sight or hides, the controller starts direction + distance navigation (arrow guidance + real-time distance display);

[0149] 2) When approaching the target but still cannot be found, the receiver's buzzer can be remotely activated to locate it by sound.

[0150] 3. Two-way voice intercom

[0151] Supports one-touch voice calls, guardians can communicate directly with the wearer (such as comforting or guiding).

[0152] The intelligent anti-lost tracking system of the present invention can also be applied to the following scenarios:

[0153] 1. Tour group management

[0154] Anti-fallback monitoring:

[0155] (1) Each team member wears a receiver and the team leader holds a controller.

[0156] (2) When a member exceeds the team safety distance (such as 50 meters), the controller automatically alarms and displays the location of the deviator.

[0157] 2. Livestock management

[0158] Preventing loss of cattle and sheep:

[0159] (1) The receiver is fixed to the livestock collar and the activity boundary (such as pasture fence) is set.

[0160] (2) When crossing the boundary, a vibration alarm is triggered and the location is reported to the rancher controller.

[0161] 3. Pet training

[0162] Command control in multiple modes:

[0163] (1) Send electric shock (within the safety threshold) / vibration / sound commands through the controller to remotely regulate pet behavior.

[0164] (2) Combined with voice intercom, it can realize real-time training feedback (such as "sit down" and "come back"), making expansion more flexible and training more convenient, saying goodbye to traditional one-on-one, face-to-face training, and greatly improving the operational space.

[0165] The above is a further detailed description of the present invention in conjunction with specific preferred embodiments, and the specific implementation of the present invention should not be considered to be limited to these descriptions. For those skilled in the art of the present invention, without departing from the concept of the present invention, several simple deductions or substitutions can be made, which should be considered to fall within the scope of protection of the present invention.

Claims

1. An intelligent anti-lost tracking system based on dual-mode positioning, characterized in that: The system comprises a controller and a receiver, both of which are equipped with a GNSS positioning module and a UWB functional module. The GNSS positioning module is used to autonomously obtain their respective position information, and the UWB positioning module is used for ranging and data transmission between the controller and the receiver. The controller is used to send control instructions to the receiver and receive position information from the receiver, and dynamically select GNSS or UWB positioning mode based on the GNSS signal quality and relative distance between itself and the receiver. The receiver is used to execute the instructions sent by the controller and report its position information to the controller.

2. The intelligent anti-lost tracking system according to claim 1, characterized in that: The specific steps for the intelligent anti-lost tracking system to dynamically select GNSS or UWB positioning mode are as follows: Step 1: The controller determines whether the strength of its own GNSS signal and the strength of the receiver's GNSS signal are lower than a preset threshold. If so, the controller executes the next step; otherwise, the controller executes the GNSS positioning communication step. Step 2: The controller determines whether the distance between itself and the receiver is within the UWB communication range. If so, it turns on its own UWB function module and sends a UWB turn-on instruction to the receiver. Otherwise, it continues to determine the distance between itself and the receiver. Step 3: The receiver turns on its own UWB function module; Step 4: The receiver establishes a UWB communication link with the controller; Step 5: The receiver sends the distance and direction information collected by the UWB function module to the controller; Step 6: The controller calculates the distance and direction between the two based on the received location information sent by the receiver and its own location information; The GNSS positioning communication steps include: Step S1: The receiver sends distance and azimuth information collected by the GNSS positioning module to the controller; Step S2: The controller calculates the distance and direction between the two based on the received position information sent by the receiver and its own position information.

3. The intelligent anti-lost tracking system according to claim 1, characterized in that: In step 2, the UWB communication range between the controller and the receiver is twice the actual UWB communication distance.

4. The intelligent anti-lost tracking system according to claim 1, characterized in that: There are multiple receivers. To prevent interference between the same frequencies of the receivers, the intelligent anti-lost tracking system implements dynamic frequency switching through the following steps: Step A1: Set the reference frequency, the reference frequency range is 100K HZ ~ 1GHz HZ; Step A2: Increase the base frequency by 10 MHz. Step A3: Divide the 10 MHz frequency into 40 frequency points, with a fixed interval of 250 kHz between each adjacent frequency point. Step A4: According to the UUID number of the receiver's own chip, the UUID number is modulo 40 to obtain the frequency used by the receiver.

5. The intelligent anti-lost tracking system according to claim 4, characterized in that: The intelligent anti-lost tracking system adds 250KHZ to the 40th frequency to obtain the frequency 41 as the common frequency. It then adds 250KHZ to the obtained common frequency to obtain the frequency 42 as the test frequency. The code pairing process is then triggered by pressing a button. The specific steps are as follows: Step B1: The frequency is first switched to the public frequency 41, and the controller sends a pairing instruction and sends the frequency to be used and its own ID to the receiver; Step B2: After receiving the data, the receiver saves the controller's ID number and the frequency used, and sends the receiver's own ID to the controller via TDMA technology; Step B3: After receiving the feedback message from the receiver, the controller saves the receiver ID information, responds with a reply, and then displays "Pairing Completed"; Step B4: After receiving the response from the controller, the receiver outputs the pairing code and turns on the buzzer to indicate that the pairing is complete. The receiver then changes the frequency it uses to the frequency sent by the controller during pairing.

6. The intelligent anti-lost tracking system according to claim 5, characterized in that: In step B2, the TDMA technology divides the time axis into periodic frames, each frame includes a fixed number of time slots, and each receiver uses the same frequency band to communicate within the allocated dedicated time slots.

7. The intelligent anti-lost tracking system according to claim 1, characterized in that: The intelligent anti-lost tracking system also includes a map function module, which is used to display the geographic location of the connected receiver on the display screen of the controller. When using the GNSS positioning mode, the receiver will send the receiver's latitude and longitude information to the controller through TDMA technology after successful positioning. The controller calculates the receiver's latitude and longitude and its own latitude and longitude to obtain the receiver's direction and distance. When using the UWB positioning mode, the receiver's UWB function module will send a data packet to the controller, and the controller will obtain the direction and distance by calculating the time it takes to return a response. The map function module has an adaptive function, with the receiver at the farthest distance as the maximum magnification ratio. As the distance increases, the ratio also increases. The map function module supports zooming in and out functions. The center point remains unchanged, and the map scale is reduced or increased. When the map scale is manually modified, the adaptive function is turned off.

8. The intelligent anti-lost tracking system according to claim 7, characterized in that: The map function module runs the following steps: Step a1: With the controller as the center point, the receiver's position is displayed, and the receiver's azimuth angle and distance are calculated using the receiver's GNSS latitude and longitude information; Step a2: Use trigonometric functions to convert the receiver's azimuth angle into radians; Step a3: Use radians * distance to obtain the X, Y coordinates, which are the receiver's azimuth coordinates and are offset and displayed according to the map scale.

9. The intelligent anti-lost tracking system according to claim 1, characterized in that: The intelligent anti-lost tracking system also includes an intercom function module, and the controller can directly conduct a voice call with the receiving end through the intercom function module.

10. The intelligent anti-lost tracking system according to claim 1, characterized in that: The intelligent anti-lost tracking system also integrates an electronic fence function module, which supports the setting of a safe area with a maximum radius of 3000M. When the receiver exceeds the fence range, the controller immediately triggers an alarm and pushes an alarm message.

11. The intelligent anti-lost tracking system according to claim 1, characterized in that: The intelligent anti-lost tracking system also includes a terminal with an application installed, which establishes a two-way communication link with the controller to realize device status monitoring, remote control, map data synchronization and trajectory visualization functions.

12. The intelligent anti-lost tracking system according to claim 1, characterized in that: The controller also includes a first single-chip microcomputer, a display screen, a geomagnetic sensor, a first six-axis sensor, a first power management system, and a control button. The output end of the single-chip microcomputer is connected to the input end of the display screen, and the output end of the geomagnetic sensor, the output end of the first six-axis sensor, and the output end of the button are respectively connected to the input end of the single-chip microcomputer. The first power management system is used to provide power to the intelligent anti-lost tracking system. The first single-chip microcomputer is used to send control instructions to the receiver, receive data from the receiver, and perform core calculations. The geomagnetic sensor is used to obtain the direction of the controller, and the first six-axis sensor is used to calculate the posture of the controller.

13. The intelligent anti-lost tracking system according to claim 1, characterized in that: The receiver includes a second single-chip microcomputer, a second power management system, a pairing button, a buzzer and / or a vibration motor and / or a transformer. The input end of the second single-chip microcomputer is connected to the pairing button, and the output end of the second single-chip microcomputer is connected to the buzzer and / or the vibration motor and / or the transformer. The second single-chip microcomputer is used to receive instructions issued by the controller and perform corresponding operations according to the instructions issued by the controller. The second power management system is used to provide power to the receiver, and the pairing button is used for pairing operations.

14. The intelligent anti-lost tracking system according to claim 1, characterized in that: The intelligent anti-lost tracking system also includes a tracking module, which includes the following steps: Step 1: Set up multiple pointer images. Each image represents a display interval, used to show the receiver's position. The offset value is used to switch between each two images. The 360-degree circle is divided into N identical sectors with equal angles. The central angle of each sector is 360° / N, and each sector represents a display interval. Step 2: Calculate the azimuth of the controller using the geomagnetic sensor and the first six-axis sensor, and calculate the azimuth of the receiver using the longitude and latitude. Step 3: Compare the two azimuth angles and subtract the smaller azimuth angle from the larger azimuth angle to obtain the final result. Step 4: Determine the image corresponding to the final result and display it on the controller's display screen. Also displayed are the distance between the controller and the current receiver, the controller's battery level, the current receiver's battery level, the controller's GNSS signal strength, and the current receiver's GNSS signal strength.

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