Cooperative positioning method and device

Abstract

The invention discloses a cooperative positioning method and device, and the method comprises the steps: determining a first position range of a user based on call information if the call information sent by a user terminal is received; determining a positioning strategy corresponding to the call information based on the first position range; the positioning strategy comprises a video positioning strategy and an image positioning strategy; acquiring video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy; determining a second position range where the user is located based on the video stream data and / or the image data; the second position range is smaller than the first position range. According to the embodiment of the invention, through the two-stage positioning strategy, the positioning precision is remarkably improved, the two-stage positioning strategy is selected based on the positioning result of the first stage, the method is more targeted and suitable for the current scene, and the two positioning strategies are matched with each other, so that the positioning reliability is remarkably improved.

Description

Technical Field

[0001] The present application relates to the field of rescue positioning technology, and in particular to a collaborative positioning method and device. Background Art

[0002] The 3rd Generation Partnership Project (3GPP) is a cross-regional alliance of communications standards organizations, jointly managed by seven major global standards development organizations, responsible for developing technical specifications for mobile communications systems. Currently, 3GPP standards clearly define a positioning framework to support emergency calls, requiring access networks to implement a high-priority processing mechanism for emergency calls.

[0003] Current positioning methods mainly include Assisted Global Navigation Satellite System (A-GNSS), Enhanced Cell ID (ECID), and Observed Time Difference of Arrival (OTDOA). However, these methods rely on the deployment and accuracy of satellites and wireless base stations. In locations with weak signals and complex terrain, such as tunnels, urban underground spaces, or indoor high-rise buildings, it is difficult to accurately locate the location of emergency calls, making timely rescue difficult. Summary of the Invention

[0004] In order to solve the technical problem that existing positioning methods are difficult to accurately locate, the present invention provides a collaborative positioning method and device. First, the call information sent by the user terminal is used for preliminary positioning, and the subsequent image positioning strategy or video positioning strategy is determined based on the first position range of the preliminary positioning. Further collaborative positioning is carried out with the help of the image positioning strategy or the video positioning strategy. Through the two-stage positioning strategy, the positioning accuracy is significantly improved. The second-stage positioning strategy is selected based on the positioning results of the first stage, which is more targeted and suitable for the current scenario. The two positioning strategies cooperate with each other to significantly improve the reliability of positioning.

[0005] In a first aspect, an embodiment of the present application provides a collaborative positioning method, the method comprising: If a call message sent by the user terminal is received, determining a first location range of the user based on the call message; Determine a positioning strategy corresponding to the call information based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy; Acquire video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy; Based on the video stream data and / or the image data, a second location range of the user is determined; the second location range is smaller than the first location range.

[0006] In an optional embodiment, determining a positioning strategy corresponding to the call information based on the first location range includes: Determining monitoring density information and marker density information based on the first position range; Determine the environmental positioning index based on monitoring density information, marker density information and environmental coefficient; If the environmental positioning index is greater than a preset threshold, the video positioning strategy is determined to be the positioning strategy; or if the environmental positioning index is less than or equal to the preset threshold, the image positioning strategy is determined to be the positioning strategy.

[0007] In an optional embodiment, if the positioning strategy is a video positioning strategy, obtaining video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy includes: generating a video acquisition request based on the first location range and the call information; Send a video acquisition request to the monitoring network; Receive video stream data returned by the monitoring network.

[0008] In an optional embodiment, the call information carries a biometric feature; generating a video acquisition request based on the first location range and the call information includes: Determining regional attribute characteristics and environmental density characteristics of the first location range; Determining a video acquisition range based on the first position range and the environmental density feature; Determine call level based on biometrics; Determine the video acquisition angle based on regional attribute characteristics and call level; Generate a video acquisition request based on the video acquisition angle and video acquisition range.

[0009] In an optional embodiment, determining the video acquisition angle based on the regional attribute characteristics and the call level includes: If the area attribute characteristic indicates that the first position range is a public area, determining the first viewing angle as the video acquisition angle; or; If the area attribute characteristic indicates that the first location range is a sensitive area and the call level is the first level, the second viewing angle is determined as the video acquisition angle; the first viewing angle is greater than the second viewing angle; or; If the area attribute feature indicates that the first position range is a sensitive area, and the call level is the second level, the first viewing angle is determined as the video acquisition angle.

[0010] In an optional embodiment, if the positioning strategy is a video positioning strategy, determining the second location range of the user based on the video stream data and / or image data includes: Determine obstacle information and target information in video stream data; If the obstacle information and the target information indicate that the obstacle does not block the target, fuzzy matching is performed based on the target information and target features carried in the call information to determine a third position range of the target in the video stream data; Based on the third position range and the first position range, a second position range is determined.

[0011] In an optional embodiment, if the positioning strategy is an image positioning strategy, obtaining video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy includes: generating an image acquisition request based on the call information; Sending an image acquisition request to the user terminal; the image acquisition request is used to instruct the user to take and upload photos of the first location range; Receive image data returned by the user terminal based on the photo.

[0012] In an optional embodiment, determining the second location range of the user based on the video stream data and / or the image data includes: Extracting marker features from image data; Determining a to-be-matched location feature set in a preset location feature library based on the first location range; the to-be-matched location feature set includes a plurality of to-be-matched location features; the plurality of to-be-matched location features respectively correspond to a plurality of locations; If a target location feature that matches the marker feature exists in the set of location features to be matched, determining a second location range based on the location corresponding to the target location feature; The preset location feature library is updated based on the marker feature and the second location range.

[0013] In an optional embodiment, after determining the second location range of the user based on the video stream data and / or the image data, the method further includes: Get the fourth position range of the rescuer; planning a rescue path based on the second position range and the fourth position range; generating rescue prompt information based on the rescue path, the fourth position range, and the second position range; Send rescue prompt information to the user terminal and the rescuer's rescue terminal.

[0014] In a second aspect, an embodiment of the present application provides a collaborative positioning device, comprising: A first determining module is configured to determine a first location range of the user based on the call information received from the user terminal; A second determining module is configured to determine a positioning strategy corresponding to the call information based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy; An acquisition module, configured to acquire video stream data corresponding to a video positioning strategy and / or image data corresponding to an image positioning strategy; The third determination module is used to determine a second location range where the user is located based on the video stream data and / or the image data; the second location range is smaller than the first location range.

[0015] In a third aspect, an embodiment of the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, at least one program, code set or instruction set is loaded and executed by the processor to implement the collaborative positioning method of the first aspect.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or at least one program is loaded and executed by a processor to implement the collaborative positioning method of the first aspect.

[0017] In a fifth aspect, embodiments of the present application provide a computer program product or computer program, comprising computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the co-location method of the first aspect.

[0018] The collaborative positioning method and apparatus provided in the embodiments of the present application have the following technical effects: If a call message sent by a user terminal is received, the first location range of the user is determined based on the call message; the positioning strategy corresponding to the call message is determined based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy; the video stream data corresponding to the video positioning strategy and / or the image data corresponding to the image positioning strategy are obtained; the second location range of the user is determined based on the video stream data and / or the image data; the second location range is smaller than the first location range. In an embodiment of the present application, a preliminary positioning is first performed using the call message sent by the user terminal, and the image positioning strategy or the video positioning strategy is subsequently adopted based on the first location range of the preliminary positioning. Further collaborative positioning is performed with the help of the image positioning strategy or the video positioning strategy. The positioning accuracy is significantly improved through the two-stage positioning strategy. The second-stage positioning strategy is selected based on the positioning results of the first stage, which is more targeted and suitable for the current scenario. The two positioning strategies cooperate with each other to significantly improve the reliability of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application; Figure 2 This is a schematic diagram of a collaborative positioning method provided in an embodiment of the present application. Figure 1 ; Figure 3 This is a schematic diagram of a collaborative positioning method provided in an embodiment of the present application. Figure 2 ; Figure 4 This is a flow chart of a video collaborative positioning method provided in an embodiment of the present application; Figure 5 This is a flow chart of an image collaborative positioning method provided in an embodiment of the present application; Figure 6 This is a schematic structural diagram of a collaborative positioning device provided in an embodiment of the present application; Figure 7 This is a hardware structure block diagram of a server of a collaborative positioning method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] The following will be combined with the accompanying drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0023] See also Figure 1 , Figure 1 It is a schematic diagram of an application environment provided by an embodiment of the present application, including a user terminal 101, a rescue positioning center 102, a monitoring network 103 and a rescue terminal 104.

[0024] In one possible embodiment, the user terminal 101 is a terminal device used by the user to issue a call message, and can be an electronic device such as a smartphone, a smartwatch, a portable computer, a wearable smart device, etc. In this embodiment of the present application, the user terminal 101 needs to have basic positioning and image acquisition functions. Specifically, it needs to be connected to an existing positioning network to issue a call message containing its own rough location. It also needs to be equipped with a camera to collect image data near the current user.

[0025] In one possible embodiment, the monitoring network 103 is a video-assisted positioning network established by integrating multiple monitoring video sources. By integrating public security cameras, intelligent traffic monitoring cameras and third-party authorized monitoring cameras, a real-time video analysis network with full coverage is formed. Furthermore, the videos captured by the cameras include not only ordinary videos, but also special videos such as infrared thermal imaging videos.

[0026] In a possible embodiment, the rescue terminal 104 is a terminal device used by a rescuer to receive rescue prompt information and obtain the precise location of the rescued user.

[0027] In a possible embodiment, the rescue positioning center 102 includes a collaborative positioning device for receiving call information sent by the user terminal 101, video stream data returned by the monitoring network 103, and image data returned by the user terminal 101, to perform preliminary positioning in the first stage and precise positioning in the second stage.

[0028] In an embodiment of the present application, if the collaborative positioning device receives a call message sent by a user terminal, it determines the first location range of the user based on the call message; determines the positioning strategy corresponding to the call message based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy; obtains video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy; determines the second location range of the user based on the video stream data and / or image data; the second location range is smaller than the first location range. In an embodiment of the present application, the call message sent by the user terminal is first used for preliminary positioning, and the image positioning strategy or video positioning strategy is subsequently adopted based on the first location range of the preliminary positioning. Further collaborative positioning is performed with the help of the image positioning strategy or the video positioning strategy. The positioning accuracy is significantly improved through the two-stage positioning strategy. The second-stage positioning strategy is selected based on the positioning results of the first stage, which is more targeted and suitable for the current scenario. The two positioning strategies cooperate with each other to significantly improve the reliability of positioning.

[0029] The following describes a specific embodiment of a collaborative positioning method of the present application. Figure 2 This is a schematic diagram of a collaborative positioning method provided in an embodiment of the present application. Figure 1 , this specification provides method operation steps such as embodiments or flow charts, but may include more or fewer operation steps based on routine or non-creative work. The order of steps listed in the embodiments is only one way of executing the steps among many steps, and does not represent the only execution order. When the actual system or server product is executed, it can be executed in the order shown in the embodiments or the drawings or in parallel (for example, in a parallel processor or multi-threaded processing environment). Specifically, Figure 2 As shown, the method is applied to a co-location device and may include: S201: If call information sent by a user terminal is received, a first location range of the user is determined based on the call information.

[0030] S202: Determine a positioning strategy corresponding to the call information based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy.

[0031] S203: Acquire video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy.

[0032] S204: Determine a second location range of the user based on the video stream data and / or the image data; the second location range is smaller than the first location range.

[0033] Figure 3 This is a schematic diagram of a collaborative positioning method provided in an embodiment of the present application. Figure 2 , the method may include: S301: Receive call information sent by a user terminal.

[0034] In a possible embodiment, when a user to be rescued is in an emergency and needs rescue, a call message is sent to a collaborative positioning device of a rescue positioning center through a user terminal.

[0035] S302: Determine a first location range of the user based on the call information.

[0036] In an optional embodiment, the rescue positioning center determines the first location range of the user based on any one of the existing Assisted Global Navigation Satellite System (A-GNSS), Enhanced Cell ID (ECID) and Observed Time Difference of Arrival (OTDOA) methods to achieve preliminary positioning of the user's position.

[0037] In open areas, initial positioning achieved by existing technologies can accurately locate users. However, in locations with weak signals, such as tunnels, urban underground spaces, or indoor high-rise buildings, users cannot be accurately located. For example, initial positioning has an accuracy of 100 meters. When there are no other people within 100 meters, the user can be located. However, if there are many other pedestrians within 100 meters, or in a building with complex terrain, further secondary positioning is required to determine which of the many pedestrians is the user to be rescued and which floor and room of the building the user is in.

[0038] S303: Determine a positioning strategy corresponding to the call information based on the first location range.

[0039] In the embodiment of the present application, the positioning strategy includes a video positioning strategy and an image positioning strategy.

[0040] In a possible embodiment, the specific steps of determining the positioning strategy corresponding to the call information based on the first location range include: S3031: Determine monitoring density information and marker density information based on the first position range.

[0041] S3032: Determine the environmental positioning index based on the monitoring density information, the marker density information and the environmental coefficient.

[0042] S3033: Determine, based on the environmental positioning index, whether the positioning strategy is a video positioning strategy or an image positioning strategy.

[0043] In the embodiment of the present application, the monitoring density information is used to indicate the number of monitoring cameras distributed within a preset spatial range. The marker density information is used to indicate the number of recognizable objects distributed within a preset spatial range.

[0044] In a possible embodiment, recognizable objects may be buildings, billboards, road signs, shops, sculptures, etc. When establishing the database, objects on the map may be manually labeled as "recognizable objects," thereby obtaining the number of recognizable objects distributed within a preset spatial range.

[0045] In this embodiment of the present application, the environmental coefficient is used to adjust the weights of the monitoring density information and the marker density information in different environments. For example, in indoor spaces, the environmental coefficient corresponding to the monitoring density information is 0.7, and the environmental coefficient corresponding to the marker density information is 0.3; in outdoor spaces, the environmental coefficient corresponding to the monitoring density information is 0.4, and the environmental coefficient corresponding to the marker density information is 0.6.

[0046] The monitoring density information a and marker density information b are determined through the first position range, that is, the monitoring and marker distribution density of the first position range that is initially positioned. After adjusting the weights using the environmental coefficients D1 and D2 corresponding to the first position range, the environmental positioning index can be finally obtained to illustrate the reliability of positioning through monitoring video (ELI=aD1+yD2).

[0047] Therefore, in a possible embodiment, if the environmental positioning index is greater than a preset threshold, the video positioning strategy is determined as the positioning strategy; if the environmental positioning index is less than or equal to the preset threshold, the image positioning strategy is determined as the positioning strategy.

[0048] For example, video positioning strategies can be used inside highways or urban traffic tunnels. The users who need rescue are generally car drivers and passengers. Signals inside tunnels are poor, resulting in poor initial positioning accuracy. However, it is relatively easy to deploy a video surveillance network. After a car accident, if the occupants are conscious, they can initiate a call. Collaborative positioning with surveillance cameras can pinpoint the exact location of the accident scene, and the video stream data can be used to accurately determine the specific circumstances of the accident, facilitating rescue efforts. If the occupants are unconscious, they will need to rely on nearby witnesses or cars to initiate an emergency call.

[0049] S304: Obtain video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy.

[0050] S305: Determine a second location range of the user based on the video stream data and / or the image data.

[0051] In the embodiment of the present application, the second position range is smaller than the first position range, and the second position range is the precise positioning required by the present application.

[0052] In a possible embodiment, the second location range of the user can be determined based on video stream data, the second location range of the user can be determined based on image data, or the second location range of the user can be determined based on video stream data and image data.

[0053] A more accurate and reliable second position range can be further obtained by mutual verification of the two positioning strategies.

[0054] S306: Obtain a fourth location range of the rescuer.

[0055] In an embodiment of the present application, a rescue request message can be sent to the rescue terminal used by the rescuer. After the rescue terminal responds, it responds to the call of the user to be rescued on behalf of the rescuer. The collaborative positioning device of the rescue positioning center continues to send location request information to the rescue terminal. With the permission of the rescuer, the rescue terminal returns the fourth location range of the rescuer to the rescue positioning center.

[0056] S307: Planning a rescue route based on the second position range and the fourth position range.

[0057] S308: Generate rescue prompt information based on the rescue path, the fourth position range and the second position range.

[0058] S309: Sending rescue prompt information to the user terminal and the rescuer's rescue terminal.

[0059] In an embodiment of the present application, after obtaining the second location range of the user to be rescued, the rescue positioning center can push rescue prompt information to the user terminal of the user to be rescued and the rescue terminal of the rescuer at the same time. The rescue prompt information is used to explain the relevant evacuation and rescue routes, and the current locations of the user to be rescued and the rescuer are marked on the rescue prompt information.

[0060] During the process of the rescuer moving from a specific location in the fourth position range along the rescue path to the second position range where the rescuer is located, the rescuer's current location can be continuously obtained, and the rescue prompt information can be updated and resent. This rescue prompt information can be sent periodically until the rescue operation is completed.

[0061] Figure 4 This is a flow chart of a video collaborative positioning method provided in an embodiment of the present application. If the positioning strategy is a video positioning strategy, the method may include: S401: Generate a video acquisition request based on a first location range and call information.

[0062] In a possible embodiment, the call information carries a biometric feature, and the biometric feature is used to characterize the current condition of the user to be rescued.

[0063] Alternatively, users can edit their biometrics to create a distress message and send it to the rescue location center. For example, a message might read, "I'm in a car accident on road section xx. I might have a broken leg and need help." The broken leg information is the user's biometric.

[0064] Optionally, the user's current situation can also be determined through other forms of call information such as the user's voice or video calling for help, thereby obtaining the biometric features carried in the call information.

[0065] In a possible embodiment, generating a video acquisition request based on the first location range and the call information includes: S4011: Determine the regional attribute characteristics and environmental density characteristics of the first location range.

[0066] In one possible embodiment, the regional attribute feature is used to characterize the openness of a location, specifically whether it is a public area or a sensitive area. This is determined not only by whether the location is physically open or closed, but also by its legal attributes and degree of protection. Public areas may include streets, squares, subway platforms, and other areas, while sensitive areas may include office building interiors and residential corridors.

[0067] In a possible embodiment, the environmental density feature is used to characterize the density of objects within a preset spatial range of the location. In a square-type area, there are fewer buildings and the environmental density feature is 1. There are more buildings on the street and the environmental density feature is 1.1. There are many buildings in a densely populated residential area and the environmental density feature is 1.5.

[0068] S4012: Determine a video acquisition range based on the first position range and the environment density feature.

[0069] In one possible embodiment, the first position range is multiplied by the environmental density feature to obtain the video acquisition range. For example, if the first position range is 100m and is located in a densely populated residential area with an environmental density feature of 1.5, without considering the environmental density feature of the area, surveillance video within a range of 100m is directly acquired. However, considering that the first position range is located in a densely populated residential area, surveillance video within a range of 150m is required to facilitate multi-angle cross-comparison in the subsequent matching stage, thereby reducing the probability of dense obstacles blocking the target and increasing the possibility of successful positioning.

[0070] S4013: Determine the call level based on the biometrics.

[0071] In the embodiment of the present application, the call level is determined based on the user's biometrics. If the user is not injured, it means that the user is in a normal state, so the call level is level 1. If the user is injured, it means that the user is in an emergency state, so the call level is level 2.

[0072] S4014: Determine a video acquisition angle based on regional attribute characteristics and call level.

[0073] In a possible embodiment, specific circumstances of determining the video acquisition angle based on the regional attribute characteristics and the call level include: In a possible embodiment, if the area attribute characteristic indicates that the first location range is a public area, the first viewing angle is determined as the video acquisition angle. When the user is in a public area, a surveillance video with a larger angle can be acquired for collaborative positioning.

[0074] In one possible embodiment, if the area attribute characteristics indicate that the first location range is a sensitive area and the call level is level 1, the second viewing angle is determined as the video acquisition angle. The first viewing angle is larger than the second viewing angle. If the user is in a sensitive area and is not injured and in a normal state, only surveillance video from a smaller angle can be acquired for collaborative positioning.

[0075] In another possible embodiment, if the area attribute characteristics indicate that the first location range is a sensitive area and the call level is level two, the first viewing angle is determined as the video acquisition angle. If the user is in a sensitive area but is injured or in an emergency, the acquisition angle of the surveillance video can be increased to facilitate collaborative positioning.

[0076] Through the above hierarchical settings, the surveillance cameras deployed in the surveillance network can be fully utilized to achieve more accurate collaborative positioning while protecting privacy.

[0077] S4015: Generate a video acquisition request based on the video acquisition angle and the video acquisition range.

[0078] S402: Send a video acquisition request to the monitoring network.

[0079] S403: Receive video stream data returned by the monitoring network.

[0080] In a possible embodiment, a video acquisition request is generated based on the video acquisition angle and the video acquisition range, and the video acquisition request is sent to the monitoring network. After receiving the video acquisition request, the monitoring network returns the corresponding video stream data based on the video acquisition angle and the video acquisition range.

[0081] S404: Determine obstacle information and target information in the video stream data.

[0082] S405: Determine whether the obstacle blocks the target based on the obstacle information and the target information. If so, execute S406; if not, execute S408.

[0083] S406: Perform fuzzy matching based on the target information and the target features carried in the call information to determine a third position range of the target in the video stream data.

[0084] In a possible embodiment, the target characteristics include age characteristics, clothing characteristics, gender characteristics, movement characteristics, etc. of the user to be rescued, which are convenient for identifying the target. The user to be rescued usually describes the above characteristics about himself when sending a call message.

[0085] S407: Determine a second position range based on the third position range and the first position range.

[0086] S408: Generate and send an image acquisition request to the user terminal based on the call information.

[0087] In a possible embodiment, the image acquisition request is used to instruct a user to take and upload photos of a first location range.

[0088] S409: Receive image data returned by the user terminal based on the photo.

[0089] S410: Determine a second location range of the user based on the image data.

[0090] In a possible embodiment, it is determined based on the video stream data whether there is an obstacle blocking the target. If the obstacle does not block the target, a fuzzy match is performed based on the target information and target features in the video to determine the third position range of the target in the video stream data. Then, based on the third position range and the first position range, the precise second position range is finally determined.

[0091] In another possible embodiment, if an obstacle obscures the target, it's impossible to determine the target's exact location in the surveillance video. Therefore, an image strategy is needed to instruct the user to take and upload a photo of the first location range. The photo is then used as image data to determine the user's second location range. The specific implementation of the image strategy is described in the image collaborative localization method below.

[0092] Figure 5 : is a flow chart of an image collaborative positioning method provided in an embodiment of the present application, which may include: S501: Generate an image acquisition request based on call information.

[0093] S502: Send an image acquisition request to the user terminal.

[0094] S503: Receive image data returned by the user terminal based on the photo.

[0095] In this embodiment, an image acquisition request is generated based on a user's call information. For example, a text message containing an upload link instructs the user to take photos of nearby landmarks and may include sample images as explanations. This image acquisition request is sent to the user terminal. Upon viewing the request, the user clicks the link to upload several images as instructed. The rescue location center then receives the image data returned by the user terminal based on the photos.

[0096] S504: Extracting marker features from the image data.

[0097] S505: Determine a set of location features to be matched in a preset location feature library based on the first location range.

[0098] In a possible embodiment, the set of location features to be matched includes multiple location features to be matched, and the multiple location features to be matched correspond to multiple locations respectively.

[0099] In the embodiments of this application, a preset location feature library is established in advance. To achieve accurate matching of location features, a relatively complete preset location feature library needs to be established. This database has a large capacity, and collection can be prioritized based on historical hotspot emergency call areas. In other words, the more emergency situations occur in historical data, the higher the priority. The preset location feature library adopts a distributed deployment, and the databases of each area are deployed in their respective edge computing centers.

[0100] The collection of location features in the preset location feature library is carried out by automatic collection combined with manual supplementation. Automatic collection can rely on the surveillance camera network to automatically capture area pictures, and manual supplementation requires staff to capture location photos in hot spots. After the image data is collected, it is uploaded to the back-end for intelligent analysis and distributed storage. The preset location feature library needs to be maintained and updated regularly to ensure the accuracy of intelligent location matching.

[0101] First, by screening out a set of location features to be matched in a preset location feature library using the first location range, the amount of calculation for subsequent matching can be effectively reduced, thereby speeding up the calculation.

[0102] S506: Determine whether the target location feature exists in the set of location features to be matched. If so, execute S507; if not, execute S503.

[0103] In one possible embodiment, the target location feature matches the marker feature.

[0104] S507: Determine a second location range based on the location corresponding to the target location feature.

[0105] S508: Update the preset location feature library based on the marker feature and the second location range.

[0106] If the target location feature matches the marker feature, the location corresponding to the target location feature is used as the user's current second location range, and the picture currently uploaded by the user is updated to the preset location feature library.

[0107] If there is no feature matching the marker feature in the set of location features to be matched, an image acquisition request can be sent to the user terminal again, requesting that a clear and accurate picture be uploaded again. After multiple attempts still fail, a matching failure message can be sent to the user terminal.

[0108] The embodiment of the present application also provides a collaborative positioning device, Figure 6 This is a schematic diagram of the structure of a collaborative positioning device provided in an embodiment of the present application. Figure 6 As shown, the apparatus 600 includes: A first determining module 601 is configured to, upon receiving call information sent by a user terminal, determine a first location range of the user based on the call information; The second determining module 602 is configured to determine a positioning strategy corresponding to the call information based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy; An acquisition module 603 is configured to acquire video stream data corresponding to a video positioning strategy and / or image data corresponding to an image positioning strategy; The third determining module 604 is configured to determine a second location range where the user is located based on the video stream data and / or the image data; the second location range is smaller than the first location range.

[0109] In an optional embodiment, the method further includes: Determining monitoring density information and marker density information based on the first position range; Determine the environmental positioning index based on monitoring density information, marker density information and environmental coefficient; If the environmental positioning index is greater than a preset threshold, the video positioning strategy is determined to be the positioning strategy; or if the environmental positioning index is less than or equal to the preset threshold, the image positioning strategy is determined to be the positioning strategy.

[0110] In an optional embodiment, if the positioning strategy is a video positioning strategy, it further includes: generating a video acquisition request based on the first location range and the call information; Send a video acquisition request to the monitoring network; Receive video stream data returned by the monitoring network.

[0111] In an optional embodiment, the call information carries biometric features; and further includes: Determining regional attribute characteristics and environmental density characteristics of the first location range; Determining a video acquisition range based on the first position range and the environmental density feature; Determine call level based on biometrics; Determine the video acquisition angle based on regional attribute characteristics and call level; Generate a video acquisition request based on the video acquisition angle and video acquisition range.

[0112] In an optional embodiment, the method further includes: If the area attribute characteristic indicates that the first position range is a public area, determining the first viewing angle as the video acquisition angle; or; If the area attribute characteristic indicates that the first location range is a sensitive area and the call level is the first level, the second viewing angle is determined as the video acquisition angle; the first viewing angle is greater than the second viewing angle; or; If the area attribute feature indicates that the first position range is a sensitive area, and the call level is the second level, the first viewing angle is determined as the video acquisition angle.

[0113] In an optional embodiment, if the positioning strategy is a video positioning strategy, it further includes: Determine obstacle information and target information in video stream data; If the obstacle information and the target information indicate that the obstacle does not block the target, fuzzy matching is performed based on the target information and target features carried in the call information to determine a third position range of the target in the video stream data; Based on the third position range and the first position range, a second position range is determined.

[0114] In an optional embodiment, if the positioning strategy is an image positioning strategy, it further includes: generating an image acquisition request based on the call information; Sending an image acquisition request to the user terminal; the image acquisition request is used to instruct the user to take and upload photos of the first location range; Receive image data returned by the user terminal based on the photo.

[0115] In an optional embodiment, the method further includes: Extracting marker features from image data; Determining a to-be-matched location feature set in a preset location feature library based on the first location range; the to-be-matched location feature set includes a plurality of to-be-matched location features; the plurality of to-be-matched location features respectively correspond to a plurality of locations; If a target location feature that matches the marker feature exists in the set of location features to be matched, determining a second location range based on the location corresponding to the target location feature; The preset location feature library is updated based on the marker feature and the second location range.

[0116] In an optional embodiment, the method further includes: Get the fourth position range of the rescuer; planning a rescue path based on the second position range and the fourth position range; generating rescue prompt information based on the rescue path, the fourth position range, and the second position range; Send rescue prompt information to the user terminal and the rescuer's rescue terminal.

[0117] The device and method embodiments in the embodiments of this application are based on the same application concept.

[0118] The method embodiments provided in the embodiments of the present application can be executed in a computer terminal, a server or a similar computing device. Taking running on a server as an example, Figure 7 This is a hardware structure diagram of a server of a collaborative positioning method provided in an embodiment of the present application. Figure 7As shown, the server 700 may vary significantly due to different configurations or performance. It may include one or more central processing units (CPUs) 710 (processor 710 may include, but is not limited to, a processing device such as a microprocessor (MCU) or a programmable logic device (FPGA), a memory 730 for storing data, and one or more storage media 720 (e.g., one or more mass storage devices) for storing application programs 723 or data 722. The memory 730 and storage media 720 may be either transient or persistent storage. The program stored in the storage medium 720 may include one or more modules, each of which may include a series of instruction operations on the server. Furthermore, the CPU 710 may be configured to communicate with the storage medium 720 to execute the series of instruction operations in the storage medium 720 on the server 700. The server 700 may also include one or more power supplies 760, one or more wired or wireless network interfaces 750, one or more input and output interfaces 740, and / or one or more operating systems 721, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, etc.

[0119] The input / output interface 740 can be used to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the communications provider of the server 700. In one embodiment, the input / output interface 740 may include a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the input / output interface 740 may be a radio frequency (RF) module for wireless communication with the Internet.

[0120] It can be understood by those skilled in the art that Figure 7 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 7 More or fewer components than shown, or with Figure 7 Different configurations shown.

[0121] An embodiment of the present application provides an electronic device, which includes a processor and a memory, wherein the memory stores at least one instruction, at least one program, code set, or instruction set, and the at least one instruction, at least one program, code set, or instruction set is loaded and executed by the processor to implement the above-mentioned data processing method.

[0122] An embodiment of the present application also provides a computer-readable storage medium, which can be set in a server to store at least one instruction, at least one program, code set or instruction set related to a collaborative positioning method in an embodiment of the method. The at least one instruction, the at least one program, the code set or instruction set is loaded and executed by the processor to implement the above-mentioned collaborative positioning method.

[0123] Optionally, in this embodiment, the storage medium may be located in at least one of a plurality of network servers in the computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to, a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard drive, a magnetic disk, or an optical disk, among other media capable of storing program code.

[0124] It can be seen from the embodiments of the collaborative positioning method, device, electronic device or storage medium provided by the present application that, in the present application, if a call information sent by a user terminal is received, the first location range of the user is determined based on the call information; the positioning strategy corresponding to the call information is determined based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy; the video stream data corresponding to the video positioning strategy and / or the image data corresponding to the image positioning strategy are obtained; the second location range of the user is determined based on the video stream data and / or the image data; the second location range is smaller than the first location range. In the embodiment of the present application, the call information sent by the user terminal is first used for preliminary positioning, and the image positioning strategy or the video positioning strategy is subsequently adopted based on the first location range of the preliminary positioning. Further collaborative positioning is performed with the help of the image positioning strategy or the video positioning strategy. The positioning accuracy is significantly improved through the two-stage positioning strategy. The second-stage positioning strategy is selected based on the positioning results of the first stage, which is more targeted and suitable for the current scenario. The two positioning strategies cooperate with each other to significantly improve the reliability of positioning.

[0125] It should be noted that the order of the embodiments of the present application described above is for descriptive purposes only and does not represent the superiority or inferiority of the embodiments. The above description is of specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps described in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0126] The various embodiments in this specification are described in a progressive manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the device embodiments are generally similar to the method embodiments, so the description is relatively simple. For relevant parts, refer to the description of the method embodiments.

[0127] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or by a program to instruct the relevant hardware, and the program may be stored in a computer-readable storage medium, which may be a read-only memory, a disk, or an optical disk, etc.

[0128] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A collaborative positioning method, characterized in that: include: If a call message sent by a user terminal is received, determining a first location range of the user based on the call message; Determine a positioning strategy corresponding to the call information based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy; Acquire video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy; Based on the video stream data and / or the image data, a second location range of the user is determined; the second location range is smaller than the first location range.

2. A collaborative positioning method according to claim 1, characterized in that: The determining, based on the first location range, a positioning strategy corresponding to the call information includes: Determining monitoring density information and marker density information based on the first position range; Determine an environmental positioning index based on the monitoring density information, the marker density information and the environmental coefficient; If the environmental positioning index is greater than a preset threshold, the video positioning strategy is determined to be the positioning strategy; or if the environmental positioning index is less than or equal to the preset threshold, the image positioning strategy is determined to be the positioning strategy.

3. A collaborative positioning method according to claim 1, characterized in that: If the positioning strategy is the video positioning strategy, obtaining the video stream data corresponding to the video positioning strategy and / or the image data corresponding to the image positioning strategy includes: generating a video acquisition request based on the first location range and the call information; Sending the video acquisition request to the monitoring network; Receive the video stream data returned by the monitoring network.

4. A collaborative positioning method according to claim 3, characterized in that: The call information carries a biometric feature; and generating a video acquisition request based on the first location range and the call information includes: Determining regional attribute characteristics and environmental density characteristics of the first location range; Determining a video acquisition range based on the first position range and the environmental density feature; determining a call rating based on the biometric characteristic; determining a video acquisition angle based on the regional attribute characteristics and the call level; The video acquisition request is generated based on the video acquisition angle and the video acquisition range.

5. A collaborative positioning method according to claim 4, characterized in that: The determining of the video acquisition angle based on the regional attribute characteristics and the call level includes: If the area attribute characteristic indicates that the first location range is a public area, determining the first viewing angle as the video acquisition angle; or; If the area attribute characteristic indicates that the first location range is a sensitive area and the call level is the first level, determining the second viewing angle as the video acquisition angle; the first viewing angle is greater than the second viewing angle; or; If the area attribute feature indicates that the first position range is the sensitive area, and the call level is the second level, the first viewing angle is determined to be the video acquisition angle.

6. A collaborative positioning method according to claim 1, characterized in that: If the positioning strategy is a video positioning strategy, determining the second location range of the user based on the video stream data and / or the image data includes: Determining obstacle information and target information in the video stream data; If the obstacle information and the target information indicate that the obstacle does not block the target, performing fuzzy matching based on the target information and target features carried by the call information to determine a third position range of the target in the video stream data; The second position range is determined based on the third position range and the first position range.

7. A collaborative positioning method according to claim 1, characterized in that: If the positioning strategy is the image positioning strategy, obtaining the video stream data corresponding to the video positioning strategy and / or the image data corresponding to the image positioning strategy includes: generating an image acquisition request based on the call information; Sending the image acquisition request to the user terminal; the image acquisition request is used to instruct the user to take and upload photos of the first location range; The image data returned by the user terminal based on the photo is received.

8. A collaborative positioning method according to claim 7, characterized in that: The determining, based on the video stream data and / or the image data, a second location range of the user includes: extracting marker features from the image data; Determining a to-be-matched location feature set in a preset location feature library based on the first location range; the to-be-matched location feature set includes a plurality of to-be-matched location features; the plurality of to-be-matched location features respectively correspond to a plurality of locations; If a target location feature matching the identifier feature exists in the set of location features to be matched, determining the second location range based on the location corresponding to the target location feature; The preset location feature library is updated based on the marker feature and the second location range.

9. A collaborative positioning method according to claim 1, characterized in that: After determining the second location range of the user based on the video stream data and / or the image data, the method further includes: Get the fourth position range of the rescuer; planning a rescue path based on the second position range and the fourth position range; generating rescue prompt information based on the rescue path, the fourth position range, and the second position range; The rescue prompt information is sent to the user terminal and the rescue terminal of the rescuer.

10. A collaborative positioning device, characterized in that: include: A first determining module is configured to, upon receiving call information sent by a user terminal, determine a first location range of the user based on the call information; A second determining module is configured to determine a positioning strategy corresponding to the call information based on the first location range; the positioning strategy includes a video positioning strategy and an image positioning strategy; An acquisition module, configured to acquire video stream data corresponding to the video positioning strategy and / or image data corresponding to the image positioning strategy; A third determination module is configured to determine a second location range of the user based on the video stream data and / or the image data; the second location range is smaller than the first location range.

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