Indoor positioning method and device, storage medium and electronic equipment

Abstract

The invention discloses an indoor positioning method and device, a storage medium and electronic equipment. The method comprises the following steps: sending a pulse signal to a preset number of target positioning base stations in a financial institution network through a to-be-positioned target object in the financial institution network; obtaining label information of the target object in the pulse signal; and positioning the target object through the target positioning base station based on the label information and the receiving time information of the received pulse signal to obtain a positioning result, the positioning result being used for evaluating whether there is an abnormality in the financial institution network. Through application of the method and the device, the problem that the positioning accuracy is relatively low due to the fact that the Bluetooth signal is easily interfered when the Bluetooth signal is used for positioning the object in the related technology is solved.

Description

Technical Field

[0001] The present application relates to the field of financial technology, and specifically, to an indoor positioning method and device, a storage medium, and an electronic device. Background Art

[0002] In the field of indoor positioning technology, particularly in environments like financial outlets where security and accuracy are paramount, using Bluetooth signals to locate objects has become a common solution. However, existing technologies have significant shortcomings in practical applications, limiting their effectiveness in the industry.

[0003] Bluetooth signals are susceptible to environmental factors such as interference and multipath effects. These issues are particularly acute in densely populated environments like financial outlets, where equipment is dense and personnel are frequently moving. The presence of other wireless signals and multiple reflections from indoor structures often significantly reduce the accuracy of Bluetooth positioning, making it difficult to provide real-time and reliable location information.

[0004] Regarding the related art of using Bluetooth signals to locate objects, Bluetooth signals are easily subject to signal interference, resulting in a problem of relatively low positioning accuracy. Currently, no effective solution has been proposed. Summary of the Invention

[0005] The main purpose of this application is to provide an indoor positioning method and device, a storage medium and an electronic device to solve the problem in the related art of using Bluetooth signals to locate objects, where Bluetooth signals are easily affected by signal interference, resulting in relatively low positioning accuracy.

[0006] To achieve the above-mentioned objectives, according to one aspect of the present application, an indoor positioning method is provided. The method comprises: transmitting a pulse signal from a target object to be located within a financial institution branch to a preset number of target positioning base stations within the financial institution branch; obtaining tag information of the target object from the pulse signal; and locating the target object by the target positioning base station based on the tag information and the time information of receiving the pulse signal, thereby obtaining a positioning result, wherein the positioning result is used to assess whether there is any abnormality within the financial institution branch.

[0007] Furthermore, the target object is located by the target positioning base station based on the tag information and the reception time information of the pulse signal, and the positioning result is obtained, including: judging whether the category corresponding to the target object is the first category according to the tag information; if the category corresponding to the target object is the first category, determining that the positioning algorithm is the first algorithm; and locating the target object based on the reception time information by the first algorithm to obtain the positioning result.

[0008] Furthermore, the target object is positioned based on the receiving time information through the first algorithm to obtain the positioning result, including: for any one of the target positioning base stations, calculating based on the receiving time information and the sending time information of the pulse signal to obtain the first distance information between the target object and the positioning base station; constructing a first solution function for the position information of the target object based on the coordinate information of the positioning base station and the first distance information; and solving the first solution function to obtain the positioning result.

[0009] Furthermore, after determining whether the category corresponding to the target object is the first category, the method also includes: if the category corresponding to the target object is the second category, determining whether the target object is in a moving state; if the target object is in the moving state, determining that the positioning algorithm is the second algorithm; and locating the target object based on the receiving time information through the second algorithm to obtain the positioning result.

[0010] Furthermore, the target object is positioned based on the reception time information by the second algorithm to obtain the positioning result, including: arbitrarily selecting two positioning base stations from the target positioning base stations to obtain a first group of positioning base stations; calculating based on the reception time information corresponding to the first positioning base station in the first group of positioning base stations and the reception time information corresponding to the second positioning base station in the first group of positioning base stations to obtain second distance information between the first positioning base station and the second positioning base station; obtaining third distance information between the second group of positioning base stations in the target positioning base stations; and obtaining the positioning result based on the coordinate information of the target positioning base station, the second distance information, and the third distance information.

[0011] Furthermore, obtaining the positioning result based on the coordinate information of the target positioning base station, the second distance information and the third distance information includes: constructing a second solution function for the location information of the target object based on the coordinate information of the first group of positioning base stations and the second distance information; constructing a third solution function for the location information of the target object based on the coordinate information of the second group of positioning base stations and the third distance information; solving the second solution function and the third solution function to obtain the positioning result.

[0012] Furthermore, determining whether the target object is in a moving state includes: determining a plurality of initial position information of the target object according to a preset time period using a first algorithm; and determining whether the target object is in a moving state based on the plurality of initial position information.

[0013] Furthermore, after locating the target object based on the receiving time information through the second algorithm and obtaining the positioning result, the method also includes: determining whether the target object is in a stationary state; if the target object is in a stationary state, switching the positioning algorithm from the second algorithm to the first algorithm; and locating the target object based on the receiving time information through the first algorithm.

[0014] To achieve the above-mentioned purpose, according to another aspect of the present application, an indoor positioning device is provided. The device comprises: a sending unit configured to send a pulse signal from a target object to be located within a financial institution branch to a preset number of target positioning base stations within the financial institution branch; an acquiring unit configured to acquire tag information of the target object from the pulse signal; and a first positioning unit configured to locate the target object via the target positioning base station based on the tag information and the reception time information of the pulse signal, thereby obtaining a positioning result, wherein the positioning result is used to assess whether there is any abnormality within the financial institution branch.

[0015] Furthermore, the first positioning unit includes: a first judgment subunit, used to judge whether the category corresponding to the target object is the first category based on the tag information; a first determination subunit, used to determine that the positioning algorithm is the first algorithm if the category corresponding to the target object is the first category; and a positioning subunit, used to locate the target object based on the receiving time information through the first algorithm to obtain the positioning result.

[0016] Furthermore, the positioning subunit includes: a calculation module, which is used to calculate, for any one of the target positioning base stations, based on the receiving time information and the sending time information of the pulse signal, to obtain the first distance information between the target object and the positioning base station; a construction module, which is used to construct a first solution function for the position information of the target object based on the coordinate information of the positioning base station and the first distance information; and a solution module, which is used to solve the first solution function to obtain the positioning result.

[0017] Furthermore, the device also includes: a judgment unit, which is used to determine whether the category corresponding to the target object is the first category, and if the category corresponding to the target object is the second category, whether the target object is in a moving state; a determination unit, which is used to determine that the positioning algorithm is the second algorithm if the target object is in the moving state; and a second positioning unit, which is used to locate the target object based on the receiving time information through the second algorithm to obtain the positioning result.

[0018] Furthermore, the second positioning unit includes: a selection subunit, used to arbitrarily select two positioning base stations from the target positioning base stations to obtain a first group of positioning base stations; a calculation subunit, used to calculate based on the reception time information corresponding to the first positioning base station in the first group of positioning base stations and the reception time information corresponding to the second positioning base station in the first group of positioning base stations to obtain the second distance information between the first positioning base station and the second positioning base station; an acquisition subunit, used to obtain the third distance information between the second group of positioning base stations in the target positioning base stations; a second determination subunit, used to obtain the positioning result based on the coordinate information of the target positioning base station, the second distance information and the third distance information.

[0019] Furthermore, the second determination subunit includes: a first construction module, used to construct a second solution function for the location information of the target object based on the coordinate information of the first group of positioning base stations and the second distance information; a second construction module, used to construct a third solution function for the location information of the target object based on the coordinate information of the second group of positioning base stations and the third distance information; a solution module, used to solve the second solution function and the third solution function to obtain the positioning result.

[0020] Furthermore, the judgment unit includes: a third determination subunit, used to determine multiple initial position information of the target object according to a preset time period through a first algorithm; and a second judgment subunit, used to judge whether the target object is in a moving state based on the multiple initial position information.

[0021] Furthermore, the device also includes: a judgment unit, used to determine whether the target object is in a stationary state after locating the target object based on the reception time information through the second algorithm and obtaining the positioning result; a switching unit, used to switch the positioning algorithm from the second algorithm to the first algorithm if the target object is in a stationary state; and a third positioning unit, used to locate the target object based on the reception time information through the first algorithm.

[0022] According to another aspect of an embodiment of the present invention, an electronic device is provided, including: a memory storing an executable program; and a processor for running the program, wherein the program executes any one of the above-mentioned indoor positioning methods when running.

[0023] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, which stores a program, wherein when the program is run, the device where the storage medium is located is controlled to execute any one of the above-mentioned indoor positioning methods.

[0024] In an embodiment of the present application, the following steps are adopted: a pulse signal is sent from a target object to be located in a financial institution outlet to a preset number of target positioning base stations in the financial institution outlet; tag information of the target object in the pulse signal is obtained; and the target positioning base station locates the target object based on the tag information and the reception time information of the pulse signal to obtain a positioning result, wherein the positioning result is used to evaluate whether there is an abnormality in the financial institution outlet, thereby solving the technical problem in the related art of using Bluetooth signals to locate objects, which is susceptible to signal interference and leads to relatively low positioning accuracy.

[0025] In this solution, a pulse signal is sent from a target object to be located within a financial institution's branch to a preset number of target positioning base stations within the financial institution's branch. Compared to Bluetooth signals, which are susceptible to signal interference and result in low positioning accuracy, the pulse signal in the embodiment of this application can maintain signal purity in complex environments, significantly reducing the impact of signal attenuation and multipath effects, thereby improving positioning accuracy. Using the reception time information of the pulse signal, the positioning base station can calculate the precise distance between the target object and the base station. The positioning results can be used to analyze activity patterns within the branch and promptly detect any deviations from the norm, such as improper movement of equipment or documents, unauthorized entry into sensitive areas, etc., thereby triggering a security warning mechanism and effectively improving the security management level and risk prevention capabilities of financial institution branches. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of this application. The exemplary embodiments and descriptions of this application are intended to explain this application and do not constitute an improper limitation on this application. In the accompanying drawings:

[0027] Figure 1 A hardware structure block diagram of a computer terminal for implementing an indoor positioning method is shown;

[0028] Figure 2 is a flow chart of an indoor positioning method provided according to an embodiment of the present application;

[0029] Figure 3 is a schematic diagram of an indoor positioning system provided according to an embodiment of the present application;

[0030] Figure 4 is a schematic diagram of indoor positioning provided according to an embodiment of the present application;

[0031] Figure 5 This is a schematic diagram of the indoor positioning method provided by the embodiment of the present application. Figure 1 ;

[0032] Figure 6This is a schematic diagram of the indoor positioning method provided by the embodiment of the present application. Figure 2 ;

[0033] Figure 7 is a schematic diagram of an indoor positioning device provided according to an embodiment of the present application;

[0034] Figure 8 This is a structural block diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0036] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising 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.

[0037] It should be noted that the collected information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for display, data for analysis, etc.) involved in this application are information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data comply with relevant laws, regulations and standards, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation portals for users to choose to authorize or refuse. For example, an interface is set up between this system and relevant users or institutions to provide users with corresponding operation portals for users to choose to agree or refuse the automated decision-making results; if the user chooses to refuse, the expert decision-making process will be entered.

[0038] Example 1

[0039] According to an embodiment of the present application, an embodiment of a method for indoor positioning is also provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0040] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 FIG1 shows a hardware structure block diagram of a computer terminal (or mobile device) for implementing an indoor positioning method. Figure 1 As shown, the computer terminal 10 (or mobile device) may include one or more (illustrated as 102a, 102b, ..., 102n in the figure) processors 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0041] It should be noted that the one or more processors 102 and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry". The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuitry may be a single independent processing module, or may be incorporated in whole or in part into any of the other components of the computer terminal 10 (or mobile device). As described in the embodiments of the present application, the data processing circuitry serves as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0042] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the indoor positioning method in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, implementing the above-mentioned indoor positioning method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0043] The transmission device 106 is configured 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 computer terminal 10. In one embodiment, the transmission device 106 includes 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 transmission device 106 may be a radio frequency (RF) module, which is configured to communicate with the Internet wirelessly.

[0044] The display may be a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 (or mobile device).

[0045] Under the above operating environment, this application provides Figure 2 The indoor positioning method shown. Figure 2 Flowchart of an indoor positioning method according to Embodiment 1 of the present application. The indoor positioning method includes:

[0046] Step S201 : a target object to be located in a financial institution outlet sends a pulse signal to a preset number of target positioning base stations in the financial institution outlet.

[0047] Optionally, the target object to be located within the financial institution's branch can send a pulse signal through the positioning tag integrated thereon. The positioning tag has a built-in pulse signal transmitter that can send specific pulse signals periodically or based on a trigger event. The pulse signal is a fast, short-term signal that is characterized by being emitted in an extremely short period of time, with high energy concentration and anti-interference capabilities, and is particularly suitable for accurately measuring signal transmission time in indoor environments. It should be noted that corresponding positioning tags can be configured according to the different characteristics of the target object. For employees, the positioning tag can be integrated into the work badge; for customers, the positioning tag can be integrated into a wearable device similar to a bracelet, which is required to be worn when entering the branch and returned when leaving the branch; for other equipment and document assets, it can be integrated into the equipment and document storage bags. In this way, it is ensured that the relevant objects within the branch can be accurately located in real time.

[0048] A preset number of target positioning base stations are deployed within the financial institution's outlets to ensure signal coverage and positioning capabilities in the entire space. Each base station is equipped with a high-precision clock and signal receiver, which can accurately capture the pulse signal from the positioning tag and record the timestamp of the signal arrival. Through the received signal and time information, the base station can calculate the time it takes for the signal to be transmitted from the target object to the base station. In order to improve the accuracy and reliability of positioning, the embodiments of the present application generally adopt a multi-base station receiving strategy. That is, the pulse signal is received by multiple base stations, each base station independently calculates the signal transmission time, and calculates the exact location of the target object by comparing and analyzing these time data.

[0049] It should be noted that the number of positioning base stations deployed within a financial institution branch can be adjusted based on the branch's physical size and internal layout. For example, if four positioning base stations are deployed within a financial institution branch, three of the four positioning base stations can be selected as the target positioning base stations when locating a target object.

[0050] Step S202: Acquire label information of the target object in the pulse signal.

[0051] Optionally, after receiving the pulse signal, the positioning base station will parse the data packet contained in the signal and extract specific tag information. It should be noted that the tag information of the target object can be encoded and embedded by the positioning tag it carries when sending the pulse signal.

[0052] Step S203: The target object is located by the target positioning base station based on the tag information and the reception time information of the received pulse signal to obtain a positioning result, wherein the positioning result is used to evaluate whether there is any abnormality in the financial institution branch.

[0053] Optionally, after receiving a pulse signal transmitted by a target object, the target positioning base station analyzes the received pulse signal to obtain the target object's unique identifier (i.e., tag information) and the time the signal was received. This signal reception time information is the cornerstone of positioning calculations. By comparing the time difference between the pulse signal transmitted from the target object to the base station and combining it with the signal propagation speed (usually the speed of light), the positioning base station can calculate the distance between the target object and each base station, thereby determining the target object's precise position in three-dimensional space.

[0054] In an optional embodiment, the positioning results can be transmitted to the positioning background for integration and analysis. The positioning background generates a real-time location map of the target object based on the coordinate data processed by the algorithm. If the target object is a branch device, document or fixed asset, the system can automatically check whether its location is consistent with the expected storage area, and any unauthorized movement will immediately trigger an abnormal alarm. For employees and customers, the positioning background will monitor their movement trajectory to ensure that they are active in compliance areas. For example, the system can identify whether a customer has mistakenly entered a non-customer service area, or whether an employee has entered an unauthorized area, which are potential safety hazards.

[0055] In summary, by sending a pulse signal from a target object to be located within a financial institution's outlet to a preset number of target positioning base stations within the financial institution's outlet, compared to the limitation that Bluetooth signals are easily affected by signal interference and result in low positioning accuracy, the pulse signal in the embodiment of the present application can maintain signal purity in complex environments, greatly reducing the impact of signal attenuation and multipath effects, thereby improving positioning accuracy. Using the reception time information of the pulse signal, the positioning base station can calculate the precise distance between the target object and the base station. The positioning results can be used to analyze the activity pattern within the outlet and promptly detect any deviation from the norm, such as improper movement of equipment or documents, unauthorized personnel entering sensitive areas, etc., thereby triggering a security warning mechanism, effectively improving the security management level and risk prevention capabilities of financial institution outlets.

[0056] Optionally, in the indoor positioning method provided in the embodiment of the present application, the target object is positioned by the target positioning base station based on the tag information and the reception time information of the received pulse signal, and the positioning result obtained includes: judging whether the category corresponding to the target object is the first category based on the tag information; if the category corresponding to the target object is the first category, determining that the positioning algorithm is the first algorithm; and positioning the target object based on the reception time information by the first algorithm to obtain the positioning result.

[0057] In an optional embodiment, the tag information in the pulse signal received by the target positioning base station is used to determine whether the target object belongs to the first category. For example, the first category may be relatively stationary items (such as equipment and documents).

[0058] If the target object is determined to belong to the first category, the first algorithm is determined as the positioning algorithm. The first category is relatively stationary objects with a relatively fixed surrounding environment and are less affected by environmental factors. Therefore, the first positioning algorithm can be a TOA (Time of Arrival) algorithm. Finally, the first algorithm TOA is used to calculate the distance between the target object and the positioning base station based on the arrival time information of the received pulse signal. When the coordinates of the positioning base station are known, the position coordinates (x, y, z) of the target object can be accurately calculated through the principle of triangulation positioning, thereby obtaining a positioning result.

[0059] By intelligently identifying the target object category and dynamically adjusting the positioning algorithm, the indoor positioning method provided in the embodiment of the present application can effectively meet the positioning needs of different objects in financial outlets, achieving the optimal balance between positioning accuracy, cost efficiency and environmental adaptability.

[0060] Optionally, in the indoor positioning method provided in an embodiment of the present application, the target object is positioned based on the receiving time information through a first algorithm, and the positioning result obtained includes: for any one of the target positioning base stations, calculation is performed based on the receiving time information and the sending time information of the sending pulse signal to obtain the first distance information between the target object and the positioning base station; based on the coordinate information of the positioning base station and the first distance information, a first solution function for the position information of the target object is constructed; and the first solution function is solved to obtain the positioning result.

[0061] In an optional embodiment, when the target positioning base station receives a pulse signal from the target object, it records the time information of the received pulse signal and simultaneously obtains the time information of the transmitted pulse signal. The difference between the transmission time and the reception time represents the propagation time of the signal from the target object to the positioning base station. Therefore, the straight-line distance between the target object and the positioning base station can be calculated, which is the first distance information mentioned above.

[0062] Then, using the coordinate information of the positioning base station and the first distance information calculated previously, a set of solution functions can be constructed. The solution function describes the distance relationship between the target object and each positioning base station. Each positioning base station corresponds to a solution function. For example, the solution equation can be [(xx B ) 2 +(yy B ) 2 +(zz B ) 2 ]=D 2 , where (x, y, z) represents the unknown coordinates of the target object, (x B ,y B , z B) is the known coordinate of the Bth target positioning base station, and D is the first distance information between the target object and the base station calculated previously.

[0063] For three or more positioning base stations, the set of equations is nonlinear and overdetermined. Numerical methods, such as the least squares method, can be used to solve this set of equations and find the (x, y, z) solution that minimizes the errors in all equations. This solution is the three-dimensional coordinate position of the target object, which is the positioning result mentioned above.

[0064] By flexibly configuring the TOA algorithm to locate the target object, the positioning accuracy and the system's environmental adaptability are significantly improved, while achieving optimal resource utilization and cost control.

[0065] Optionally, in the indoor positioning method provided in an embodiment of the present application, after determining whether the category corresponding to the target object is the first category, the method further includes: if the category corresponding to the target object is the second category, determining whether the target object is in a moving state; if the target object is in a moving state, determining that the positioning algorithm is the second algorithm; and locating the target object based on the receiving time information through the second algorithm to obtain a positioning result.

[0066] In an optional embodiment, after receiving the pulse signal of the target object, the tag information in the signal is first parsed to determine the category to which the target object belongs. If the target object is classified as the second category, the second category may be a dynamic object, and it is necessary to further determine whether the target object is moving. The judgment of the mobile state can be completed by continuous time series analysis. For example, the position change of the target object within a certain time interval is continuously monitored. If the position change exceeds a preset threshold, the target object is determined to be in a mobile state. For example, if three consecutive positioning results show that the position of the target object deviates from the previous position by more than a set threshold (such as 0.5 meters), it is considered that the target object is moving.

[0067] After confirming that the target object is moving, a second algorithm is selected for positioning. This second algorithm can be more complex and better suited for handling dynamic targets, such as the TDOA (Time Difference of Arrival) algorithm. The TDOA algorithm determines the target object's position by comparing the time difference between signals arriving at different receivers. This makes it more robust when handling moving targets and can better overcome the effects of multipath and environmental noise. Finally, the second algorithm locates the target object based on the reception time information, obtaining a positioning result.

[0068] By dynamically adjusting the algorithm, intelligent positioning of target objects of different categories is achieved, which not only ensures the efficiency and cost-effectiveness of static object positioning, but also ensures the accuracy and real-time positioning of dynamic targets, thereby comprehensively improving the performance and reliability of the indoor positioning system of financial outlets.

[0069] Optionally, in the indoor positioning method provided in an embodiment of the present application, the target object is positioned based on the reception time information through the second algorithm, and obtaining the positioning result includes: arbitrarily selecting two positioning base stations from the target positioning base stations to obtain a first group of positioning base stations; calculating based on the reception time information corresponding to the first positioning base station in the first group of positioning base stations and the reception time information corresponding to the second positioning base station in the first group of positioning base stations to obtain the second distance information between the first positioning base station and the second positioning base station; obtaining the third distance information between the second group of positioning base stations in the target positioning base stations; and obtaining the positioning result based on the coordinate information, the second distance information and the third distance information of the target positioning base station.

[0070] In an optional embodiment, positioning the target object based on the reception time information by the second algorithm includes the following steps: First, arbitrarily select two base stations from a plurality of target positioning base stations to form a first group of positioning base stations. For each base station in the first group of positioning base stations, the positioning system records the precise time when the target object pulse signal is received. Assume that the time when the first positioning base station receives the signal is (t1) and the time when the second positioning base station receives the signal is (t2). The propagation speed of the signal in the air (c) is known, then the time difference between the arrival of the signal at the first positioning base station and the second positioning base station (Δt=t2-t1) can be used to calculate the second distance information (Δd) between the two.

[0071] Next, a second group of positioning base stations is selected from the target positioning base stations. Similarly, the relative distance difference information between these two groups and the target object is obtained to obtain the aforementioned third distance information. Finally, after obtaining the second distance information of the first group of positioning base stations and the third distance information of the second group of positioning base stations, the positioning result is obtained by combining the precise coordinates of the positioning base stations and locating the target object.

[0072] The use of TDOA algorithm for dynamic target positioning not only significantly improves positioning accuracy and anti-interference capability, but also realizes real-time dynamic tracking and resource optimization, thereby providing financial outlets with a safer, more efficient and intelligent indoor positioning solution, thereby achieving the technical effect of improving data security.

[0073] Optionally, in the indoor positioning method provided in an embodiment of the present application, obtaining a positioning result based on the coordinate information, second distance information and third distance information of the target positioning base station includes: constructing a second solution function for the location information of the target object based on the coordinate information and second distance information of the first group of positioning base stations; constructing a third solution function for the location information of the target object based on the coordinate information and third distance information of the second group of positioning base stations; solving the second solution function and the third solution function to obtain the positioning result.

[0074] In an optional embodiment, positioning according to the coordinate information, second distance information and third distance information of the target positioning base station includes the following steps: according to the coordinate information of any two selected positioning base stations (i.e., the first group of positioning base stations) and the time difference between them receiving the target object pulse signal (i.e., the second distance information), a nonlinear solution function can be established. For example, the first solution function is (xx A ) 2 +(yy A ) 2 +(zz A ) 2 -(xx B ) 2 +(yy B ) 2 +(zz B ) 2 =Δd 2 . (x A ,y A , z A ) and (x B ,y B , z B ) are the known coordinates of the first set of positioning base stations, and Δd is the relative distance difference between the target object and the base stations, calculated based on the signal propagation speed and time difference. A third solution function for the target object's location information is constructed based on the coordinate information of the second set of positioning base stations and the third distance information from their signals to the target object. This third solution equation further constrains the possible locations of the target object. Finally, the second and third solution functions are solved using the least squares method to obtain the final positioning result.

[0075] By constructing and solving the second and third solution functions, accurate and real-time positioning of dynamic targets is achieved.

[0076] Optionally, in the indoor positioning method provided in an embodiment of the present application, determining whether the target object is in a moving state includes: determining multiple initial position information of the target object based on a preset time period through a first algorithm; and determining whether the target object is in a moving state based on the multiple initial position information.

[0077] In an optional embodiment, the following steps can be used to determine whether the target object is in a mobile state: first, use a first algorithm (such as a TOA algorithm) to continuously locate the target object within a preset time period to obtain multiple initial position information. Then, determine whether the target object is in a mobile state based on the multiple initial position information. For example, calculate the distance between the positions of the target object at different time points. If the displacement between any two measurements exceeds a preset threshold (such as 0.5 meters), the target object is considered to be in a mobile state. For example, the average speed of the target object can also be calculated by measuring its displacement within a preset time period. If the speed exceeds the set threshold, this also indicates that the target object is moving. For another example, the rate of change of the target object's position information can also be analyzed. If the rate of change exceeds a preset threshold, the target object is considered to be in a mobile state.

[0078] By periodically applying the first algorithm to obtain multiple initial position information and judging whether the target object is in a moving state based on this information, the indoor positioning method in the embodiment of the present application can intelligently adjust the positioning algorithm according to the motion state of the target object, thereby significantly improving the accuracy and real-time performance of positioning while maintaining cost-effectiveness.

[0079] Optionally, in the indoor positioning method provided in an embodiment of the present application, after locating the target object based on the receiving time information through the second algorithm and obtaining the positioning result, the method also includes: determining whether the target object is in a stationary state; if the target object is in a stationary state, switching the positioning algorithm from the second algorithm to the first algorithm; and locating the target object based on the receiving time information through the first algorithm.

[0080] In an optional embodiment, after the positioning of the target object is completed, the target object is judged to be in a stationary state by analyzing the position changes of the target object at consecutive time points. For example, if the change of the position measurement results does not exceed the preset threshold (such as a few centimeters or less) for three consecutive times (or more times, depending on the preset monitoring frequency and threshold), it can be determined that the target object is in a stationary state. After it is determined that the target object is in a stationary state, it will automatically switch back to the first algorithm for subsequent positioning. In the financial branch scenario, the first algorithm can be a TOA algorithm (time of arrival algorithm), which is based on the direct arrival time of the signal from the target object to each positioning base station. The advantage of the TOA algorithm is that it has low computational complexity and is more suitable for processing stationary or slowly moving objects, because the environmental impact of such objects is relatively small and the positioning accuracy requirements are relatively loose. Using the TOA algorithm can save computing resources and reduce power consumption.

[0081] Selecting an appropriate positioning algorithm based on the dynamic characteristics of the target object can significantly reduce unnecessary calculations and energy consumption, achieving a balance between positioning accuracy, resource utilization efficiency and user experience.

[0082] In an optional embodiment, it is also possible to Figure 3 The indoor positioning system shown in the figure can realize the precise positioning of objects. The indoor positioning system includes three modules: positioning tag, positioning base station and positioning background. Figure 3 As shown, the positioning tag consists of the following: a control module: responsible for controlling the entire tag workflow, including signal transmission, reception, and sleep mode, to conserve power and improve signal accuracy. a signal transmission module: transmitting signals used for positioning. These signals can be wireless signals such as UWB pulses. The signal type and frequency depend on specific needs and the environment. a power module: providing power to the tag, ensuring stable operation over a long period of time. The positioning base station consists of the following: a control module: coordinating signal reception and transmission at the base station, while also handling communication with the backend to ensure accurate data transmission. a signal reception and transmission module: receiving signals from positioning tags and, when necessary, transmitting signals to positioning tags. This module is responsible for bidirectional signal communication and is the core of positioning data collection. a signal processing module: pre-processing the received signals, including signal recognition, decoding, and filtering, providing processed data for subsequent positioning calculations. a power module: providing power to the base station. The positioning backend consists of the following: a signal reception and processing module: receiving data from the positioning base station, performing comprehensive processing and in-depth analysis, and applying various positioning algorithms (such as time-of-arrival and time-of-advanced) to calculate the specific location of the positioning tag. Control and Management Module: Manages the entire positioning system, including scheduling positioning algorithms, monitoring system status, and maintaining databases to ensure system stability and security. Positioning Algorithm Module: Implements positioning algorithms, selecting and adjusting them based on the environment and target object characteristics to achieve optimal positioning accuracy. Data Output and Display Module: Converts positioning results into visual information, such as location, distance, and direction, marked on a map corresponding to the network point, to facilitate user understanding and action.

[0083] In an optional embodiment, the deployment of the positioning base station and the positioning tag is as follows: Figure 4 As shown, the positioning tag sends a signal to the positioning base station. These signals contain information such as the tag's identification and timestamp. The positioning base station receives the signal and transmits it to the positioning backend, which uses the time difference between these signals and other information to calculate the positioning tag's precise location.

[0084] In an optional embodiment, the two-dimensional positioning diagram of the first algorithm is as follows: Figure 5 As shown, points A (a1, a2), B (b1, b2), and C (c1, c2) are the locations of the positioning base stations, and point D (d1, d2) is the location of the positioning tag. a, b, and c are the distances from the point tag to the positioning base station, which can be calculated by the time each base station receives the positioning tag signal and the signal flight speed. The two-dimensional schematic diagram of the second algorithm is shown below. Figure 6As shown in the figure, points A, B, and C are the locations of the positioning base stations, and point D is the location of the positioning tag. a, b, and c are the distances from the positioning tag to the positioning base stations. Since the time difference between the positioning tag and each positioning base station is known, the distance difference to each base station can be determined, thereby determining the location of the positioning tag.

[0085] The indoor positioning method provided in the embodiment of the present application transmits a pulse signal from a target object to be located in a financial institution branch to a preset number of target positioning base stations in the financial institution branch; obtains tag information of the target object in the pulse signal; and locates the target object based on the tag information and the reception time information of the received pulse signal by the target positioning base station to obtain a positioning result, wherein the positioning result is used to evaluate whether there is an abnormality in the financial institution branch, thereby solving the technical problem in the related art of using Bluetooth signals to locate objects, and the Bluetooth signal is easily affected by signal interference, resulting in relatively low positioning accuracy.

[0086] In this solution, a pulse signal is sent from a target object to be located within a financial institution's branch to a preset number of target positioning base stations within the financial institution's branch. Compared to Bluetooth signals, which are susceptible to signal interference and result in low positioning accuracy, the pulse signal in the embodiment of this application can maintain signal purity in complex environments, significantly reducing the impact of signal attenuation and multipath effects, thereby improving positioning accuracy. Using the reception time information of the pulse signal, the positioning base station can calculate the precise distance between the target object and the base station. The positioning results can be used to analyze activity patterns within the branch and promptly detect any deviations from the norm, such as improper movement of equipment or documents, unauthorized entry into sensitive areas, etc., thereby triggering a security warning mechanism and effectively improving the security management level and risk prevention capabilities of financial institution branches.

[0087] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0088] Example 2

[0089] The embodiment of the present application further provides an indoor positioning device. It should be noted that the indoor positioning device of the embodiment of the present application can be used to execute the indoor positioning method provided in the embodiment of the present application. The indoor positioning device provided in the embodiment of the present application is introduced below.

[0090] According to an embodiment of the present application, a device for implementing the above-mentioned indoor positioning method is also provided, such as Figure 7 As shown, the device includes: a sending unit 701, an acquiring unit 702 and a first positioning unit 703.

[0091] The sending unit 701 is used to send a pulse signal to a preset number of target positioning base stations in the financial institution outlet through the target object to be positioned in the financial institution outlet;

[0092] An acquisition unit 702 is configured to acquire label information of a target object in a pulse signal;

[0093] The first positioning unit 703 is configured to locate the target object based on the tag information and the reception time information of the received pulse signal through the target positioning base station to obtain a positioning result, wherein the positioning result is used to evaluate whether there is any abnormality in the financial institution branch.

[0094] The indoor positioning device provided in the embodiment of the present application transmits a pulse signal through a target object to be located in a financial institution branch to a preset number of target positioning base stations in the financial institution branch via a sending unit 701; an acquiring unit 702 acquires tag information of the target object in the pulse signal; a first positioning unit 703 locates the target object through the target positioning base station based on the tag information and the reception time information of the received pulse signal, and obtains a positioning result, wherein the positioning result is used to evaluate whether there is an abnormality in the financial institution branch, thereby solving the technical problem in the related art of using Bluetooth signals to locate objects, and the Bluetooth signals are easily affected by signal interference, resulting in relatively low positioning accuracy.

[0095] In this solution, a pulse signal is sent from a target object to be located within a financial institution's branch to a preset number of target positioning base stations within the financial institution's branch. Compared to Bluetooth signals, which are susceptible to signal interference and result in low positioning accuracy, the pulse signal in the embodiment of this application can maintain signal purity in complex environments, significantly reducing the impact of signal attenuation and multipath effects, thereby improving positioning accuracy. Using the reception time information of the pulse signal, the positioning base station can calculate the precise distance between the target object and the base station. The positioning results can be used to analyze activity patterns within the branch and promptly detect any deviations from the norm, such as improper movement of equipment or documents, unauthorized entry into sensitive areas, etc., thereby triggering a security warning mechanism and effectively improving the security management level and risk prevention capabilities of financial institution branches.

[0096] Optionally, in the indoor positioning device provided in an embodiment of the present application, the first positioning unit includes: a first judgment subunit, used to judge whether the category corresponding to the target object is the first category based on the tag information; a first determination subunit, used to determine that the positioning algorithm is the first algorithm if the category corresponding to the target object is the first category; and a positioning subunit, used to locate the target object based on the receiving time information through the first algorithm to obtain a positioning result.

[0097] Optionally, in the indoor positioning device provided in an embodiment of the present application, the positioning subunit includes: a calculation module, which is used to calculate, for any one of the target positioning base stations, based on the receiving time information and the sending time information of the sending pulse signal, to obtain the first distance information between the target object and the positioning base station; a construction module, which is used to construct a first solution function for the position information of the target object based on the coordinate information of the positioning base station and the first distance information; and a solution module, which is used to solve the first solution function to obtain a positioning result.

[0098] Optionally, in the indoor positioning device provided in the embodiment of the present application, the device also includes: a judgment unit, used to, after judging whether the category corresponding to the target object is the first category, if the category corresponding to the target object is the second category, determine whether the target object is in a moving state; a determination unit, used to determine that the positioning algorithm is the second algorithm if the target object is in a moving state; a second positioning unit, used to locate the target object based on the received time information through the second algorithm to obtain a positioning result.

[0099] Optionally, in the indoor positioning device provided in the embodiment of the present application, the second positioning unit includes: a selection subunit, used to arbitrarily select two positioning base stations from the target positioning base station to obtain a first group of positioning base stations; a calculation subunit, used to calculate based on the reception time information corresponding to the first positioning base station in the first group of positioning base stations and the reception time information corresponding to the second positioning base station in the first group of positioning base stations to obtain the second distance information between the first positioning base station and the second positioning base station; an acquisition subunit, used to obtain the third distance information between the second group of positioning base stations in the target positioning base station; a second determination subunit, used to obtain a positioning result based on the coordinate information, the second distance information and the third distance information of the target positioning base station.

[0100] Optionally, in the indoor positioning device provided in an embodiment of the present application, the second determination subunit includes: a first construction module, used to construct a second solution function for the location information of the target object based on the coordinate information of the first group of positioning base stations and the second distance information; a second construction module, used to construct a third solution function for the location information of the target object based on the coordinate information of the second group of positioning base stations and the third distance information; a solution module, used to solve the second solution function and the third solution function to obtain a positioning result.

[0101] Optionally, in the indoor positioning device provided in an embodiment of the present application, the judgment unit includes: a third determination subunit, used to determine multiple initial position information of the target object based on a preset time period through a first algorithm; and a second judgment subunit, used to judge whether the target object is in a moving state based on the multiple initial position information.

[0102] Optionally, in the indoor positioning device provided in the embodiment of the present application, the device also includes: a judgment unit, used to locate the target object based on the reception time information through the second algorithm, and after obtaining the positioning result, determine whether the target object is in a stationary state; a switching unit, used to switch the positioning algorithm from the second algorithm to the first algorithm if the target object is in a stationary state; and a third positioning unit, used to locate the target object based on the reception time information through the first algorithm.

[0103] It should be noted that the sending unit 701, the acquiring unit 702, and the first positioning unit 703 described above correspond to steps S201 to S203 in the first embodiment. The examples and application scenarios implemented by the three units and the corresponding steps are the same, but are not limited to the contents disclosed in the first embodiment. It should be noted that the modules or units described above can be hardware components or software components stored in a memory (e.g., the memory 104) and processed by one or more processors (e.g., processors 102a, 102b, ..., 102n). The units described above can also be run as part of a device in the computer terminal 10 provided in the first embodiment.

[0104] Example 3

[0105] An embodiment of the present application may provide an electronic device, Figure 8 This is a structural block diagram of an electronic device according to an embodiment of the present application. Figure 8 As shown, the electronic device may include: one or more ( Figure 8 Only one is shown) processor 802, memory 804, storage controller, and peripheral interface, wherein the peripheral interface is connected to the radio frequency module, audio module and display.

[0106] Among them, the memory can be used to store software programs and modules, such as program instructions / modules corresponding to the methods and devices in the embodiments of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, implementing the above-mentioned method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0107] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: sending a pulse signal to a preset number of target positioning base stations in the financial institution branch through the target object to be located in the financial institution branch; obtaining the tag information of the target object in the pulse signal; locating the target object based on the tag information and the receiving time information of the received pulse signal through the target positioning base station to obtain a positioning result, wherein the positioning result is used to evaluate whether there is any abnormality in the financial institution branch.

[0108] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: positioning the target object based on the tag information and the reception time information of the received pulse signal through the target positioning base station, and obtaining the positioning result includes: judging whether the category corresponding to the target object is the first category based on the tag information; if the category corresponding to the target object is the first category, determining that the positioning algorithm is the first algorithm; positioning the target object based on the reception time information through the first algorithm to obtain the positioning result.

[0109] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: positioning the target object based on the reception time information through the first algorithm, and obtaining the positioning result includes: for any one of the target positioning base stations, calculating based on the reception time information and the sending time information of the pulse signal to obtain the first distance information between the target object and the positioning base station; constructing a first solution function for the position information of the target object based on the coordinate information of the positioning base station and the first distance information; solving the first solution function to obtain the positioning result.

[0110] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: after determining whether the category corresponding to the target object is the first category, the method also includes: if the category corresponding to the target object is the second category, determining whether the target object is in a moving state; if the target object is in a moving state, determining that the positioning algorithm is the second algorithm; and locating the target object based on the receiving time information through the second algorithm to obtain a positioning result.

[0111] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: positioning the target object based on the reception time information through the second algorithm, and obtaining the positioning result includes: arbitrarily selecting two positioning base stations from the target positioning base stations to obtain a first group of positioning base stations; calculating based on the reception time information corresponding to the first positioning base station in the first group of positioning base stations and the reception time information corresponding to the second positioning base station in the first group of positioning base stations to obtain the second distance information between the first positioning base station and the second positioning base station; obtaining the third distance information between the second group of positioning base stations in the target positioning base station; and obtaining the positioning result based on the coordinate information, the second distance information and the third distance information of the target positioning base station.

[0112] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: obtaining the positioning result based on the coordinate information, second distance information and third distance information of the target positioning base station, including: constructing a second solution function for the location information of the target object based on the coordinate information and second distance information of the first group of positioning base stations; constructing a third solution function for the location information of the target object based on the coordinate information and third distance information of the second group of positioning base stations; solving the second solution function and the third solution function to obtain the positioning result.

[0113] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: determining whether the target object is in a moving state includes: determining multiple initial position information of the target object based on a preset time period through a first algorithm; and determining whether the target object is in a moving state based on the multiple initial position information.

[0114] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: after locating the target object based on the reception time information through the second algorithm and obtaining the positioning result, the method also includes: determining whether the target object is in a stationary state; if the target object is in a stationary state, switching the positioning algorithm from the second algorithm to the first algorithm; and locating the target object based on the reception time information through the first algorithm.

[0115] It can be understood by those skilled in the art that Figure 8 The structure shown is for illustration only, and the electronic device may also be a terminal device such as a smart phone, a tablet computer, a PDA, a mobile Internet device (MID), or a PAD. Figure 8 It does not limit the structure of the above electronic device. For example, the electronic device may also include Figure 8 More or fewer components (such as network interfaces, display devices, etc.) shown in, or with Figure 8 Different configurations shown.

[0116] A person skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a computer-readable storage medium, which may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0117] Example 4

[0118] The embodiment of the present application further provides a computer-readable storage medium. Optionally, in this embodiment, the storage medium can be used to store the program code executed by the indoor positioning method provided in the first embodiment.

[0119] Optionally, in this embodiment, the storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0120] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing the steps of the indoor positioning method.

[0121] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0122] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0123] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0124] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0125] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0126] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0127] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An indoor positioning method, characterized in that: include: Sending a pulse signal to a preset number of target positioning base stations in a financial institution outlet through a target object to be positioned in the financial institution outlet; Obtaining label information of the target object in the pulse signal; The target object is located by the target positioning base station based on the tag information and the reception time information of the pulse signal to obtain a positioning result, wherein the positioning result is used to evaluate whether there is any abnormality in the financial institution branch.

2. The method according to claim 1, characterized in that Positioning the target object by the target positioning base station based on the tag information and the reception time information of the pulse signal, and obtaining a positioning result includes: Determining, based on the label information, whether the category corresponding to the target object is the first category; If the category corresponding to the target object is the first category, determining the positioning algorithm to be the first algorithm; The target object is located based on the receiving time information using the first algorithm to obtain the positioning result.

3. The method according to claim 2, characterized in that Positioning the target object based on the reception time information using the first algorithm, and obtaining the positioning result includes: For any one of the target positioning base stations, calculation is performed based on the reception time information and the sending time information of the pulse signal to obtain first distance information between the target object and the positioning base station; Constructing a first solution function for the location information of the target object based on the coordinate information of the positioning base station and the first distance information; Solve the first solution function to obtain the positioning result.

4. The method according to claim 2, characterized in that After determining whether the category corresponding to the target object is the first category, the method further includes: If the category corresponding to the target object is the second category, determining whether the target object is in a moving state; If the target object is in the moving state, determining that the positioning algorithm is the second algorithm; The target object is located based on the receiving time information using the second algorithm to obtain the positioning result.

5. The method according to claim 4, characterized in that Positioning the target object based on the reception time information using the second algorithm, and obtaining the positioning result includes: Select any two positioning base stations from the target positioning base stations to obtain a first group of positioning base stations; Calculate, based on the reception time information corresponding to the first positioning base station in the first group of positioning base stations and the reception time information corresponding to the second positioning base station in the first group of positioning base stations, to obtain second distance information between the first positioning base station and the second positioning base station; Acquire third distance information between a second group of positioning base stations in the target positioning base station; The positioning result is obtained according to the coordinate information of the target positioning base station, the second distance information and the third distance information.

6. The method according to claim 5, characterized in that Obtaining the positioning result according to the coordinate information of the target positioning base station, the second distance information, and the third distance information includes: Constructing a second solution function for the location information of the target object based on the coordinate information of the first group of positioning base stations and the second distance information; Constructing a third solution function for the location information of the target object based on the coordinate information of the second group of positioning base stations and the third distance information; The second solution function and the third solution function are solved to obtain the positioning result.

7. The method according to claim 4, characterized in that Determining whether the target object is in a moving state includes: Determining a plurality of initial position information of the target object according to a preset time period using a first algorithm; Determine whether the target object is in a moving state according to the multiple initial position information.

8. The method according to claim 4, characterized in that After locating the target object based on the reception time information using the second algorithm to obtain the positioning result, the method further includes: Determining whether the target object is in a stationary state; If the target object is in a stationary state, switching the positioning algorithm from the second algorithm to the first algorithm; The target object is located based on the reception time information using the first algorithm.

9. An indoor positioning device, characterized in that: include: A sending unit, configured to send a pulse signal to a preset number of target positioning base stations in a financial institution outlet via a target object to be positioned in the financial institution outlet; an acquiring unit, configured to acquire label information of the target object from the pulse signal; The first positioning unit is configured to locate the target object through the target positioning base station based on the tag information and the reception time information of the pulse signal, and obtain a positioning result, wherein the positioning result is used to evaluate whether there is any abnormality in the financial institution branch.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the computer-readable storage medium is located is controlled to execute the indoor positioning method according to any one of claims 1 to 8.

11. An electronic device, characterized in that: include: a memory storing an executable program; A processor is used to run the program, wherein the program executes the indoor positioning method according to any one of claims 1 to 8 when running.

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