Positioning method, terminal, system and unpowered container

Abstract

The invention provides a positioning method, a terminal, a system and an unpowered container, relates to the technical field of air transportation equipment positioning, and aims to improve the accuracy and reliability of positioning results in different areas of aviation. The method comprises the following steps: based on signal intensity between a first communication module of a positioning terminal and a short-distance communication base station, determining an area where the positioning terminal is located, the area comprising an indoor area and an outdoor area; the short-distance communication base station is arranged in an indoor area; when the area where the positioning terminal is located is an indoor area, determining a first positioning coordinate of the positioning terminal based on indoor positioning data obtained by interaction between the first communication module and the short-distance communication base station; and when the area where the positioning terminal is located is the outdoor area, determining a second positioning coordinate of the positioning terminal based on satellite positioning data obtained by interaction between a second communication module of the positioning terminal and the satellite positioning base station.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of positioning of air transport equipment, and particularly relates to a positioning method, a terminal, a system and a non-powered container. BACKGROUND

[0002] In the scenarios of air cargo stations, maintenance plants and parking aprons, non-powered containers such as cargo and luggage trailers and container trailers undertake the key transfer tasks of cargo loading and luggage sorting. Such non-powered containers need to be parked for a period of time before the cargo and luggage are put into the warehouse, and then subsequent loading operations are carried out. Currently, the search for non-powered containers mainly relies on the manual memory of workers. For non-powered containers parked in remote locations, a large amount of time needs to be invested in searching, which not only seriously occupies human costs, but also directly leads to the extension of the preparation period of loading operations, thereby affecting the work efficiency of the overall air cargo transport and luggage processing. SUMMARY

[0003] The purpose of the present application is to provide a positioning method, a terminal, a system and a non-powered container, aiming to improve the accuracy and reliability of the positioning results of transport equipment in different areas of the air.

[0004] To achieve the above-mentioned purpose, the embodiments of the present application provide the following technical solutions: In a first aspect, the present application provides a positioning method, which comprises: determining the area where the positioning terminal is located based on the signal strength between the first communication module of the positioning terminal and the short-distance communication base station, the area including an indoor area and an outdoor area; the short-distance communication base station is arranged in the indoor area; when the area where the positioning terminal is located is the indoor area, determining the first positioning coordinates of the positioning terminal based on the indoor positioning data obtained by the first communication module and the short-distance communication base station; when the area where the positioning terminal is located is the outdoor area, determining the second positioning coordinates of the positioning terminal based on the satellite positioning data obtained by the second communication module of the positioning terminal and the satellite positioning base station.

[0005] The embodiments of the present application provide a positioning method, which first distinguishes whether the positioning terminal is located in an indoor area or an outdoor area according to the signal strength between the first communication module of the positioning terminal and the short-distance communication base station, and then selects the positioning mode accordingly, wherein the coordinates are determined by the indoor positioning data of the first communication module and the short-distance communication base station in the indoor area, and the coordinates are determined by the satellite positioning data of the second communication module and the satellite positioning base station in the outdoor area. This method effectively solves the limitations of a single positioning mode in different areas, avoids the shortcomings of satellite positioning in indoor environments and the coverage problems of short-distance communication in outdoor environments; and finally realizes the coverage of the positioning terminal in all areas, while ensuring the accuracy and reliability of the positioning results in different areas.

[0006] In some embodiments, determining the area where the positioning terminal is located based on the signal strength between the positioning terminal and the short-range communication base station comprises: determining that the positioning terminal is in an indoor area when the signal strength between the positioning terminal and the short-range communication base station is greater than or equal to a first strength threshold; determining that the positioning terminal is in an outdoor area when the signal strength between the positioning terminal and the short-range communication base station is less than or equal to a second strength threshold; and the second strength threshold is less than the first strength threshold.

[0007] In some embodiments, the area further comprises an indoor-outdoor transition area; and the method further comprises: when the area where the positioning terminal is located is the indoor-outdoor transition area, obtaining indoor positioning data and satellite positioning data; and determining a third positioning coordinate of the positioning terminal based on the indoor positioning data and the satellite positioning data.

[0008] In some embodiments, determining the third positioning coordinate of the positioning terminal based on the indoor positioning data and the satellite positioning data comprises: determining an indoor positioning coordinate and a first confidence of the indoor positioning coordinate based on the indoor positioning data; determining a satellite positioning coordinate and a second confidence of the satellite positioning coordinate based on the satellite positioning data; and performing a weighted fusion process on the satellite positioning coordinate and the indoor positioning coordinate according to the first confidence and the second confidence to obtain the third positioning coordinate.

[0009] In some embodiments, determining the area where the positioning terminal is located based on the signal strength between the positioning terminal and the short-range communication base station comprises: determining that the positioning terminal is in an indoor-outdoor transition area when the signal strength between the first communication module and the short-range communication base station is greater than or equal to a third strength threshold and less than or equal to a fourth strength threshold.

[0010] In a second aspect, the present application further provides a positioning terminal, comprising: a first communication module configured to be communicatively connected with a short-range communication base station; a second communication module configured to be communicatively connected with a satellite positioning base station; and a control module connected with the first communication module and the second communication module, and configured to execute the method of the first aspect.

[0011] In a third aspect, the present application further provides a positioning system, comprising: a positioning terminal comprising a first communication module and a second communication module; a short-range communication base station comprising at least one of a Bluetooth base station, an ultra-wideband base station, and a WiFi base station, and configured to be communicatively connected with the first communication module of the positioning terminal; a satellite positioning base station configured to be communicatively connected with the second communication module of the positioning terminal; and a server communicatively connected with the short-range communication base station, the satellite positioning base station, and the positioning terminal, and configured to execute the method of the first aspect.

[0012] In a fourth aspect, the application further provides a non-powered container, wherein the non-powered container integrates the positioning terminal of the second aspect or the positioning terminal of the positioning system of the third aspect, and the power of the positioning terminal is provided by the solar panel and / or the battery carried by the non-powered container.

[0013] In a fifth aspect, the application further provides a positioning device, which comprises: a region determining module, a first coordinate determining module, and a second coordinate determining module. The region determining module is configured to determine the region where the positioning terminal is located based on the signal strength between the first communication module of the positioning terminal and the short-distance communication base station, wherein the region comprises an indoor region and an outdoor region, and the short-distance communication base station is arranged in the indoor region. The first coordinate determining module is configured to determine the first positioning coordinate of the positioning terminal based on the indoor positioning data obtained by the first communication module and the short-distance communication base station when the region where the positioning terminal is located is the indoor region. The second coordinate determining module is configured to determine the second positioning coordinate of the positioning terminal based on the satellite positioning data obtained by the second communication module of the positioning terminal and the satellite positioning base station when the region where the positioning terminal is located is the outdoor region.

[0014] In a sixth aspect, the application further provides a computer-readable storage medium, which comprises: computer software instructions; and when the computer software instructions are run in an electronic device, the electronic device is caused to implement the method of the first aspect.

[0015] The beneficial effects of the second aspect to the sixth aspect can refer to the corresponding description of the first aspect, and will not be described again. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative labor.

[0017] Figure 1 A schematic diagram of the framework of a positioning system provided by the embodiments of the application; Figure 2 A schematic diagram of the structure of a positioning terminal provided by the embodiments of the application; Figure 3 A schematic diagram of the flow of a positioning method provided by the embodiments of the application; Figure 4 A schematic diagram of the scene of a positioning method provided by the embodiments of the application; Figure 5 A hardware framework diagram of a positioning terminal of a non-powered container provided by the embodiments of the application; Figure 6 A hardware structure diagram of a positioning terminal of a non-powered container provided in an embodiment of the present application is provided; Figure 7 A composition schematic diagram of a positioning device provided in an embodiment of the present application is provided; Figure 8 A structure schematic diagram of an electronic device provided in an embodiment of the present application is provided. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0019] It should be noted that, in the embodiments of the present application, the words such as "exemplarily" or "for example" are used to represent an example, illustration or description. Any embodiment or design scheme described as "exemplarily" or "for example" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, the words such as "exemplarily" or "for example" are used to present the related concept in a specific way.

[0020] In the embodiments of the present application, the terms "first", "second", "third", "fourth", "fifth", "sixth" are only used for description purpose, and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second", "third", "fourth", "fifth", "sixth" can explicitly or implicitly include one or more of the features.

[0021] In the embodiments of the present application, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitation, the element limited by the sentence "including one" does not exclude the existence of another same element in the process, method, article or device including the element. For "A and / or B", the following three combinations are included: only A, only B, and the combination of A and B.

[0022] In the scenarios of air cargo stations, maintenance plants, and parking aprons, non-powered containers such as luggage and baggage trailers and container trailers need to be temporarily parked at the cargo location after the luggage and baggage are put into the warehouse, and then the loading operation is carried out. However, the current search for non-powered containers highly depends on the manual memory of the staff. If the containers are parked in a remote location, a lot of time is often spent searching, which not only occupies manpower and prolongs the operation preparation period, but also directly restricts the overall efficiency of air cargo and baggage handling. In-depth analysis shows that the positioning function of the traditional vehicle-mounted Beidou satellite positioning terminal highly depends on the outdoor satellite signal. However, the air cargo station is mostly a closed or semi-closed space, and there are also a large number of building structures in the maintenance plant, which can easily cause the satellite signal to be greatly attenuated or even completely interrupted, so that the terminal cannot obtain the container position in the indoor environment. Finally, the position information of the non-powered container is difficult to be real-time and accurate synchronization, and can only rely on manual memory to search, thereby causing the problem of low operation efficiency.

[0023] Based on the above problems, the positioning method provided by the embodiments of the present application first determines whether the positioning terminal is located in an indoor area or an outdoor area through the signal strength between the first communication module of the positioning terminal and the short-range communication base station arranged in the indoor area, and then selects the positioning mode accordingly. Among them, the indoor coordinates are determined based on the indoor positioning data of the first communication module and the short-range communication base station, and the outdoor coordinates are determined based on the satellite positioning data of the second communication module and the satellite positioning base station, thereby effectively solving the limitations of a single positioning mode in different areas. Avoid the shortcomings of satellite positioning in indoor environment and the coverage problem of short-range communication in outdoor environment; realize the coverage of the positioning terminal in all areas, and at the same time guarantee the accuracy and reliability of the positioning results in different areas.

[0024] The implementation of the embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0025] In some embodiments, the positioning method provided by the embodiments of the present application can be applied to the server in the positioning system as shown in Figure 1 Please refer to Figure 1 The positioning system includes a positioning terminal 101, a short-range communication base station 102, a satellite positioning base station 103, and a server 104.

[0026] Among them, the positioning terminal 101 is used to receive the signal transmitted by the short-range communication base station 102 or the satellite positioning base station 103, and analyze and calculate the signal, and finally upload the obtained positioning data to the server 104.

[0027] Exemplarily, the positioning terminal 101 can be applicable to scenarios such as an air cargo station and a repair factory where satellite signals are blocked, and embodiments of the present application do not make any limitation on the specific form of the positioning terminal 101. For example, the positioning terminal 101 can be a special positioning device for an air scene, where the special positioning device can be an independent portable locator, such as a locator that can be fixed on the surface of a baggage trolley, a container trailer, or the like unpowered container, or can also be an embedded positioning module integrated on the body of the unpowered container. In some embodiments, the special positioning device can also support waterproof, drop-proof, and anti-electromagnetic interference reinforcement design adapted to the air operation scene, to adapt to complex environments such as cargo station loading and unloading, outdoor apron, and the like, and embodiments of the present application do not make any limitation thereon. In addition, the positioning terminal 101 can also be a vehicle-mounted positioning device adapted to air operation, such as a positioning terminal 101 that can be fixed on a positioning terminal 101 on a unpowered container traction device, a special positioning terminal 101 that can be linked with an air logistics scheduling system, and the like, and embodiments of the present application do not make any limitation thereon.

[0028] In some embodiments, the positioning terminal 101 includes a first communication module and a second communication module. The first communication module is configured to be in communication connection with the short-distance communication base station 102. Exemplarily, the first communication module includes a short-distance communication technology such as Bluetooth, ultra-wideband (UWB), WiFi, or ZigBee.

[0029] The second communication module is configured to be in communication connection with the satellite positioning base station 103. Exemplarily, the first communication module includes a signal receiving chip, a low-noise amplifier, and a special positioning antenna of a satellite positioning system such as Beidou, global positioning system (GPS), or global navigation satellite system (GLONASS).

[0030] In some embodiments, the positioning terminal 101 is configured to: in response to an instruction indicating entering an outdoor positioning mode, the positioning terminal 101 closes the first communication module; and in response to an instruction indicating entering an indoor positioning mode, the positioning terminal 101 closes the second communication module.

[0031] Exemplarily, in an air transportation scene, the positioning terminal 101 in the consigning vehicle is built-in with a Bluetooth module and a Beidou module, when entering an indoor cargo station, the Beidou module is closed in response to an instruction of the server 104, and only the Bluetooth module is used to interface with the Bluetooth base station; when moving to an outdoor apron, the Bluetooth module is closed and the Beidou module is enabled, and high-precision positioning is completed in combination with the differential service of the satellite positioning base station 103.

[0032] The short-range communication base station 102 is configured to be communicatively connected with the first communication module of the positioning terminal 101. Exemplarily, the short-range communication base station 102 includes at least one of the following: a Bluetooth base station, a UWB base station, a WiFi base station, and the like.

[0033] The satellite positioning base station 103 is configured to be communicatively connected with the second communication module of the positioning terminal 101.

[0034] The server 104 is configured to be communicatively connected with the short-range communication base station 102, the satellite positioning base station 103, and the positioning terminal 101.

[0035] In some embodiments, the server 104 can be a server, and the embodiments of the present application do not limit the specific implementation of the server 104. The server 104 can be a single server, or can also be a server cluster composed of multiple servers. In some embodiments, the server cluster can also be a distributed cluster. In other embodiments, the server 104 can also be a computer device, and the embodiments of the present application do not limit the specific form of the computer device. For example, the computer device can be a terminal device. The terminal device can be referred to as a terminal, a user equipment (UE), a terminal device, an access terminal, a user unit, a user station, a mobile station, a remote station, a remote terminal, a mobile device, a user terminal, a wireless communication device, a user agent, or a user apparatus, etc. The terminal device can be a mobile phone, an augmented reality (AR) device, a virtual reality (VR) device, a tablet computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), etc.

[0036] It should be noted that, Figure 1 Only an application scenario in which the positioning system includes only one positioning terminal 101 is exemplarily shown, and in actual application, the positioning system can include multiple positioning terminals 101, and the embodiments of the present application do not limit this.

[0037] In other embodiments, the positioning method provided by the embodiments of the present application can also be applied to a positioning terminal as shown in Figure 2 Please refer to Figure 2 The positioning terminal includes a first communication module 201, a second communication module 202, and a control module 203.

[0038] The first communication module 201 is configured to be connected with a short-range communication base station; the second communication module 202 is configured to be connected with a satellite positioning base station. The control module 203 is connected with the first communication module 201 and the second communication module 202, and is configured to execute the positioning method described above. In a possible implementation, the control module 203 can interact with the short-range communication base station through the first communication module 201 to obtain indoor positioning data, and interact with the satellite positioning base station through the second communication module 202 to obtain satellite positioning data, so as to determine the positioning coordinates of the user.

[0039] The positioning method provided by the embodiments of the present application can be applied to Figure 1 The server in the positioning system shown in the description can also be applied to the positioning terminal shown in the description, and the embodiments of the present application do not make any limitation in this regard. Figure 2 The server in the positioning system shown in the description can also be applied to the positioning terminal shown in the description, and the embodiments of the present application do not make any limitation in this regard.

[0040] The positioning method provided by the embodiments of the present application will be described below in combination with specific embodiments and the accompanying drawings of the description: Figure 3 A flowchart of a positioning method provided by the embodiments of the present application is shown in FIG. 1. As shown in FIG. 1, the positioning method provided by the embodiments of the present application includes the following steps S301-S303: Figure 3 The positioning method provided by the embodiments of the present application specifically includes the following steps S301-S303: S301, determining an area where the positioning terminal is located based on the signal strength between the first communication module of the positioning terminal and the short-range communication base station, wherein the area includes an indoor area and an outdoor area.

[0041] The first communication module is a key functional unit of the positioning terminal, and is configured to establish a wireless connection with the short-range communication base station, support short-range communication protocols such as Bluetooth, ultra-wideband, WiFi or ZigBee, and receive and transmit positioning-related data to provide communication support for the positioning terminal in the indoor area. The short-range communication base station is arranged in the indoor area, and is a fixed signal transceiving device arranged in the indoor area, and is used in conjunction with the first communication module of the positioning terminal, and includes at least one of the following types: a Bluetooth base station, an UWB base station, a WiFi base station, or a ZigBee base station.

[0042] In a possible implementation, the short-range communication base station can continuously send signals of a specific frequency outward, and when the positioning terminal enters the signal coverage range thereof, the two can establish communication and interact with each other. Meanwhile, the short-range communication base station can also receive signal information fed back by the positioning terminal to provide data basis for judging the position of the positioning terminal.

[0043] The indoor area can be an area with a closed or semi-closed space structure, and a satellite signal is easily blocked by building walls, equipment, and goods, resulting in a weak or interrupted signal. For example, the inside of an air cargo station, a repair plant workshop, etc. The outdoor area can be an area with an open space, no obvious obstruction, and stable satellite signal coverage. For example, a parking apron, etc.

[0044] In some embodiments, determining the area in which the positioning terminal is located based on the signal strength between the positioning terminal and the short-range communication base station includes: determining that the positioning terminal is in an indoor area when the signal strength between the positioning terminal and the short-range communication base station is greater than or equal to a first strength threshold; and determining that the positioning terminal is in an outdoor area when the signal strength between the positioning terminal and the short-range communication base station is less than or equal to a second strength threshold, the second strength threshold being less than the first strength threshold.

[0045] In a possible implementation, the signal strength between the positioning terminal and the short-range communication base station refers to the power strength of the signal transmitted by the short-range communication base station and received by the first communication module of the positioning terminal. Depending on the short-range communication technology (such as Bluetooth, UWB, Wi-Fi, ZigBee, etc.) used, the signal strength between the positioning terminal and the short-range communication base station can have different representations and measurement standards.

[0046] For example, in a short-range communication scenario based on Bluetooth technology, if the positioning terminal uses a received signal strength indicator (RSSI) to represent the signal strength, the unit is decibel-milliwatt (dBm). In this scenario, the closer the RSSI value is to 0, the greater the Bluetooth base station signal power received by the positioning terminal, and the stronger the signal strength; the smaller the value (the greater the absolute value of the negative number), the smaller the signal power, and the weaker the signal strength.

[0047] For example, in a UWB short-range communication scenario, if the positioning terminal uses a received RSSI to represent the signal strength, the unit is also decibel-milliwatt (dBm). The RSSI value of UWB presents a positive correlation characteristic: the greater the RSSI value, the stronger the signal strength between the positioning terminal and the UWB base station; the smaller the RSSI value, the lower the signal strength.

[0048] In a possible implementation, the first strength threshold is a signal strength standard for determining whether the positioning terminal is in the effective coverage range of the short-range communication base station (i.e., the indoor area). When the signal strength reaches or exceeds this threshold, it can ensure stable communication between the terminal and the indoor base station and provide reliable data support for indoor positioning.

[0049] In a possible implementation, the second intensity threshold is a signal intensity criterion that defines a positioning terminal leaving the effective coverage range of the short-distance communication base station (i.e., an outdoor area), and when the signal intensity is lower than or equal to the threshold, it indicates that the terminal has moved away from the indoor environment, at which time the positioning mode needs to be changed. The setting of the second intensity threshold being smaller than the first intensity threshold can avoid repeated switching of area determination caused by signal fluctuation, and ensure the accuracy and stability of indoor and outdoor area determination, and adapt to the positioning needs of the towed cart in indoor and outdoor circulation in the aviation scene.

[0050] Exemplarily, taking the scenario of the aviation cargo station and the connecting parking apron as an example, it is assumed that the UWB short-distance communication base station is deployed in the indoor No. 1 warehouse of the aviation cargo station, and the signal coverage range of the base station is accurately limited within the warehouse wall range (there is no base station signal in the outdoor parking apron), and the first intensity threshold is -75 dBm and the second intensity threshold is -95 dBm, which are configured in the positioning terminal control module of the towed cart in advance by the staff; when the towed cart is parked in the No. 1 warehouse to wait for the entry of goods into the warehouse, the first communication module of the positioning terminal continuously receives the signal of the indoor UWB base station, and the real-time collected signal intensity is -68 dBm, which is greater than or equal to the first intensity threshold -75 dBm, and the positioning terminal determines that it is in the indoor area; when the towed cart is towed to the outdoor parking apron to prepare for the loading operation, as the distance from the indoor UWB base station increases, the signal intensity gradually decays to -102 dBm, which is less than or equal to the second intensity threshold -95 dBm, and the positioning terminal determines that it is in the outdoor area.

[0051] Exemplarily, taking the scenario of the aviation cargo station 2 No. 2 luggage transfer warehouse and the adjacent parking apron as an example, the staff uniformly deploys 8 Bluetooth short-distance communication base stations in the indoor top of the No. 2 transfer warehouse, and the base station signal accurately covers the wall range of the transfer warehouse after debugging (there is no effective Bluetooth signal in the outdoor parking apron due to wall shielding and distance exceeding), and a built-in Bluetooth module positioning tag, i.e., a Bluetooth tag, is configured in the positioning terminal of each luggage towed cart, and the first intensity threshold is -80 dBm and the second intensity threshold is -100 dBm, which are pre-configured in the control unit of the tag. When the luggage towed cart is loaded with passenger luggage and parked in the designated transfer area in the No. 2 transfer warehouse, the Bluetooth tag on the towed cart will continuously scan and receive the broadcast signal of the indoor Bluetooth base station, and the real-time collected signal intensity is stable at -72 dBm, which is greater than or equal to the first intensity threshold -80 dBm, and the Bluetooth tag determines that it is in the indoor area. When the towed cart is pulled by the towing vehicle to the outdoor parking apron to prepare to load the luggage into the aircraft cargo compartment, as the towed cart gradually moves away from the No. 2 transfer warehouse, the signal intensity received by the Bluetooth tag from the indoor base station gradually decays, and when the towed cart travels to the designated loading and unloading position of the parking apron, the signal intensity decreases to -105 dBm, which is less than or equal to the second intensity threshold -100 dBm, and the Bluetooth tag determines that it is in the outdoor area, and immediately triggers the positioning mode switching.

[0052] In the embodiments of the present application, the real-time signal strength between the positioning terminal and the short-range communication base station is taken as the judgment basis to divide the indoor area and the outdoor area, and the determination standard of the area boundary is determined.

[0053] S302, when the area where the positioning terminal is located is an indoor area, the first positioning coordinate of the positioning terminal is determined based on the indoor positioning data obtained by the first communication module interacting with the short-range communication base station.

[0054] When the area where the positioning terminal is located is an indoor area, since the distance between the positioning terminal and the short-range communication base station in the indoor area is close, and there is no complex outdoor obstruction, the signal strength between them is not only high in value, but also strong in signal transmission stability. The positioning terminal can establish stable interaction with the short-range communication base station through the first communication module, and real-time acquire the data required for indoor positioning, and based on these data combined with positioning algorithm, accurately calculate and determine the specific positioning coordinate of the positioning terminal in the indoor area, and provide reliable data support for the position tracking of the unpowered container in the indoor area.

[0055] In a possible implementation, by detecting the angle of the wireless signal emitted by the positioning terminal to the short-range communication base station, combined with the angle data of multiple short-range communication base stations, the specific position of the terminal can be calculated by using the triangulation algorithm.

[0056] Exemplarily, in the aviation scene, the Bluetooth base station based on the angle of arrival (AOA) principle is deployed in the aviation warehouse No. 2, and the relative coordinate of the positioning terminal can be accurately determined by receiving the Bluetooth signal of the positioning terminal, which lays a foundation for subsequent conversion into airport high-precision map or general map coordinate system, and realizes position visualization, especially suitable for the indoor and outdoor connecting area with high positioning accuracy requirement.

[0057] For example, in the scenario of the air cargo station No. 2 warehouse, the staff deploys one Bluetooth short-range communication base station supporting AOA (angle of arrival) technology at each of the east, south and west corners on the top of the warehouse to form a triangular positioning coverage network for tracking the position of the luggage tow cart with the positioning terminal. When the tow cart moves near the A area of the warehouse, the positioning terminal continuously emits wireless signals to the outside through the Bluetooth 5.0 protocol. The east corner base station detects that the angle of arrival of the signal is 60° (i.e. the signal comes from the east side of the base station with a southward deviation of 60°), the south corner base station detects that the angle of arrival is 30° (i.e. the signal comes from the south side of the base station with an eastward deviation of 30°), and the west corner base station detects that the angle of arrival is 150° (i.e. the signal comes from the west side of the base station with a northward deviation of 150°). For the angle data collected from the three base stations, the triangular measurement algorithm is used for calculation: taking the physical coordinates of the three base stations as the vertices, respectively drawing the direction rays according to the respective detected angles of arrival, and the intersection of the three rays is the specific position of the tow cart. Finally, it is calculated that the tow cart is located at "No. 1 warehouse A area No. 3 cargo position north side 2 meters". After processing, the position data is synchronized to the monitoring interface of the cargo station dispatching system to realize real-time positioning and tracking of the tow cart. This way can realize sub-meter positioning accuracy in the indoor signal shielding environment through the cooperative calculation of the angle data of multiple base stations.

[0058] When the positioning terminal is in the indoor area, the embodiment of the present application relies on the near distance interaction characteristics of the first communication module and the short-range communication base station, and combines the positioning algorithm to accurately calculate the indoor specific positioning coordinates, thereby ensuring the accuracy of the position data of the positioning terminal in the indoor area.

[0059] S303, when the area where the positioning terminal is located is an outdoor area, the second positioning coordinates of the positioning terminal are determined based on the satellite positioning data obtained by the second communication module of the positioning terminal interacting with the satellite positioning base station.

[0060] The second communication module is a core hardware unit for realizing the outdoor satellite positioning function of the positioning terminal, which is used to integrate the signal receiving chip, low noise amplifier and special positioning antenna of the satellite positioning system such as Beidou, global positioning system (GPS) or global navigation satellite system (GLONASS), and has the ability to capture satellite signals in an open and unobstructed outdoor environment.

[0061] In a possible implementation, in the outdoor area, the second communication module actively scans and captures the signal broadcast by the satellite positioning base station, which includes the real-time accurate position of the satellite positioning base station and the time stamp of the transmission; then, by calculating the propagation time difference of the signal from the satellite positioning base station to the second communication module, the straight-line distance between the positioning terminal where the second communication module is located and each satellite positioning base station is inversely deduced; then, taking the accurate position of each satellite positioning base station as the vertex of the spherical surface and the corresponding distance as the radius of the spherical surface, a plurality of space spheres are constructed, and the only intersection point of these spheres is the three-dimensional space position of the positioning terminal; finally, the second communication module converts the position data into a universal geographic coordinate system to generate the second positioning coordinates including longitude, latitude, and altitude, thereby providing core data support for positioning tracking in the outdoor area.

[0062] Exemplarily, taking the T2 terminal 3rd parking apron scenario connected with the air cargo station as an example, after the cargo tow truck carrying the positioning terminal enters the outdoor area, the second communication module of the positioning terminal is automatically activated to start communication with the satellite positioning base station (beidou navigation satellite system (BDS) constellation and GPS satellite constellation). At this time, the special antenna of the second communication module synchronously captures the signals of 5 beidou satellite positioning base stations (numbered BDS-2, BDS-5, BDS-8, BDS-11, and BDS-15) and 4 GPS satellite positioning base stations (numbered GPS-3, GPS-7, GPS-12, and GPS-16), and extracts the real-time spatial coordinates and signal transmission time of each satellite positioning base station. Subsequently, the second communication module calculates the signal propagation time and calculates the distance between the second communication module and each satellite positioning base station according to the speed of light; the coordinates of each satellite positioning base station are taken as the vertex, and the corresponding distance is taken as the radius to construct a space sphere, and the unique intersection point obtained by least square method solving is the second positioning coordinates of the tow truck. After the coordinates are output by the second communication module, they are uploaded to the air logistics scheduling system, and the system marks on the monitoring interface that the tow truck is located at “5 meters west of the T2 terminal 3rd parking apron”, thereby providing accurate position basis for subsequent cargo loading and transfer scheduling.

[0063] In another possible implementation, based on the satellite positioning data obtained by the second communication module of the positioning terminal and the satellite positioning base station, the second positioning coordinates of the positioning terminal can be optimized by using the difference method. The error (such as atmospheric delay, satellite orbit deviation, etc.) of the satellite positioning signal is calculated in real time at the “known accurate coordinates” fixed station (i.e., satellite reference station), and then the error correction data (difference data) is sent to the positioning terminal. The positioning terminal combines the correction data with the satellite signals received by itself to finally solve more accurate positioning coordinates. The satellite positioning base station can integrate the function of the satellite reference station, and the embodiments of the present application do not make any limitation in this regard.

[0064] The embodiment of the application relies on the second communication module to interact with the satellite positioning base station to obtain satellite positioning data when the positioning terminal is in an outdoor area, provides high-precision position data support for the accurate scheduling of the outdoor area unpowered container, avoids the container scheduling failure caused by the deviation of ordinary satellite positioning, and guarantees the accuracy of the outdoor positioning result.

[0065] For example, a scene schematic diagram of a positioning method is given, as Figure 4 Specifically, the Bluetooth base station serves as a short-distance communication base station, performs indoor area positioning on the positioning terminal through Bluetooth 5.0 technology, and reports the positioning data to the server through the POE bus; the positioning monitoring terminal accesses the satellite positioning system with the BDS satellite as the core and the satellite positioning base station providing differential services through the 4G Internet of Things card, obtains outdoor positioning data, and uploads the outdoor positioning data to the server by the positioning terminal, so that the current positioning coordinates are determined by the server based on the above positioning method. Wherein, the BDS satellite is a Beidou satellite navigation system satellite, the POE bus is commonly used to connect short-distance communication devices such as Bluetooth base stations and WiFi base stations, which not only transmits the positioning signal data (such as terminal Bluetooth broadcast information) collected by the base station to the server through the bus, but also provides stable power supply for the base station. The satellite positioning base station can integrate the function of the satellite reference station, and the embodiment of the application does not make any limitation thereto.

[0066] Based on steps S301-S303, the positioning terminal is first distinguished between indoor area or outdoor area according to the signal strength of the first communication module of the positioning terminal and the short-distance communication base station, and then the positioning mode is selected accordingly, wherein the indoor area determines the coordinates according to the indoor positioning data of the first communication module and the short-distance communication base station, and the outdoor area determines the coordinates according to the satellite positioning data of the second communication module and the satellite positioning base station. Both the advantages of short-distance communication indoor high precision and satellite positioning outdoor wide coverage are exerted, and the shortcomings of single positioning mode in different areas are avoided, effectively improving the accuracy of indoor and outdoor positioning.

[0067] In one embodiment, the area where the positioning terminal is located also includes an indoor-outdoor transition area.

[0068] Wherein, the indoor-outdoor transition area refers to a signal interval where the short-distance communication signal relied on by the indoor positioning data does not completely disappear and the satellite signal relied on by the satellite positioning data does not completely stabilize due to the difference between indoor and outdoor areas, which is a transition space between indoor and outdoor areas. It is used to obtain and fuse indoor positioning data and satellite positioning data synchronously, avoid the positioning interruption caused by single positioning data signal when the positioning terminal moves across indoor and outdoor areas, and ensure the continuity of positioning.

[0069] In some embodiments, determining the area where the positioning terminal is located based on the signal strength between the positioning terminal and the short-range communication base station comprises: when the signal strength between the first communication module and the short-range communication base station is greater than or equal to a third strength threshold and less than or equal to a fourth strength threshold, determining that the positioning terminal is in an indoor-outdoor transition area.

[0070] In a possible implementation, the numerical relationship between the third strength threshold, the fourth strength threshold, the first strength threshold (indoor area determination criterion), and the second strength threshold (outdoor area determination criterion) is second strength threshold≤ fourth strength threshold< third strength threshold≤ first strength threshold. The third strength threshold is the boundary between the indoor area and the indoor-outdoor transition area, and the fourth strength threshold is the boundary between the indoor-outdoor transition area and the outdoor area. When the signal strength between the first communication module and the short-range communication base station is greater than or equal to the third strength threshold and less than or equal to the fourth strength threshold, it is determined that the positioning terminal is in the indoor-outdoor transition area. When the signal strength between the first communication module and the short-range communication base station is greater than or equal to the first strength threshold, it indicates that the indoor short-range communication signal is strong enough and stable, meeting the indoor positioning requirements, so the positioning terminal is determined to be in the indoor area. When the signal strength between the first communication module and the short-range communication base station is less than or equal to the second strength threshold, it indicates that the short-range communication signal relied on by indoor positioning has become extremely weak or even close to failure, and cannot support indoor positioning requirements. At this time, the positioning terminal is determined to be in the outdoor area.

[0071] In a possible implementation, when the signal strength between the first communication module and the short-range communication base station is in the interval “≤ fourth strength threshold and > second strength threshold”, the short-range communication signal has been greatly attenuated, but has not yet completely failed, and the satellite positioning signal can be initially captured. Although it does not meet the stability standard of the outdoor area, it can provide a basic position reference. The satellite positioning data is given priority to determine the positioning coordinates, and the residual indoor positioning data is used for auxiliary correction to avoid coordinate drift caused by occasional fluctuations of the satellite signal. When the signal strength between the first communication module and the short-range communication base station is in the interval “≥ third strength threshold and < first strength threshold”, the short-range communication signal does not meet the optimal strength standard of the indoor area, but still has sufficient stability and can independently support accurate positioning. The satellite positioning signal can only capture a small amount of satellites (cannot solve reliable coordinates) due to being blocked in the indoor area (such as building walls, ceilings). The indoor positioning data is given priority to determine the positioning coordinates, and the initially captured satellite positioning data is used for auxiliary calibration to deal with temporary attenuation of the indoor signal.

[0072] In some embodiments, when the area where the positioning terminal is located is the indoor-outdoor transition area, indoor positioning data and satellite positioning data are acquired; and the third positioning coordinates of the positioning terminal are determined based on the indoor positioning data and the satellite positioning data.

[0073] Exemplarily, when it is determined that the positioning terminal is in the indoor-outdoor transition area, at this time, the third positioning coordinate will be determined by a fusion algorithm based on the acquired indoor positioning data generated by the interaction of the first communication module with the short-range communication base station, and the outdoor positioning data generated by the interaction of the second communication module with the satellite positioning base station, to ensure the continuity of the position tracking of the positioning terminal.

[0074] In some embodiments, determining the third positioning coordinate of the positioning terminal based on the indoor positioning data and the satellite positioning data comprises: determining an indoor positioning coordinate and a first confidence of the indoor positioning coordinate based on the indoor positioning data; determining a satellite positioning coordinate and a second confidence of the satellite positioning coordinate based on the satellite positioning data; and performing weighted fusion processing on the satellite positioning coordinate and the indoor positioning coordinate according to the first confidence and the second confidence to obtain the third positioning coordinate.

[0075] In a possible implementation, the first confidence of the indoor positioning coordinate can be determined by evaluating a signal quality parameter corresponding to the indoor positioning data. The signal quality parameter includes but is not limited to the signal strength between the first communication module and the short-range communication base station, the signal stability, the number of short-range communication base stations participating in positioning, and the degree of indoor environmental shielding interference. The stronger the signal strength, the smaller the signal fluctuation, the more the number of short-range communication base stations participating in positioning, and the smaller the degree of indoor environmental shielding interference, the higher the first confidence of the indoor positioning coordinate.

[0076] In a possible implementation, the second confidence of the outdoor positioning coordinate can be determined by evaluating a key indicator corresponding to the satellite positioning data. The key indicator includes but is not limited to the number of satellite positioning base stations captured by the second communication module, the satellite signal signal-to-noise ratio, the shielding condition of the satellite signal propagation path, and the error range of the satellite positioning coordinate. The larger the number of satellite positioning base stations is, the higher the satellite signal signal-to-noise ratio, the less the shielding of the satellite signal propagation path, and the smaller the error of the satellite positioning coordinate, the higher the second confidence of the outdoor positioning coordinate.

[0077] Exemplarily, when the forklift carrying the positioning terminal enters the area, the system determines the indoor positioning coordinates and the first confidence based on the indoor positioning data: the indoor positioning coordinates are calculated through the signals exchanged between the first communication module (UWB module) of the terminal and the three indoor UWB base stations, and the first confidence of the indoor positioning coordinates is 65% because the channel wall slightly blocks the UWB signals and the signal strength fluctuates between -82 dBm and -86 dBm; at the same time, the satellite positioning coordinates and the second confidence are determined based on the satellite positioning data: the second communication module (dual-mode of Beidou and GPS) of the terminal captures four satellite signals, and the second confidence of the satellite positioning coordinates is 35% because the satellite signal-to-noise ratio is slightly low due to the partial blockage of the channel ceiling. Then the indoor positioning coordinates are converted into the WGS-84 coordinate system consistent with the satellite positioning coordinates, and the third positioning coordinates are calculated according to the weighted fusion processing of the first confidence and the second confidence, i.e. the third positioning coordinates = (indoor positioning coordinates x 65%) + (satellite positioning coordinates x 35%), and the third positioning coordinates accurately reflect the real-time position of the forklift in the transition area, avoiding the position deviation caused by a single positioning mode.

[0078] Based on the above-mentioned embodiments related to the indoor-outdoor transition area, the determination of the indoor-outdoor transition area in the present application avoids the positioning interruption caused by the incomplete disappearance of indoor short-range signals and the incomplete stabilization of satellite signals when the positioning terminal moves across indoor and outdoor areas, ensuring the continuity of position tracking in the whole area. At the same time, the positioning coordinates of the terminal in the area are determined through the weighted fusion algorithm, which improves the positioning accuracy of the indoor-outdoor transition area and avoids the errors caused by signal attenuation or blockage in a single data.

[0079] The positioning method provided by the present application first distinguishes whether the positioning terminal is in an indoor or outdoor area according to the signal strength of the first communication module of the positioning terminal and the short-range communication base station, and then selects the positioning mode accordingly, wherein the indoor coordinates are determined based on the indoor positioning data of the first communication module and the short-range communication base station, and the outdoor coordinates are determined based on the satellite positioning data of the second communication module and the satellite positioning base station; and the indoor-outdoor transition area and the determination of the coordinates of the positioning terminal in the indoor-outdoor transition area are also included. It can be seen that this method effectively solves the limitations of a single positioning mode in different areas, avoids the shortcomings of satellite positioning in indoor environments and the coverage problems of short-range communication in outdoor environments, and fills the positioning gap when switching between indoor and outdoor environments through the design of the indoor-outdoor transition area, avoiding the problem of inaccurate positioning of the positioning terminal when moving across areas, achieving coverage of the positioning terminal in the whole area, and ensuring the accuracy and reliability of the positioning results in different areas.

[0080] The application also provides a non-powered container, which is integrated with the positioning terminal, and power of the positioning terminal is provided by a solar panel and / or a battery carried by the non-powered container.

[0081] The non-powered container refers to a special storage or transport container for an airport scene, which does not have a power system for active driving or operation, but can provide power for positioning, monitoring and other auxiliary functions by means of a battery, a solar panel and the like, and needs to rely on external force to move. Exemplarily, the non-powered container includes a cargo luggage trailer, a container trailer, a bulk cargo trailer, a container plate trailer, a tire transport vehicle and the like.

[0082] In a possible implementation, the positioning terminal has a first communication module (supporting short-distance communication such as Bluetooth / UWB / WIFI) and a second communication module (supporting satellite positioning communication), can be installed on a surface of a non-powered container such as a cargo luggage trailer, a container trailer and the like or embedded in the non-powered container, can automatically switch communication modes according to a region where the non-powered container is located, can collect and transmit positioning data in real time, and is a basic hardware carrier for realizing position tracking of the non-powered container. The embodiments of the application do not limit this.

[0083] Exemplarily, the application provides a hardware framework diagram of a positioning terminal of a non-powered container, as shown in Figure 5 The specific positioning terminal includes an MCU unit 501, a positioning unit 502, a communication unit 503, an indoor positioning tag unit 504, a power control unit 505 and an acceleration sensor 506. The hardware structure diagram of the positioning terminal can be referred to in Figure 6 .

[0084] The MCU unit 501 is a core master unit of the positioning terminal, is responsible for overall coordination of cooperative work of all components such as the positioning unit 502, the communication unit 503, the indoor positioning tag unit 504, the power control unit 505 and the acceleration sensor 506. A self-developed low-power algorithm built in the MCU unit 501 can intelligently schedule power supply states and operation rhythms of various hardware modules on the basis of ensuring that various tasks are executed on time, so as to reduce overall power consumption to a minimum. The MCU unit 501 can be a control module in the positioning terminal. Figure 2

[0085] The positioning unit 502 includes a positioning antenna, and is used for acquiring satellite positioning data. The positioning unit 502 can be a second communication module in the positioning terminal. Figure 2

[0086] In an implementation, the positioning unit 502 adopts a real-time differential (RTD) single-beidou positioning module, cooperates with a customized high-precision antenna, and together realizes accurate positioning.

[0087] ​​The communication unit 503 takes a 4G Cat.1 communication module as the core, and integrates a communication antenna and a SIM card to jointly build a wireless communication link. The SIM card is used for identity authentication and access in the operator network, and the communication antenna is responsible for the transmission and reception of wireless signals; the core 4G Cat.1 module is responsible for processing all communication data, thereby realizing real-time uploading of terminal state information and location information, and reliable reception of background control instructions.

[0088] The indoor positioning tag unit 504 integrates Bluetooth indoor positioning tags, UWB indoor positioning tags, and other tag functions, which can ensure that the positioning terminal can automatically adapt to Bluetooth, UWB, and other indoor positioning technologies. The Bluetooth indoor positioning tag is a small, low-power electronic device that periodically broadcasts Bluetooth signals (usually BLE technology of Bluetooth 4.0 / 5.0 / 5.1). These signals are received by Bluetooth receivers (called “Bluetooth gateways” or “positioning base stations”) pre-deployed at fixed positions, and then the real-time position of the tag is calculated through an algorithm. The UWB indoor positioning tag is an electronic device that uses ultra-wideband technology for precise positioning. It communicates with fixed UWB base stations deployed in the environment by transmitting nanosecond-level extremely narrow pulse radio waves. By calculating the time of flight or angle of arrival of the radio waves, the real-time position of the tag can be determined with centimeter-level accuracy. The positioning unit 502 can be Figure 2 The first communication module in the positioning terminal.

[0089] The acceleration sensor 506 can observe whether the current position of the positioning terminal moves.

[0090] The power control unit 505 is a key power supply module of the positioning terminal, which integrates a charging unit, a battery, a temperature detection circuit, and a voltage conversion circuit, and is responsible for continuous and stable power supply for the terminal.

[0091] In one possible implementation, the positioning terminal supports two power supply modes of solar panels and / or batteries, and the power control unit 505 also has a high-temperature power-off protection mechanism: when the temperature detection circuit detects that the device temperature exceeds a preset threshold (for example, 85℃), the connection between the battery and the mainboard is automatically cut off, thereby ensuring the safety and stable operation of the device in a high-temperature environment. This mechanism is particularly suitable for wide-temperature lithium battery packs, further enhancing the reliability of the terminal in harsh temperature conditions.

[0092] In the hardware framework of the positioning terminal, the MCU unit 501 coordinates the cooperation of the positioning unit 502, the communication unit 503, the indoor positioning label unit 504, the power control unit 505, and the acceleration sensor 506: the acceleration sensor 506 collects terminal motion state data in real time and feeds back to the MCU unit 501, providing a basis for the area judgment; the MCU unit 501 combines the state data or server instructions, on the one hand, controls the start-stop switching of the positioning unit 502 and the indoor positioning label unit 504, and receives the position data output by the two; on the other hand, through the power control unit 505, the power supply is distributed as needed, and the integrated position data and device state information are uploaded to the server through the communication unit 503, and the configuration and control instructions issued by the server are also received through the communication unit 503 and executed, finally realizing the full-area positioning of the positioning terminal.

[0093] In a possible implementation, by acquiring information such as the geographic position, power, and running state of the positioning terminal (container) in real time and comprehensively analyzing the information, multi-dimensional management of the unpowered container is realized.

[0094] For example, by drawing an electronic fence, the number of unpowered containers in the area is counted, and the placement position of the unpowered container is determined according to preset conditions such as flight schedule; the electronic fence is used to demarcate the placement area and the operation area, when the container enters the placement area, the system automatically marks it as idle, and enters other areas to mark it as busy, providing clear guidance for users to quickly find available containers; the total mileage of the position change of the unpowered container is counted periodically, when the cumulative mileage exceeds the preset mileage, a maintenance and repair reminder is automatically triggered; at the same time, the terminal power is monitored in real time, when the power is less than or equal to the first preset power threshold, a charging prompt is pushed, and when the power is less than the second preset power threshold, the terminal is determined to be abnormal or power off, and a maintenance work notification is initiated in time. For example, the preset mileage is 20 kilometers, the first preset power threshold is 30% power, and the second preset power threshold is 5% power.

[0095] In summary, the positioning device provided in the present application contains at least one of the corresponding hardware structure and software module for executing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed in the present application, the embodiments of the present disclosure can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments of the present disclosure.

[0096] In some embodiments, this application also provides a positioning device, which may include one or more functional modules for implementing the positioning method of the above method embodiments.

[0097] For example, Figure 7 This is a schematic diagram illustrating the composition of a positioning device provided in an embodiment of this application. Figure 7 As shown, the device includes: an area determination module 701, a first coordinate determination module 702, and a second coordinate determination module 703. The area determination module 701 is used to: determine the area where the positioning terminal is located based on the signal strength between the first communication module of the positioning terminal and the short-range communication base station; the area includes indoor and outdoor areas; the short-range communication base station is located in the indoor area. The first coordinate determination module 702 is used to: when the area where the positioning terminal is located is indoor, determine the first positioning coordinates of the positioning terminal based on indoor positioning data obtained through interaction between the first communication module and the short-range communication base station. The second coordinate determination module 703: when the area where the positioning terminal is located is outdoor, determine the second positioning coordinates of the positioning terminal based on satellite positioning data obtained through interaction between the second communication module of the positioning terminal and the satellite positioning base station.

[0098] In some embodiments, the area determination module 701 is specifically used to: determine that the positioning terminal is in an indoor area when the signal strength between the positioning terminal and the short-range communication base station is greater than or equal to a first strength threshold; and determine that the positioning terminal is in an outdoor area when the signal strength between the positioning terminal and the short-range communication base station is less than or equal to a second strength threshold; wherein the second strength threshold is less than the first strength threshold.

[0099] In some embodiments, the third coordinate determination module 704 is specifically used to: acquire indoor positioning data and satellite positioning data when the area where the positioning terminal is located is an indoor-outdoor transition area; and determine the third positioning coordinates of the positioning terminal based on the indoor positioning data and satellite positioning data.

[0100] In some embodiments, the third coordinate determination module 704 is specifically used to: determine indoor positioning coordinates and a first confidence level of the indoor positioning coordinates based on indoor positioning data; determine satellite positioning coordinates and a second confidence level of the satellite positioning coordinates based on satellite positioning data; and perform weighted fusion processing on the satellite positioning coordinates and indoor positioning coordinates according to the first confidence level and the second confidence level to obtain the third positioning coordinates.

[0101] In some embodiments, the area determination module 701 is specifically used to: determine that the positioning terminal is in an indoor-outdoor transition area when the signal strength between the first communication module and the short-range communication base station is greater than or equal to a third strength threshold and less than or equal to a fourth strength threshold.

[0102] In an example embodiment, the electronic device can be the positioning terminal. Figure 8 FIG. 1 shows a structural schematic diagram of an electronic device according to an example embodiment of the present application. Figure 8 As shown in FIG. 1, the electronic device includes a processor 801 and a memory 802; the memory 802 stores instructions executable by the processor 801; the processor 801 is configured to execute the instructions, so that the electronic device implements the method described in the foregoing method embodiments.

[0103] In an example embodiment, the present application further provides a computer readable storage medium, which stores computer program instructions; when the computer program instructions are executed by a computer, the computer implements the method described in the foregoing embodiments. The computer can be an electronic device or a network device or a manager. The computer readable storage medium can be a non-transitory computer readable storage medium, for example, a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0104] In the description of the embodiments of the present application, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0105] The above merely specific implementation of the present application, but the protection scope of the present application is not limited to this, any skilled in the art within the scope of the present application disclosed technology, can easily think of changes or replacement, should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A positioning method, characterized by, The method comprises: determining the area where the positioning terminal is located based on the signal strength between the first communication module of the positioning terminal and the short-distance communication base station, the area comprising an indoor area and an outdoor area; the short-distance communication base station is arranged in the indoor area; when the area where the positioning terminal is located is the indoor area, determining the first positioning coordinate of the positioning terminal based on the indoor positioning data obtained by the first communication module interacting with the short-distance communication base station; when the area where the positioning terminal is located is the outdoor area, determining the second positioning coordinate of the positioning terminal based on the satellite positioning data obtained by the second communication module of the positioning terminal interacting with the satellite positioning base station.

2. The method of claim 1, wherein, The method comprises: in the case that the signal strength between the positioning terminal and the short-distance communication base station is greater than or equal to a first strength threshold, determining that the positioning terminal is in the indoor area; in the case that the signal strength between the positioning terminal and the short-distance communication base station is less than or equal to a second strength threshold, determining that the positioning terminal is in the outdoor area; the second strength threshold is less than the first strength threshold.

3. The method of claim 1, wherein, The area further comprises an indoor-outdoor transition area. The method further comprises: when the area where the positioning terminal is located is the indoor-outdoor transition area, obtaining the indoor positioning data and the satellite positioning data; determining the third positioning coordinate of the positioning terminal based on the indoor positioning data and the satellite positioning data.

4. The method of claim 3, wherein, The method comprises: determining the indoor positioning coordinate and the first credibility of the indoor positioning coordinate based on the indoor positioning data; determining the satellite positioning coordinate and the second credibility of the satellite positioning coordinate based on the satellite positioning data; performing weighted fusion processing on the satellite positioning coordinate and the indoor positioning coordinate according to the first credibility and the second credibility, to obtain the third positioning coordinate.

5. The method according to claim 3 or 4, characterized in that, The method comprises: in the case that the signal strength between the first communication module and the short-distance communication base station is greater than or equal to a third strength threshold and less than or equal to a fourth strength threshold, determining that the positioning terminal is in the indoor-outdoor transition area.

6. A positioning terminal, characterized by The method comprises: a first communication module, configured to be in communication connection with a short-distance communication base station; a second communication module, configured to be in communication connection with a satellite positioning base station; a control module, connected with the first communication module and the second communication module; the control module is configured to execute the method according to any one of claims 1-5.

7. A positioning system characterized by The method comprises: a positioning terminal, comprising a first communication module and a second communication module; a short-distance communication base station, comprising at least one of a Bluetooth base station, an ultra-wideband base station and a WiFi base station; the short-distance communication base station is configured to be in communication connection with the first communication module of the positioning terminal; a satellite positioning base station, configured to be communicatively connected with the second communication module of the positioning terminal; a server, communicatively connected with the short-distance communication base station, the satellite positioning base station and the positioning terminal; the server is configured to execute the method according to any one of claims 1-5.

8. The system of claim 7, wherein, the positioning terminal is configured to: in response to an instruction indicating entering an outdoor positioning mode, the positioning terminal closes the first communication module; in response to an instruction indicating entering an indoor positioning mode, the positioning terminal closes the second communication module.

9. An unpowered container characterised in that, the unpowered container integrates the positioning terminal according to claim 6 or the positioning terminal in the positioning system according to claim 7 or 8, and the electric energy of the positioning terminal is provided by the solar panel and / or the battery carried by the unpowered container.

10. A computer-readable storage medium, characterized in that, the computer readable storage medium comprises computer software instructions; when the computer software instructions run in the electronic device, the electronic device realizes the method according to any one of claims 1-5.

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