Method, system, equipment and medium for assisting precise positioning by using barometer module

Abstract

The invention discloses a method, a system, equipment and a medium for assisting accurate positioning by using a barometer module, and the method comprises the steps: carrying out the deviation calculation through employing a positioning base station / beacon and a measurement value outputted by an air pressure module in a positioning terminal, and accurately judging the height position of the current positioning terminal according to an air pressure measurement deviation value between two pieces of equipment. Therefore, the positioning beacons or the base stations at the same height are used for accurately positioning the position of the positioning terminal. According to the invention, accurate positioning of a single positioning technology can be realized, and the technology can stably and efficiently determine the height layer where the positioning terminal is located in an open field with platforms of different heights, between floors with hollow grid structures, and in an outdoor tower structure with platforms of different heights. Therefore, three-dimensional positioning is realized, and positioning data measurement and calculation are more accurate.

Description

Technical Field

[0001] This application relates to positioning technology, and in particular to a method, system, device and medium for using a barometer module to assist in precise positioning. Background Technology

[0002] Currently, personnel positioning systems employ technologies such as Bluetooth, TOF / UWB ranging, and GPS / BeiDou satellite positioning, or a combination of these technologies. Bluetooth positioning is similar to point-based positioning, requiring the deployment of numerous Bluetooth beacons along the terminal's movement path. The terminal's position is calculated by reading Bluetooth data as it passes by the beacons. TOF / UWB ranging positioning uses regionally installed ranging beacons or base stations, calculating its planar position based on the distances between the terminal and multiple beacons (base stations). GPS / BeiDou satellite positioning is only suitable for fully outdoor environments, directly acquiring satellite positioning data and marking the terminal on a map. Because each positioning technology has its own limitations, a combination of multiple technologies is often used in practical applications.

[0003] Current positioning technologies can only achieve precise positioning in a two-dimensional plane. When precise positioning switching is required between indoor and outdoor environments or between different floors, multiple positioning technologies such as Bluetooth, TOF / UWB ranging, and GPS need to be used in combination. However, even so, problems such as slow switching speed and inaccurate floor positioning still exist when switching between indoor and outdoor environments or between floors. Especially in scenarios such as positioning on platforms at different heights in open spaces, positioning between floors using a perforated grid structure, and positioning multiple platforms at different heights in outdoor tower structures, the Bluetooth dot-matrix positioning method requires the positioning terminal to move very close to the Bluetooth beacon to effectively read the beacon information, which is inconvenient for personnel. Moreover, this method is easily affected by environmental interference, leading to Bluetooth missed readings and misreadings. For example, objects may block the beacon, preventing effective reading of the beacon on the same height platform, or the device on another floor may be effectively read while standing on a certain floor. Ranging methods such as TOF / UWB can only calculate two-dimensional planar positions. They are ineffective in open, multi-platform scenarios, such as large warehouses, where it's crucial to locate personnel on platforms at different heights. Even deploying positioning beacons (base stations) on platforms at different heights can cause interference or even incorrect platform location determination due to ranging between the terminal and other platform devices. GPS / BeiDou satellite positioning methods can only output coordinates on a planar map, but cannot accurately pinpoint locations on different platforms at the same location but different vertical heights. This is particularly unsuitable for outdoor tower-type multi-platform scenarios, and satellite positioning data is no longer accurately available in indoor environments. Summary of the Invention

[0004] This application provides a method, system, device, and medium for precise positioning assisted by a barometer module, which solves the problems that existing single positioning technologies can only achieve positioning in a two-dimensional plane, and that even when multiple positioning technologies are integrated, there are still problems such as slow switching speed and inaccurate floor positioning when switching between indoor and outdoor environments and between floors.

[0005] The first aspect of this application, a method for precise positioning assisted by a barometer module, includes: Obtain air pressure difference data, which is the air pressure difference between the positioning terminal and the positioning base station / beacon at the same moment; Based on the air pressure difference data, determine whether the positioning terminal and the positioning base station / beacon are at the same altitude layer; The distance measurement data between the positioning base stations / beacons and positioning terminals at the same altitude layer is obtained to determine the location of the positioning terminal.

[0006] Preferably, obtaining the pressure difference data includes: The positioning terminal obtains the first air pressure data and the first air pressure data timestamp of its own location; The positioning base station / beacon obtains its own location's second air pressure data and second air pressure data timestamp; The difference between the first air pressure data and the second air pressure data is calculated when the timestamps of the first and second air pressure data are within a preset range, and is used as the air pressure difference data.

[0007] Preferably, obtaining the pressure difference data includes: The positioning terminal and the positioning base station / beacon are respectively a sender and a receiver. The sender sends the air pressure data and timestamp of its own location to the receiver. The receiver calculates and obtains the pressure difference data. or, The positioning terminal sends the first air pressure data and the first air pressure data timestamp to the server; The positioning base station / beacon sends the second air pressure data and the second air pressure data timestamp to the server; The server calculates and obtains the pressure difference data.

[0008] Preferably, determining whether the positioning terminal and the positioning base station / beacon are at the same altitude layer based on the air pressure difference data includes: The receiver determines, based on the pressure difference data it has calculated, whether the positioning terminal corresponding to the pressure difference data and the positioning base station / beacon are at the same altitude layer. Alternatively, the receiver sends the calculated air pressure difference data to the server, and the server determines whether the positioning terminal corresponding to the air pressure difference data and the positioning base station / beacon are at the same altitude layer based on the air pressure difference data. Alternatively, the server may determine, based on the pressure difference data it has calculated, whether the positioning terminal corresponding to the pressure difference data is at the same altitude as the positioning base station / beacon.

[0009] Preferably, obtaining ranging data between the positioning base stations / beacons and positioning terminals at the same altitude layer to determine the location of the positioning terminal includes: Based on the determination result of whether the positioning terminal and the positioning base station / beacon are at the same altitude layer, the positioning terminal and the positioning base station / beacon at the same altitude layer perform ranging interaction to obtain the ranging data, and send it to the server so that the server can determine the location of the positioning terminal; or, The positioning terminal interacts with the positioning base station / beacon to obtain the ranging data and sends it to the server. The server filters ranging data from the positioning terminal and positioning base station / beacon at the same altitude layer to determine the location of the positioning terminal.

[0010] Preferably, determining whether the positioning terminal and the positioning base station / beacon are at the same altitude layer based on the air pressure difference data includes: The positioning terminal, which is pre-set to be at the same height level, is lower than the positioning base station, and H is set according to the site environment. 定位基站 -H 定位终端 ≤D1, and the positioning terminal, which is preset to be in the same height layer, is higher than the positioning beacon, and H is set according to the site environment. 定位终端 -H 定位信标 ≤D2, the H 定位基站 H represents the altitude of the positioning base station. 定位终端 H is the height of the positioning terminal. 定位信标 The height of the positioning beacon; Calculate the corresponding H based on the pressure difference value. 定位基站 -H 定位终端 =D3, and H 定位终端 -H 定位信标 =D4; If D1-A2≤D3≤D1+A1 is satisfied, then the corresponding positioning terminal and the positioning base station are determined to be at the same height. If D2-A4≤D4≤D2+A3 is satisfied, then the corresponding positioning terminal and the positioning beacon are determined to be at the same height layer. Otherwise, they are at different height layers. A1, A2, A3, and A4 are empirical values ​​set according to the field environment.

[0011] A second aspect of this application discloses a system for precise positioning assisted by a barometer module, comprising: A positioning terminal, which is equipped with a first air pressure module for measuring the air pressure of the positioning terminal; A positioning base station / beacon is equipped with a second air pressure module for measuring the air pressure of the positioning base station / beacon; The server communicates with at least one of the positioning terminal and the positioning base station / beacon, and determines the position of the positioning terminal based on the ranging data between the positioning base station / beacon and the positioning terminal, which are at the same altitude layer; wherein, whether the positioning terminal and the positioning base station / beacon are at the same altitude layer is determined by the air pressure difference data between the positioning terminal and the positioning base station / beacon at the same time.

[0012] A third aspect of this application is a device for precise positioning assisted by a barometer module, characterized in that it comprises: The air pressure difference acquisition module is used to acquire air pressure difference data, which is the air pressure difference between the positioning terminal and the positioning base station / beacon at the same moment; Altitude determination module is used to determine whether the positioning terminal and the positioning base station / beacon are at the same altitude layer based on the air pressure difference data; The location determination module is used to obtain ranging data between the positioning base stations / beacons and positioning terminals at the same altitude layer to determine the location of the positioning terminal.

[0013] A fourth aspect of this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it causes the electronic device to perform the method as described in any of the first aspects of this application.

[0014] A fifth aspect of this application provides a computer-readable storage medium for storing a computer program that, when run on a computer, causes the computer to perform the method described in any of the first aspects of this application.

[0015] In this embodiment, a method for precise positioning using a barometer module is employed. This method calculates the deviation between the measured values ​​output by the positioning base station / beacon and the barometer module within the positioning terminal. The server accurately determines the current altitude of the positioning terminal based on the barometer measurement deviation between the two devices, thereby using a positioning beacon or base station at the same altitude to precisely locate the terminal. This application enables precise positioning using a single positioning technology. Furthermore, in scenarios such as open areas with different height platforms, floors with perforated grid structures, and outdoor tower structures with different height platforms, this technology can stably and efficiently determine the height level of the positioning terminal, thus achieving three-dimensional positioning with more accurate positioning data calculations. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings: Figure 1 This is a schematic diagram of a system for precise positioning using a barometer module according to an embodiment of this application.

[0017] Figure 2 This is a schematic diagram of the structure of a positioning terminal according to an embodiment of this application.

[0018] Figure 3 This is a schematic diagram of the structure of a positioning base station / beacon according to an embodiment of this application.

[0019] Figure 4 This is a flowchart illustrating the positioning method according to an embodiment of this application.

[0020] Figure 5 This is a schematic diagram of a first implementation of the positioning method according to an embodiment of this application.

[0021] Figure 6 This is a schematic diagram of a second implementation of the positioning method according to an embodiment of this application.

[0022] Figure 7 This is a schematic diagram of a third implementation of the positioning method according to the embodiments of this application.

[0023] Figure 8 This is a schematic diagram of an electronic device according to an embodiment of this application. Detailed Implementation

[0024] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0025] The embodiments of the present invention first provide a system for precise positioning assisted by a barometer module, such as... Figure 1 The diagram shows the composition of a system that uses a barometer module to assist in precise positioning. Figure 1 It can be seen that the system using a barometer module to assist in precise positioning includes: The positioning terminal is equipped with a first air pressure module for measuring the air pressure of the positioning terminal.

[0026] The positioning base station / beacon is equipped with a second air pressure module for measuring the air pressure of the positioning base station / beacon.

[0027] The server communicates with at least one of the positioning terminal and the positioning base station / beacon, and determines the position of the positioning terminal based on the ranging data between the positioning base station / beacon and the positioning terminal, which are at the same altitude layer; wherein, whether the positioning terminal and the positioning base station / beacon are at the same altitude layer is determined by the air pressure difference data between the positioning terminal and the positioning base station / beacon at the same time.

[0028] The aforementioned system is an improvement upon existing ranging technologies that utilize beacons or base stations. These ranging technologies often employ multiple positioning base stations or beacons; for example, in high-rise buildings, multiple positioning base stations or beacons are set up on each floor. Firstly, due to the perforated structures between floors that allow signal penetration, a single positioning terminal can often interact with multiple positioning base stations / beacons on different floors simultaneously. In this situation, the server receives ranging data from multiple positioning terminals and positioning base stations / beacons, calculates multiple positioning data, and selects the data with the highest confidence level as the output positioning data. Secondly, due to obstructions between the positioning terminal and the positioning base station / beacon, the positioning terminal may be unable to interact with the correct positioning base station / terminal, resulting in the inability to collect the data. In this case, the server cannot detect the existence of such an obstruction, and therefore, the positioning data calculated and output according to the set ranging method will inevitably be inaccurate.

[0029] By adding air pressure measurement modules to the positioning terminal and positioning base station / beacon, the corresponding air pressure can be obtained in real time. By comparing the real-time air pressure difference, the altitude difference between the positioning terminal and the positioning base station / beacon can be determined. Combined with the on-site setup of the positioning terminal and the positioning base station / beacon, it can be determined whether the positioning terminal and the positioning base station / beacon are at the same altitude layer. The solution in this application filters the data involved in the positioning calculation based on the air pressure difference before the server performs the ranging calculation. Only data related to determining that the positioning terminal and the positioning base station / beacon are at the same altitude layer based on the air pressure difference is selected to calculate the positioning terminal's position. This avoids the two situations mentioned above, reduces the server's computational load, and improves the accuracy of the positioning data output.

[0030] like Figure 2 The diagram shown is a schematic representation of the device configuration of a positioning terminal in an embodiment of this application. Figure 2 As can be seen, the positioning terminal includes a first air pressure module connected to the main control module and a first data module for obtaining basic positioning data sources for positioning. In this embodiment, the first data module includes a Bluetooth module and / or a UWB module and / or a TOF module and / or a satellite positioning module, etc., and one or more data acquisition modules can be configured in the positioning terminal as needed. In addition, it also includes a transceiver module connected to the main control module, used for transmitting and receiving signals to realize the interaction between the positioning terminal and other devices, such as interaction with positioning base stations and interaction with servers.

[0031] In the above-mentioned positioning terminal, the first air pressure module is a newly added module, while the other modules are common modules in existing positioning terminals. The function of the main control module is configured according to the needs of various embodiments in this application.

[0032] like Figure 3 The diagram shown is a schematic representation of the device configuration of a positioning base station / beacon in an embodiment of this application. Figure 2 It is understood that the positioning base station / beacon includes a second air pressure module connected to the main control module and a second data module corresponding to the first data module in the positioning terminal. In this embodiment, the second data module includes a Bluetooth module and / or a UWB module and / or a TOF module and / or a satellite positioning module, etc., and one or more data acquisition modules can be configured in the positioning base station / beacon as needed. In addition, it also includes a transceiver module connected to the main control module, used for transmitting and receiving signals to realize the interaction between the positioning base station / beacon and other devices, such as interaction with the positioning terminal and interaction with the server.

[0033] In the above-mentioned positioning base station / beacon, the second air pressure module is a newly added module, while the other modules are common modules in existing positioning base stations / beacons. The function of the main control module is configured according to the needs of various embodiments in this application.

[0034] The first and second data modules work together to obtain the basic positioning data source. For example, in Bluetooth positioning, the positioning base station / beacon acts as a beacon to broadcast signals. The positioning terminal receives the broadcast signals and feeds back, allowing the calculation of the distance between the positioning terminal and the positioning base station / beacon. Positioning can be achieved with just three beacon devices. The coordination between the first and second data modules varies depending on the positioning technology used. The coordination between the first and second data modules in this embodiment is prior art and will not be elaborated upon here.

[0035] In conjunction with the aforementioned positioning terminal and positioning base station / beacon, there is also a server. The server is mainly used to calculate the specific location of the positioning terminal and to perform necessary data interaction before the calculation. Some embodiments also involve determining whether the positioning terminal and positioning base station / beacon are at the same altitude, and filtering ranging data based on the result of determining that they are at the same altitude.

[0036] Therefore, based on such Figure 1 The system shown in the present invention provides, as illustrated in the embodiments, the present invention. Figure 4 The method shown includes using a barometer module to assist in precise positioning. Step S101: Obtain air pressure difference data, wherein the air pressure difference data is the air pressure difference between the positioning terminal and the positioning base station / beacon at the same time.

[0037] Step S102: Determine whether the positioning terminal and the positioning base station / beacon are at the same altitude layer based on the air pressure difference data.

[0038] Step S103: Obtain ranging data between the positioning base station / beacon and the positioning terminal at the same altitude layer to determine the location of the positioning terminal.

[0039] The above method, through the cooperation of the three devices in the system, obtains the height difference between the positioning terminal and the positioning base station / beacon in real time. Based on the height difference, it can be determined whether the two are at the same height level, thereby enabling the filtering of ranging data during the positioning calculation process.

[0040] Compared with existing technologies, the advantages of the embodiments of the present invention are: 1. A barometric pressure module has been added to both the positioning base station / beacon and the positioning terminal equipment, and it monitors and outputs the monitoring value in real time. The monitoring value can be the raw analog data or the barometric pressure value or altitude value after preliminary calculation. The power consumption of the barometric pressure module itself is very small. Even if it is kept on, the increase in power consumption of the current device is very small, so there is no need to worry about the standby performance of the device.

[0041] 2. The barometric pressure module is a passive device and does not interfere with Bluetooth, TOF, UWB, or satellite positioning modules, thus ensuring the accuracy and stability of the measurement data from each module.

[0042] 3. The atmospheric environment is a very stable environment overall, with stable and slow air pressure fluctuations. Since the on-site positioning beacons (base stations) or positioning terminals are not in an absolutely sealed environment, the changes in their measurement values ​​are also stable and accurate, without being affected by factors such as object obstruction, different wearing methods, or electromagnetic interference.

[0043] 4. All terminals and positioning beacons (base stations) are in the same environment. When the atmospheric environment changes, the change in the measured value output by the barometric pressure module of all devices and the trend of change are consistent. Therefore, the deviation value is basically fixed and can also be used to determine whether the device module itself is normal.

[0044] 5. The most important aspect of the embodiments of the present invention is the use of the measurement difference calculation method. Since the positioning base station / beacon and the positioning terminal are both in the same local environment, the measurement difference between the terminal with a fixed height difference and the positioning base station will not change regardless of changes in the external atmospheric environment. It can be considered a very stable and reliable basis for judgment. Since the position of the positioning base station / beacon is known in the system, it is very accurate to use the difference between the two to determine the height position of the positioning terminal.

[0045] In some preferred embodiments, in step S101, in order to accurately obtain the real-time pressure difference value, the first pressure module and the second pressure module record the measurement time of each pressure data point while measuring the pressure. Therefore, obtaining the pressure difference value data includes: Step S1011: The positioning terminal obtains the first air pressure data and the first air pressure data timestamp of its own location.

[0046] Step S1012: The positioning base station / beacon obtains the second air pressure data and the second air pressure data timestamp of its own location.

[0047] Step S1013: Calculate the difference between the first air pressure data and the second air pressure data when the timestamps of the first and second air pressure data are within a preset range, and use this difference as the air pressure difference data.

[0048] The preset time range can be determined by referring to the time of obtaining the basic positioning data source. The basic positioning data source varies depending on the positioning method used. For example, in Bluetooth positioning, the basic positioning data source is the Bluetooth signal, specifically involving the transmission time and reception time of the Bluetooth signal. Since the time between the transmission and reception of the Bluetooth signal is short, the time of either transmission or reception, or the midpoint between two time points, can be used as the time to obtain the basic positioning data source. For example, if the first basic positioning data source is obtained at time t1, then the corresponding first and second air pressure data will also be obtained at time t1 or slightly earlier / later than time t1. The time of the basic positioning data source involved in other positioning methods can refer to the Bluetooth method, taking the time of either transmission or reception, or the midpoint between two time points, as the time to obtain the basic positioning data source.

[0049] In some optional embodiments, the times when the basic positioning data source is obtained before and after time t1 are time t0 and time t2, and the times when the first air pressure data and the second air pressure data are obtained should be later than time t0 and earlier than time t2.

[0050] In some optional embodiments, the first and second air pressure modules can be configured to collect data at the same time point and frequency, thus obtaining air pressure values ​​at the same moment. Furthermore, the air pressure collection frequency can be set to be higher than or equal to the collection frequency of the basic positioning data source, and the air pressure value closest to the collection time of the basic positioning data source will be selected for the most accurate calculation.

[0051] Regarding the specific method for obtaining the air pressure difference data in step S01, in some embodiments, the calculation of the air pressure difference data is undertaken by one of the interactive positioning terminal and the positioning base station / beacon. The positioning terminal and the positioning base station / beacon are respectively the sender and the receiver. The sender sends the air pressure data and timestamp of its own location to the receiver; the receiver calculates and obtains the air pressure difference data.

[0052] For reference Figure 5 In the example shown, during data reading or ranging interaction between the positioning terminal and the positioning base station / beacon, the positioning terminal sends the first air pressure data T1 and the first air pressure data timestamp to the positioning base station / beacon. Figure 5 (Taking a base station as an example); the positioning base station / beacon, combining its own obtained second air pressure data T2 and second air pressure data timestamp, calculates the difference between the first air pressure data T1 and the second air pressure data T2 when the first air pressure data timestamp and the second air pressure data timestamp are within a preset range, and sends the difference as the air pressure difference data to the server.

[0053] For reference Figure 6 In the example shown, during the process of data reading or ranging interaction between the positioning terminal and surrounding positioning base stations / beacons, the positioning base stations / beacons ( Figure 6 (Taking a positioning beacon as an example) The second air pressure data T2 and the second air pressure data timestamp are sent to the positioning terminal; The positioning terminal combines the first air pressure data T1 and the first air pressure data timestamp obtained by itself, calculates the difference between the first air pressure data T1 and the second air pressure data T2 when the first air pressure data timestamp and the second air pressure data timestamp are within a preset range, and sends the air pressure difference data to the server.

[0054] In some other embodiments, the server performs the calculation of the air pressure difference. In these embodiments, the positioning terminal sends the first air pressure data and the first air pressure data timestamp to the server; the positioning base station / beacon sends the second air pressure data and the second air pressure data timestamp to the server; and the server calculates the air pressure difference data.

[0055] For reference Figure 7 In the example shown, the positioning terminal sends the first air pressure data T1 and the first air pressure data timestamp to the server; the positioning base station / beacon ( Figure 7 (Taking a positioning beacon as an example) The second air pressure data T2 and the second air pressure data timestamp are sent to the server; the server calculates the difference between the first air pressure data T1 and the second air pressure data T2 when the first air pressure data timestamp and the second air pressure data timestamp are within a preset range, as the air pressure difference data.

[0056] In this type of embodiment, the server is equipped with a real-time barometric pressure measurement database. The positioning terminal and the positioning base station / base station each report their own barometric pressure module monitoring values ​​to the positioning server in real time. The server generates and updates the real-time barometric pressure measurement value database of all devices. When the positioning terminal or the positioning base station / beacon uploads Bluetooth or ranging data, the server matches the deviation value of the barometric pressure measurement values ​​of the two devices corresponding to the ranging data and determines whether they are at the same horizontal level.

[0057] The methods in the above embodiments are to calculate the altitude by using the difference between the measurement values ​​output by the positioning base station / beacon and the positioning terminal, rather than simply using the altitude value of the air pressure module inside the positioning terminal. This completely avoids the impact of atmospheric pressure changes on the determination of the altitude position caused by the fluctuation of the measurement value.

[0058] Currently, mature barometric pressure modules can achieve centimeter-level accuracy. Therefore, even considering various interference factors such as equipment accuracy, wearing height, and environmental influences, as long as the measurement value between the positioning terminal and the designated positioning base station / beacon is within a certain range (e.g., 1 meter), it can be determined that the positioning terminal and the designated positioning base station / beacon are on the same height platform, thereby achieving accurate judgment of the different height platforms where the positioning terminal is located.

[0059] In the above embodiments, step S102, which involves determining whether the positioning terminal and the positioning base station / beacon are at the same altitude based on the air pressure difference data, can also be divided into the following various processing methods.

[0060] In some embodiments where the receiver is responsible for calculating the air pressure difference data, the receiver determines whether the positioning terminal corresponding to the air pressure difference data and the positioning base station / beacon are at the same altitude layer based on the air pressure difference data it has calculated.

[0061] In other embodiments where the receiver is responsible for calculating the air pressure difference data, the receiver sends the air pressure difference data it has calculated to the server, and the server determines whether the positioning terminal corresponding to the air pressure difference data and the positioning base station / beacon are at the same altitude layer based on the air pressure difference data.

[0062] In some embodiments where the server handles the technical air pressure difference data, the server determines whether the positioning terminal corresponding to the air pressure difference data and the positioning base station / beacon are at the same altitude layer based on the air pressure difference data it has calculated.

[0063] In step S103 above, obtaining ranging data between the positioning base station / beacon and the positioning terminal at the same altitude layer to determine the location of the positioning terminal can also be divided into the following multiple processing methods.

[0064] In some embodiments where the receiver determines whether the positioning terminal and the positioning base station / beacon are at the same altitude based on the pressure difference data calculated by the receiver itself, preferably, based on the determination result of whether the positioning terminal and the positioning base station / beacon are at the same altitude, the positioning terminal and the positioning base station / beacon at the same altitude perform ranging interaction to obtain the ranging data, and send it to the server so that the server can determine the location of the positioning terminal. In this way, the ranging data interaction between the positioning terminal and the positioning base station / beacon is selective, resulting in less ranging data. The ranging data received by the server can be used for positioning calculations without prior determination of whether they are at the same altitude.

[0065] In other embodiments where the receiver determines whether the positioning terminal and the positioning base station / beacon are at the same altitude based on the pressure difference data calculated by itself, and where the server determines whether the positioning terminal and the positioning base station / beacon are at the same altitude based on the pressure difference data calculated by itself, there is no selective ranging interaction based on whether they are at the same altitude beforehand. The positioning terminal and the positioning base station / beacon perform ranging interaction according to traditional ranging methods to obtain the ranging data and send it to the server. The server performs filtering before calculation, that is, it filters the ranging data from the positioning terminal and the positioning base station / beacon at the same altitude to determine the position of the positioning terminal.

[0066] In the above embodiments, after obtaining the air pressure difference data, step S102, which involves determining whether the positioning terminal and the positioning base station / beacon are at the same altitude based on the air pressure difference data, includes: Step S1021: Preset that the positioning terminal in the same height layer is lower than the positioning base station, and set H according to the site environment. 定位基站 -H 定位终端 ≤D1, and the positioning terminal, which is preset to be in the same height layer, is higher than the positioning beacon, and H is set according to the site environment. 定位终端 -H 定位信标 ≤D2, the H 定位基站 H represents the altitude of the positioning base station. 定位终端 H is the height of the positioning terminal. 定位信标 The height of the positioning beacon.

[0067] Step S1022: Calculate the corresponding H based on the pressure difference value. 定位基站 -H 定位终端 =D3, and H 定位终端 -H 定位信标 =D4.

[0068] Step S1023: If D1-A2≤D3≤D1+A1 is satisfied, then it is determined that the corresponding positioning terminal and the positioning base station are at the same height. If D2-A4≤D4≤D2+A3 is satisfied, then it is determined that the corresponding positioning terminal and the positioning beacon are at the same height layer. Otherwise, they are at different height layers. A1, A2, A3, and A4 are empirical values ​​set according to the field environment.

[0069] The deviation value for judging height is very flexible. For example, a deviation range can be set according to the actual situation on site as the judgment of the same horizontal height. For example, the installation height of the positioning beacon is generally about 1 meter lower than the wearing height of the positioning terminal, that is, D2=1m. Then, if A4 and A3 in the judgment condition are both 0.5m, then D3 is judged to be at the same height if it is within 0.5m-1.5m. On the other hand, the installation height of the positioning base station is generally about 1 meter higher than the wearing height of the positioning terminal, that is, D1=1m. Then, if A1 and A2 in the judgment condition are both 0.5m, then D4 is judged to be at the same height if it is within 0.5m-1.5m.

[0070] Based on the same inventive concept as the above-described method embodiments, this application also provides a device for precise positioning assisted by a barometer module, comprising: The air pressure difference acquisition module is used to acquire air pressure difference data, which is the air pressure difference between the positioning terminal and the positioning base station / beacon at the same moment; Altitude determination module is used to determine whether the positioning terminal and the positioning base station / beacon are at the same altitude layer based on the air pressure difference data; The location determination module is used to obtain ranging data between the positioning base stations / beacons and positioning terminals at the same altitude layer to determine the location of the positioning terminal.

[0071] It should be noted that although several modules or sub-modules of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more modules described above can be embodied in one module. Conversely, the features and functions of one module described above can be further divided and embodied by multiple modules.

[0072] Based on the same inventive concept as the above method embodiments, this application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it enables the electronic device to implement the control method described in the above embodiments.

[0073] In one embodiment, the electronic device may be a server, and in this embodiment, the structure of the electronic device may be as follows: Figure 8 As shown, it includes a memory 2001, a communication module 2003, and one or more processors 2002.

[0074] The memory 2001 is used to store computer programs executed by the processor 2002. The memory 2001 may mainly include a program storage area and a data storage area. The program storage area may store the operating system and programs required to run instant messaging functions, etc.; the data storage area may store various instant messaging information and operation instruction sets, etc.

[0075] Memory 2001 may be volatile memory, such as random-access memory (RAM); memory 2001 may also be non-volatile memory, such as read-only memory, flash memory, hard disk drive (HDD), or solid-state drive (SSD); or memory 2001 may be any other medium capable of carrying or storing a desired computer program having the form of instructions or data structures and accessible by a computer, but is not limited thereto. Memory 2001 may be a combination of the above-mentioned memories.

[0076] Processor 2002 may include one or more central processing units (CPUs) or digital processing units, etc. Processor 2002 is used to implement the above-mentioned audio data processing method when calling computer programs stored in memory 2001.

[0077] The communication module 2003 is used to communicate with terminal devices and other servers.

[0078] This application embodiment does not limit the specific connection medium between the memory 2001, communication module 2003, and processor 2002. This application embodiment... Figure 8 The memory 2001 and the processor 2002 are connected via a bus 2004, which is in... Figure 8 The connections between other components are illustrated with arrows and are for illustrative purposes only, not as limiting information. The Bus 2004 can be divided into address bus, data bus, control bus, etc. For ease of description, Figure 8 The text uses only one arrow to describe it, but does not indicate that there is only one bus or one type of bus.

[0079] Based on the same inventive concept as the above-described method embodiments, embodiments of the present invention also provide a computer-readable storage medium for storing a computer program. When the computer program is run on a computer, it enables the electronic device to implement the control method described in the above embodiments. The computer-readable storage medium can be a readable signal medium or a readable storage medium. A readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof.

[0080] Based on the same inventive concept as the above-described method embodiments, embodiments of the present invention also provide a computer program product, which includes a computer program that, when run on an electronic device, causes the electronic device to perform the steps of the control methods described above according to various exemplary embodiments of this application. The program product may take the form of any combination of one or more readable media. These computer program commands can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the commands executed by the processor of the computer or other programmable data processing device generate a process for implementing... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0081] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

Claims

1. A method for assisted precise positioning with a barometer module, characterized in that, The method comprises: obtaining air pressure difference data, which is the air pressure difference between the positioning terminal and the positioning base station / beacon at the same time; judging whether the positioning terminal and the positioning base station / beacon are at the same altitude layer according to the air pressure difference data; obtaining ranging data between the positioning terminal and the positioning base station / beacon at the same altitude layer to determine the position of the positioning terminal.

2. The method of claim 1, wherein, The method of obtaining air pressure difference data comprises: the positioning terminal obtains first air pressure data and a first air pressure data timestamp of the position where the positioning terminal is located; the positioning base station / beacon obtains second air pressure data and a second air pressure data timestamp of the position where the positioning base station / beacon is located; when the first air pressure data timestamp and the second air pressure data timestamp are within a preset range, the difference between the first air pressure data and the second air pressure data is calculated as the air pressure difference data.

3. The method of claim 2, wherein, The method of obtaining air pressure difference data comprises: one of the positioning terminal and the positioning base station / beacon is a sender and the other is a receiver, the sender sends air pressure data and a timestamp of the position where the sender is located to the receiver; the receiver calculates and obtains the air pressure difference data; or, the positioning terminal sends the first air pressure data and the first air pressure data timestamp to a server; the positioning base station / beacon sends the second air pressure data and the second air pressure data timestamp to the server; the server calculates and obtains the air pressure difference data.

4. The method of claim 3, wherein, The method of judging whether the positioning terminal and the positioning base station / beacon are at the same altitude layer according to the air pressure difference data comprises: the receiver judges whether the positioning terminal and the positioning base station / beacon corresponding to the air pressure difference data are at the same altitude layer according to the air pressure difference data calculated by the receiver; or, the receiver sends the air pressure difference data calculated by the receiver to a server, and the server judges whether the positioning terminal and the positioning base station / beacon corresponding to the air pressure difference data are at the same altitude layer according to the air pressure difference data; or, the server judges whether the positioning terminal and the positioning base station / beacon corresponding to the air pressure difference data are at the same altitude layer according to the air pressure difference data calculated by the server.

5. The method of claim 3, wherein, The method of obtaining ranging data between the positioning terminal and the positioning base station / beacon at the same altitude layer to determine the position of the positioning terminal comprises: according to the judgment result of whether the positioning terminal and the positioning base station / beacon are at the same altitude layer, the positioning terminal and the positioning base station / beacon at the same altitude layer perform ranging interaction to obtain the ranging data and send the ranging data to the server to make the server determine the position of the positioning terminal; or, the positioning terminal and the positioning base station / beacon perform ranging interaction to obtain the ranging data and send the ranging data to the server; the server screens the ranging data from the positioning terminal and the positioning base station / beacon at the same altitude layer from the ranging data to determine the position of the positioning terminal.

6. The method of claim 5, wherein, The method of judging whether the positioning terminal and the positioning base station / beacon are at the same altitude layer according to the air pressure difference data comprises: H 定位基站 -H 定位终端 ≤ D1, and the positioning terminal is lower than the positioning beacon, and H 定位终端 -H 定位信标 ≤ D2, the H 定位基站 is the height of the positioning base station, H 定位终端 is the height of the positioning terminal, H 定位信标 is the height of the positioning beacon; According to the air pressure difference value, the corresponding H 定位基站 -H 定位终端 =D3, and H 定位终端 -H 定位信标 =D4; If D1-A2≤D3≤D1+A1 is satisfied, it is determined that the corresponding positioning terminal and positioning base station are at the same height, and if D2-A4≤D4≤D2+A3 is satisfied, it is determined that the corresponding positioning terminal and positioning beacon are at the same height layer, otherwise, they are at different height layers, wherein A1, A2, A3 and A4 are empirical values set according to the field environment.

7. A system for assisted precise positioning with a barometer module, characterized in that The method comprises: a positioning terminal, on which a first air pressure module is arranged to measure the air pressure of the positioning terminal; a positioning base station / beacon, on which a second air pressure module is arranged to measure the air pressure of the positioning base station / beacon; a server, which communicates with at least one of the positioning terminal and the positioning base station / beacon, and determines the position of the positioning terminal according to the ranging data between the positioning base station / beacon and the positioning terminal at the same height layer; wherein whether the positioning terminal and the positioning base station / beacon are at the same height layer is determined by the air pressure difference data between the positioning terminal and the positioning base station / beacon at the same time.

8. An apparatus for assisting in accurate positioning using a barometer module, characterized by, The method comprises: an air pressure difference obtaining module, which is configured to obtain air pressure difference value data, the air pressure difference value data being the air pressure difference between the positioning terminal and the positioning base station / beacon at the same time; a height determining module, which is configured to determine whether the positioning terminal and the positioning base station / beacon are at the same height layer according to the air pressure difference value data; a position determining module, which is configured to determine the position of the positioning terminal according to the ranging data between the positioning base station / beacon and the positioning terminal at the same height layer.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program, so that the electronic device implements the method of any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium is used to store the computer program, when the computer program runs on the computer, so that the computer executes the method of any one of claims 1 to 6.

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