A method for locating the trajectory of ground personnel

Abstract

This disclosure provides a method for trajectory localization of ground personnel. The method includes: acquiring the current location data of the ground personnel; determining the scene type corresponding to the current location data based on the current location data and pre-set scenario-based dynamic dual threshold data; if, based on the scene type and the current location data, it is determined that the ground personnel are located at a jump point, then a jump type determination is performed on the jump point to obtain jump type information; and the jump point is processed based on a trajectory correction strategy corresponding to the jump type information to obtain the target location information of the ground personnel. The technical solution of this disclosure, based on the scene type and current location data, obtains the target location information of the ground personnel, adaptively determines whether the ground personnel have trajectory jumps according to different movement scenarios, avoids misjudgment or omission, reduces the impact of abnormal jump points on trajectory results, and achieves the effect of improving the trajectory localization accuracy, trajectory continuity, and stability of ground personnel.

Description

Technical Field

[0001] This disclosure relates to the field of 5G mobile communication technology, and in particular to a method for locating the trajectory of ground personnel. Background Technology

[0002] By determining the location coordinates and continuous movement trajectories of ground personnel at different times, a data foundation can be provided for personnel dispatch, abnormal behavior identification, rescue command, and regional security control. Therefore, how to accurately and continuously obtain target location information of ground personnel in complex ground environments has become a problem that current mobile communication positioning needs to solve.

[0003] Currently, the main method for locating user equipment (UE) trajectories in 5G networks is to determine the UE's location area based on the identifier of the primary serving base station it is currently camped on. However, this method cannot determine the UE's exact location within a sector, especially in areas where adjacent base stations overlap, easily leading to discontinuous and jump-like trajectories. Therefore, this method suffers from low positioning accuracy, jagged trajectories, poor scenario adaptability, and difficulty in meeting the application requirements of emergency rescue and other situations demanding higher positioning accuracy and trajectory continuity. Summary of the Invention

[0004] This disclosure provides a method for locating the trajectory of ground personnel, which can adaptively determine whether there are trajectory jumps of ground personnel according to different movement scenarios, avoid misjudgment or omission, reduce the impact of abnormal jump points on trajectory results, and achieve the effect of improving the accuracy, continuity and stability of ground personnel trajectory positioning.

[0005] In a first aspect, embodiments of this disclosure provide a method for locating the trajectory of personnel on the ground, the method comprising: The system acquires the current location data of ground personnel and determines the scene type corresponding to the current location data based on the current location data and pre-set scenario-based dynamic dual threshold data. The current location data includes a location timestamp, a main base station identifier, location coordinates, and the actual sensitivity of the grid point to which the location coordinates belong. If, based on the scenario type and the current location data, it is determined that the ground personnel are located at a jump point, then a jump type determination is performed on the jump point to obtain jump type information; wherein, the jump point is used to indicate that the main base station for locating the ground personnel has changed; The jump point is processed based on the trajectory correction strategy corresponding to the jump type information to obtain the target positioning information of the ground personnel.

[0006] Secondly, embodiments of the present invention also provide a trajectory positioning device for ground personnel, the device comprising: The scene type determination module is used to acquire the current location data of ground personnel and determine the scene type corresponding to the current location data based on the current location data and the pre-set scene-based dynamic dual threshold data. The current location data includes the location timestamp, main base station identifier, location coordinates, and the actual sensitivity of the grid point to which the location coordinates belong. The jump type information determination module is used to determine the jump type of the jump point and obtain jump type information if it is determined that the ground personnel are located at the jump point based on the scene type and the current positioning data; wherein, the jump point is used to indicate that the main base station for positioning the ground personnel has changed; The target positioning information determination module is used to process the jump point based on the trajectory correction strategy corresponding to the jump type information to obtain the target positioning information of the ground personnel.

[0007] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising: One or more processors; Storage device for storing one or more programs. When the one or more programs are executed by the one or more processors, the one or more processors implement the ground personnel trajectory positioning method as described in any embodiment of the present invention.

[0008] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the trajectory positioning method for ground personnel as described in any of the embodiments of the present invention.

[0009] Fifthly, embodiments of the present invention also provide a computer program product, including a computer program, characterized in that, when executed by a processor, the computer program implements the trajectory positioning method for ground personnel as described in any embodiment of the present invention.

[0010] The technical solution of this disclosure is applied to the location positioning and trajectory correction of ground personnel. First, the current location data of the ground personnel is acquired, and based on the current location data and pre-set scenario-based dynamic dual threshold data, the scenario type corresponding to the current location data is determined. Then, if it is determined that the ground personnel are located at a jump point based on the scenario type and the current location data, the jump point is judged to obtain jump type information. Finally, the jump point is processed based on the trajectory correction strategy corresponding to the jump type information to obtain the target location information of the ground personnel. This solves the problems of low positioning accuracy, jagged trajectory, poor scenario adaptability, and difficulty in meeting the application requirements of high positioning accuracy and trajectory continuity, such as those in emergency rescue, when locating user equipment trajectories based on 5G networks and determining the location area of ​​the user equipment based on the identifier of the main serving base station currently camped. This disclosure achieves the goal of obtaining the target location information of ground personnel based on the scenario type and current location data, and adaptively judging whether the ground personnel have trajectory jumps according to different movement scenarios, avoiding misjudgments or omissions, reducing the impact of abnormal jump points on trajectory results, and improving the accuracy, continuity, and stability of ground personnel trajectory positioning. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of exemplary embodiments of the present invention, the accompanying drawings used in describing the embodiments are briefly introduced below. Obviously, the accompanying drawings described are only a portion of the drawings of the embodiments to be described in this invention, and not all of the drawings. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort.

[0012] Figure 1 This is a schematic flowchart of a method for locating the trajectory of ground personnel provided in an embodiment of this disclosure; Figure 2 This is a schematic flowchart of a method for locating the trajectory of ground personnel provided in an embodiment of this disclosure; Figure 3 A schematic diagram of the structure of a ground personnel trajectory positioning device provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0013] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0014] Before introducing the technical solutions provided in the embodiments of this disclosure, the application scenarios can be illustrated first. The technical solutions provided in the embodiments of this disclosure can be applied to scenarios involving the location and trajectory correction of personnel on the ground. Based on the technical solutions in the embodiments of this disclosure, target location information of personnel on the ground is obtained based on scene type and current location data. The system adaptively determines whether personnel on the ground exhibit trajectory jumps according to different movement scenarios, avoiding misjudgments or omissions, reducing the impact of abnormal jump points on trajectory results, and ultimately improving the accuracy, continuity, and stability of personnel trajectory positioning.

[0015] Example 1 Figure 1 This is a flowchart illustrating a method for locating the trajectory of ground personnel according to an embodiment of this disclosure. This embodiment is applicable to situations involving the location and trajectory correction of ground personnel. The method can be executed by a trajectory positioning device for ground personnel, which can be implemented in the form of software and / or hardware. The hardware can be a mobile electronic device, which can execute the trajectory positioning method for ground personnel provided in this technical solution.

[0016] like Figure 1 As shown, the method is applied to the location and trajectory correction of personnel on the ground, and the method includes: S110. Obtain the current location data of ground personnel, and determine the scene type corresponding to the current location data based on the current location data and the pre-set scenario-based dynamic dual threshold data.

[0017] The current location data includes the location timestamp, main base station identifier, location coordinates, and the actual sensitivity of the grid point to which the location coordinates belong.

[0018] Here, "ground personnel" refers to people moving in a two-dimensional space on the ground. Examples include inspection personnel, construction workers, or cyclists. Location positioning refers to determining the position of ground personnel at a specific moment. Trajectory correction refers to identifying and correcting anomalies in the trajectories formed by continuous positioning points, making the trajectories more continuous, smooth, and consistent with real-world motion patterns. In other words, the method provided in this invention does not simply obtain a single positioning point, but rather addresses the trajectory data generated during the continuous movement of ground personnel, resolving trajectory jump problems caused by base station signal switching, coverage overlap, or signal fluctuations.

[0019] It should be noted that current location data refers to a set of location-related information collected or calculated for ground personnel at the current location time or within the current sampling period. Current location data is used to determine the current location of ground personnel, the status of the serving base station, and signal strength, and serves as the basis for subsequent determination of scene type, identification of jump points, and trajectory correction. For example, a set of current location data can be represented as: at current time t, the ground personnel are located at coordinates P(x,y), provided by the main base station A, and the actual sensitivity at the corresponding grid point is -95dBm.

[0020] It should be noted that the positioning timestamp refers to the time information corresponding to the generation, collection, calculation, or reporting of the current positioning data. The purpose of the positioning timestamp is to mark the position of the positioning point on the time axis and to calculate the time interval between adjacent positioning points. In this embodiment of the invention, the positioning timestamp can be used to determine whether there are time anomalies in the current positioning data. For example, positioning records with positioning timestamp errors greater than a preset value can be eliminated. The main base station identifier refers to the unique identifier information of the base station that provides the main signal source for ground personnel under the current positioning timestamp. In this embodiment of the invention, the main base station identifier is mainly used to determine whether a main base station switch has occurred during the continuous positioning process of ground personnel. For example, if the main base station identifier is A at time t1 and the main base station identifier is B at time t2, it indicates that the main base station has changed, and there may be trajectory jumps caused by base station switching. The location coordinates refer to the spatial coordinate information in the current positioning data used to represent the current location of the ground personnel. The actual sensitivity of the grid point to which the location coordinates belong refers to the wireless signal received strength information measured or estimated at the grid point after the current location coordinates of the ground personnel are mapped to a pre-established two-dimensional grid model. In this embodiment of the invention, the actual sensitivity is preferably the reference signal received power at the current location. For example: If a location coordinate P falls into grid point G, and the signal strength of the main base station received by the terminal at grid point G is -90dBm, then the actual sensitivity of the grid point can be -90dBm.

[0021] It should also be noted that the scenario-based dynamic dual-threshold data includes speed range, distance threshold, and time threshold corresponding to different scenario types. For example, the speed range corresponding to low-speed scenarios is less than or equal to 5 km / h, the distance threshold is 30 meters, and the time threshold is 8 seconds; the speed range corresponding to medium-speed scenarios is greater than 5 km / h and less than or equal to 60 km / h, the distance threshold is 80 meters, and the time threshold is 5 seconds.

[0022] Optionally, based on the current positioning data, determine the movement speed of the ground personnel and the first displacement information within the first time period; based on the movement speed, the first displacement information, and the scenario-based dynamic dual threshold data, determine the scenario type to which the ground personnel belong.

[0023] Movement speed refers to the distance traveled by a ground-based person per unit time between adjacent positioning moments or within a preset time window. The first duration can be the time interval between the current positioning point and the previous positioning point, or the time interval between the current positioning point and the start point of the preset time window. The first displacement information refers to the positional changes of the ground-based person within the first duration.

[0024] Specifically, two consecutive positioning points of the ground personnel are acquired, serving as the previous positioning point and the current positioning point, respectively. The previous positioning point includes the position coordinates and positioning timestamp of the previous moment, while the current positioning point includes the position coordinates and positioning timestamp of the current moment. When the position coordinates of the positioning point are latitude and longitude coordinates, they are first converted to Cartesian coordinates. Preferably, WGS84 latitude and longitude coordinates are converted to Gauss-Kruger Cartesian coordinates to reduce the calculation error of spherical coordinates and facilitate subsequent planar distance calculations. Then, based on the positioning timestamps of the previous and current positioning points, the time interval between the previous and current positioning points is determined and used as the first duration. To improve the accuracy of time calculation, the positioning timestamps can be standardized to UTC time, and positioning data with timestamp errors greater than a preset error threshold can be removed. For example, records with timestamp errors greater than 100ms can be removed.

[0025] Furthermore, based on the position coordinates of the previous fixed point and the current fixed point, the first displacement information of the ground personnel within the first time period is determined. The first displacement information includes the displacement direction and displacement distance from the previous fixed point to the current fixed point. The displacement direction is determined by the change in coordinates of the current fixed point relative to the previous fixed point in the planar coordinate system, and the displacement distance is the straight-line distance between the previous fixed point and the current fixed point. After determining the first displacement information, the movement speed of the ground personnel is determined based on the displacement distance and the first time period. Thus, based on the position coordinates and timestamps of continuous fixed points, the first displacement information and corresponding movement speed of the ground personnel within the first time period can be obtained. After determining the movement speed and the first displacement information within the first time period, the reliability of the speed and displacement can be further judged by combining the main base station identifier and the actual sensitivity of the grid point to which the position coordinates belong. For example, if the main base station identifiers of the current fixed point and the previous fixed point change, it indicates a possible base station handover. If the actual sensitivity, i.e., RSRP, shows a significant decrease or increase, it indicates a possible sudden change in the signal environment. If the position changes significantly within a short period, and the main base station changes simultaneously, it may be a trajectory jump rather than actual movement.

[0026] It should be noted that when determining the scene type of ground personnel based on movement speed, initial displacement information, and scenario-based dynamic dual threshold data, the scene type is first preliminarily judged based on the movement speed of the ground personnel. When the movement speed is less than or equal to 5 km / h, the ground personnel are preliminarily identified as a low-speed scene; when the movement speed is greater than 5 km / h but less than or equal to 60 km / h, the ground personnel are preliminarily identified as a medium-speed scene. Among them, low-speed scenes can correspond to slow-moving personnel such as pedestrians and inspection personnel, while medium-speed scenes can correspond to medium-moving personnel such as cyclists and electric bicycle riders.

[0027] Furthermore, the initially determined scenario type is confirmed based on the first displacement information and scenario-based dynamic dual threshold data. The first displacement information includes the displacement distance and time interval within a first duration. For low-speed scenarios, if the displacement distance within the first duration does not exceed 30 meters, or if there is no instance of moving more than 30 meters within 8 seconds, then the ground personnel are confirmed to be in a low-speed scenario. For medium-speed scenarios, if the displacement distance within the first duration does not exceed 80 meters, or if there is no instance of moving more than 80 meters within 5 seconds, then the ground personnel are confirmed to be in a medium-speed scenario.

[0028] In another implementation, when the movement speed calculated based on the first displacement information significantly exceeds the normal movement range of personnel on the ground, it is not directly identified as a higher-speed scenario. Instead, it is determined whether it is a suspected jump point by combining the distance threshold and time threshold under the corresponding scenario. For example, in a low-speed scenario, if the displacement distance within the first time period exceeds 30 meters and the time interval is less than 8 seconds, the positioning data can be initially identified as a suspected jump point. In a medium-speed scenario, if the displacement distance within the first time period exceeds 80 meters and the time interval is less than 5 seconds, the positioning data can be initially identified as a suspected jump point. Thus, by initially judging the scenario based on movement speed and confirming it by combining the first displacement information and scenario-based dynamic dual threshold data, misjudgment of the scenario caused by positioning jumps can be avoided, improving the accuracy of subsequent jump recognition and trajectory correction.

[0029] Optionally, a two-dimensional coverage model is constructed based on the ground scene base station parameters, and scenario-specific dynamic dual-threshold data is determined based on the two-dimensional coverage model. Constructing the two-dimensional coverage model based on the ground scene base station parameters includes: acquiring the basic plane parameters, antenna radiation parameters, signal propagation parameters, and neighbor cell association parameters of at least two base stations; preprocessing the basic plane parameters, antenna radiation parameters, signal propagation parameters, and neighbor cell association parameters to determine the first receiving sensitivity value of multiple grid points centered on the base station; determining the initial coverage area based on the first receiving sensitivity value and a preset sensitivity threshold, and performing boundary redundancy processing on the initial coverage area to obtain a polygonal region; and obtaining an overlapping coverage area based on the polygonal region and the coverage areas of adjacent base stations.

[0030] The basic planar parameters include the base station's latitude and longitude, antenna installation height, and terrain type. Antenna radiation parameters include azimuth, downtilt angle, and horizontal half-power beamwidth. Signal propagation parameters include base station transmit power, operating frequency band, and ground path loss. Neighbor cell association parameters include adjacent base station identifiers, plane spacing between adjacent base stations, and overlapping area of ​​adjacent sectors. The overlapping coverage area is used to determine the hop type information for hop points.

[0031] Ground-based base station engineering parameters refer to the set of engineering parameters used to describe the coverage capability, antenna orientation, propagation environment, and neighbor cell relationships of ground communication base stations. These parameters are used to construct a two-dimensional ground coverage model and mainly include basic plane parameters, antenna radiation parameters, signal propagation parameters, and neighbor cell association parameters. The two-dimensional coverage model is a model of the base station signal coverage range calculated based on the ground-based base station engineering parameters in a two-dimensional ground coordinate system. The two-dimensional coverage model can represent the coverage area of ​​each base station or sector on the ground, the received signal strength at different grid points, the overlapping coverage area between adjacent base stations, and which base station signals a person on the ground might receive at a certain location.

[0032] Among these parameters, the base station's latitude and longitude parameters refer to its location parameters in a geographic coordinate system, typically including longitude and latitude. These parameters determine the base station's specific location in terrestrial space. When constructing a two-dimensional coverage model, the base station's latitude and longitude are usually converted to Cartesian coordinates for distance, area, and coverage range calculations. The antenna installation height parameter refers to the height of the base station antenna relative to the ground. This parameter affects signal propagation distance, coverage range, and the location of the antenna beam's landing point. For example, a higher antenna installation height may result in a larger signal coverage range under certain conditions. The terrain type surrounding the base station refers to the type of ground environment around it. For example, the terrain type could be open land, urban area, or industrial park.

[0033] Antenna azimuth refers to the orientation angle of the antenna's main lobe in the horizontal plane, used to determine the primary coverage direction of a base station. For example, the antenna radiates signals towards due north, due east, or a specific angular direction. Downtilt refers to the downward tilt angle of the antenna's main lobe relative to the horizontal plane, used to control the signal coverage distance and intensity on the ground. A larger downtilt angle primarily covers the area near the base station; a smaller downtilt angle may cover a greater distance. Horizontal half-power beamwidth refers to the range of the antenna's main radiation angles in the horizontal direction, representing the effective coverage width of the antenna signal in the horizontal direction. For example, a horizontal half-power beamwidth of 65° indicates that the antenna has strong coverage capability within a certain angular range to the left and right of its main direction.

[0034] Base station transmit power refers to the power of a base station when transmitting wireless signals. The higher the base station transmit power, the farther the signal can cover under the same propagation environment, and the higher the received signal strength at each grid point. Operating frequency band refers to the frequency range used by the base station's wireless signal. Different frequency bands have different propagation characteristics. Generally speaking, low-frequency signals have stronger penetration and longer coverage distances; high-frequency signals have greater propagation loss but can provide higher capacity. Ground path loss parameters describe the attenuation of wireless signals during ground propagation and are used to calculate the attenuation of the base station signal after it reaches a grid point. Ground path loss parameters are related to the distance between the base station and the target location, the operating frequency band, terrain type, building obstruction, and ground environmental reflections and diffraction.

[0035] Neighboring base station identifiers are unique numbers of other base stations or sectors that are neighboring the current base station. They are used to determine which base stations the current base station may be handover partners with. For example, if the current primary base station is A, and neighboring base station identifiers include B and C, then a handover may occur when a person moves from the coverage area of ​​A to the coverage area of ​​B or C. The horizontal distance between adjacent base stations refers to the horizontal distance between two adjacent base stations in a two-dimensional coordinate system. This distance can be calculated from the plane coordinates of the two base stations. The horizontal distance between adjacent base stations is used to determine whether the coverage areas of two base stations may overlap, and the approximate extent of the overlap. The overlapping area of ​​adjacent sectors refers to the area of ​​the overlapping portion of the coverage areas of two adjacent base stations or adjacent sectors in a two-dimensional plane. The larger the overlapping area of ​​adjacent sectors, the more significant the signal overlap between the two base stations or sectors. People on the ground are more likely to experience a primary base station handover in this area, and are also more likely to experience trajectory jumps caused by base station handovers.

[0036] The first receiving sensitivity value of multiple grid points centered on a base station refers to the following: Multiple two-dimensional grid points are divided around a base station, and the signal strength of the base station that can be received at each grid point is calculated based on the base station's operating parameters. This first receiving sensitivity value can be understood as the predicted received signal strength at the grid point, preferably the RSRP value. For example, a grid point is generated at regular intervals around a base station, and the system calculates the signal strength received by each grid point, obtaining the first receiving sensitivity value corresponding to each grid point. It should be noted that during the preprocessing of the basic plane parameters, antenna radiation parameters, signal propagation parameters, and neighbor cell correlation parameters, the acquired basic plane parameters, antenna radiation parameters, signal propagation parameters, and neighbor cell correlation parameters are first cleaned, removing or correcting missing, duplicate, or abnormal data. Then, the base station's latitude and longitude coordinates are converted to a unified Cartesian coordinate system, and the units of parameters such as height, distance, angle, power, and frequency band are standardized. Subsequently, multiple grid points are divided within a preset range at preset intervals, centered on the base station location, and the distance, direction relationship, and corresponding terrain type between each grid point and the base station are determined. Furthermore, based on the base station's transmit power, operating frequency band, ground path loss parameters, antenna azimuth angle, downtilt angle, and horizontal half-power beamwidth, the signal attenuation after propagation from the base station to each grid point is calculated. Finally, based on the base station's transmit power and the attenuation, the first receiving sensitivity value corresponding to each grid point is obtained.

[0037] It should be noted that the initial coverage area refers to the effective coverage range of the base station signal initially determined by comparing the first receiver sensitivity value of each grid point with a preset sensitivity threshold. In other words, if the first receiver sensitivity value at some grid points reaches or exceeds the preset sensitivity threshold, these grid points are considered to be within the effective coverage range of the base station. The area formed by connecting or aggregating these effective grid points is the initial coverage area.

[0038] A polygonal region refers to the base station coverage area represented in polygonal form after boundary processing of the initial coverage area. The initial coverage area is typically composed of a large number of discrete grid points, and its boundaries may be discontinuous or uneven. To facilitate spatial calculations, such as determining whether a point falls within the coverage area, it needs to be converted into a polygonal region. This polygonal region can represent the effective coverage boundary of a base station or sector on a two-dimensional plane. Specifically, the outer boundary of the initial coverage area is extracted based on the distribution of effective coverage grid points, and isolated coverage points or abnormally small areas are removed. A few holes within the initial coverage area are filled to improve the continuity of the coverage area. Subsequently, considering base station operating parameter errors, propagation model errors, and positioning errors, the boundary of the initial coverage area is expanded by a preset distance, and the expanded boundary is smoothed to obtain a closed polygonal region.

[0039] When obtaining the overlapping coverage area based on the polygonal region and the coverage areas of adjacent base stations, spatial intersection processing is performed on the polygonal region of the current base station and the coverage areas of adjacent base stations. If the two regions intersect, the intersecting region is determined as the overlapping coverage area between the current base station and the adjacent base station. For example, if the coverage polygon of base station A partially overlaps with the coverage polygon of base station B, then the overlapping part is the overlapping coverage area of ​​base station A and base station B. When a person's trajectory jumps, it can be determined whether the jump is more likely caused by base station handover or belongs to abnormal location jump based on whether the jump point is located within the overlapping coverage area of ​​adjacent base stations.

[0040] Hop type information can include hops caused by adjacent base station handovers and abnormal hops. Hops caused by adjacent base station handovers refer to situations where a person on the ground is located in an area with overlapping coverage of adjacent base stations, and the primary base station changes; the hop may be caused by a normal base station handover. Abnormal hops refer to situations where the hop point is not located in an area with overlapping coverage of adjacent base stations, or where there is no neighboring cell relationship between the base stations before and after the hop, or where the movement distance or speed is obviously unreasonable.

[0041] It should also be noted that when determining scenario-based dynamic dual-threshold data based on the two-dimensional coverage model, the polygonal coverage area of ​​each base station or sector, the overlapping coverage area between adjacent base stations, and the first receiving sensitivity value corresponding to each grid point are determined according to the two-dimensional coverage model. This is combined with the location of the ground personnel, the primary base station identifier, and the coverage relationship between adjacent base stations to determine the current coverage environment of the ground personnel. Furthermore, the corresponding scenario type is determined based on the movement speed of the ground personnel, and corresponding distance and time thresholds are configured for different scenario types. For example, when the ground personnel are in a low-speed scenario, the distance threshold is set to 30 meters and the time threshold to 8 seconds; when the ground personnel are in a medium-speed scenario, the distance threshold is set to 80 meters and the time threshold to 5 seconds. When determining the thresholds, dynamic adjustments can also be made based on the overlapping coverage area in the two-dimensional coverage model. If the ground personnel are located within the overlapping coverage area of ​​an adjacent base station, it indicates that a primary base station handover may have occurred at that location, and the dynamic dual thresholds for the corresponding scenario can be used to judge the displacement distance and time interval; if the ground personnel are not located within the overlapping coverage area, the distance and time thresholds for the current scenario can be used to determine whether there is an abnormal jump.

[0042] In this embodiment, within the overlapping coverage area, a second receiving sensitivity value is calculated for each grid point; based on the second receiving sensitivity value, a planar heat map of the overlapping coverage area is obtained.

[0043] Among them, the planar heatmap is used to indicate the signal strength of grid points relative to two adjacent base stations.

[0044] It should be noted that the second receiver sensitivity value refers to the received signal strength value of each grid point relative to two adjacent base stations, calculated separately for each grid point within the overlapping coverage area. The first receiver sensitivity value is mainly used to determine the coverage range of a base station, while the second receiver sensitivity value is mainly used to compare the signal strength of the two base stations received by the grid point within the overlapping coverage area of ​​two adjacent base stations. For example, for the overlapping coverage area of ​​adjacent base stations A and B, the second receiver sensitivity value of a grid point P may include: the signal strength of base station A received by grid point P; the signal strength of base station B received by grid point P; and the difference in signal strength between the two.

[0045] A planar heatmap is a two-dimensional image that visualizes the second receiver sensitivity values ​​of each grid point within an overlapping coverage area using color, grayscale, or numerical values. Planar heatmaps can be used to indicate which locations have stronger signals from base station A, which locations have stronger signals from base station B, which locations have signals from two base stations that are close together, and which locations are more prone to base station handover. For example, red can represent a strong signal from base station A, blue can represent a strong signal from base station B, and green or yellow can represent signals from two base stations that are close in strength.

[0046] It should be noted that when calculating the second receiver sensitivity value for each grid point, the two adjacent base stations forming the overlapping coverage area are identified, and multiple grid points are generated within the overlapping coverage area according to a preset grid interval. For each grid point, the received signal strength of the grid point relative to each base station is calculated based on the base station operating parameters of the two adjacent base stations. Furthermore, based on the transmit power, operating frequency band, antenna azimuth angle, downtilt angle, horizontal half-power beamwidth, ground path loss parameters, and the distance between the grid point and the corresponding base station of each base station, the attenuation of the signal after propagation to the grid point is determined, and the second receiver sensitivity value corresponding to that grid point is obtained accordingly.

[0047] It should also be noted that when obtaining the planar heatmap of the overlapping coverage area, the second receiving sensitivity value corresponding to each grid point within the overlapping coverage area is obtained, and the heat value of each grid point is determined based on the received signal strength or the difference in received signal strength between each grid point and two adjacent base stations. Subsequently, the heat values ​​of each grid point are mapped according to a preset color or grayscale rule, and the heatmap is filled according to the planar position of each grid point within the overlapping coverage area to generate the planar heatmap.

[0048] Specifically, the current location data of ground personnel is acquired and combined with pre-set scenario-based dynamic dual-threshold data to determine their corresponding scenario type. The scenario-based dynamic dual-threshold data is determined based on a two-dimensional coverage model constructed from the ground scenario base station parameters. Further, a second receiving sensitivity value is calculated for each grid point within the overlapping coverage area, and a planar heatmap is generated to indicate the signal strength of each grid point relative to two adjacent base stations. Based on the current location data, the movement speed and first displacement information of the ground personnel within a first time period are determined, and the scenario-based dynamic dual-threshold data is used to determine whether the ground personnel belong to a low-speed or medium-speed scenario.

[0049] S120. If, based on the scene type and current location data, it is determined that the ground personnel are located at the jump point, then the jump type is determined for the jump point to obtain jump type information.

[0050] Among them, the jump point is used to indicate that the main base station for positioning personnel on the ground has changed.

[0051] It should be noted that a jump point refers to a location point where, during continuous positioning of a person on the ground, the primary base station identifier corresponding to the current positioning data changes compared to the primary base station identifier corresponding to the previous valid positioning data. For example, if the previous positioning point was provided by base station A, and the current positioning point is provided by base station B, then the current positioning point can be considered a candidate jump point. Jump points are used to characterize a change in the primary base station for a person on the ground; this could be a normal base station switch or an abnormal positioning jump.

[0052] It should be noted that the system checks whether the master base station identifier in the current location data differs from that in the previous valid location data. If the master base station identifier changes, and the time interval and displacement distance between two adjacent location measurements meet the dynamic dual threshold conditions corresponding to the current scenario type, then the location corresponding to the current location data is determined to be a jump point. For example, in a low-speed scenario, if the master base station changes within a short period of time, and the location shows a displacement exceeding the distance threshold for a low-speed scenario, then the current location can be determined to be a jump point. In a medium-speed scenario, the determination is made based on the distance threshold and time threshold corresponding to the medium-speed scenario.

[0053] Specifically, based on the current location data and the previous valid location data, it is determined whether the main base station identifier has changed. Combined with the time and distance thresholds corresponding to the current scenario type, it is determined whether ground personnel are located at a jump point. If a jump point is determined, the jump type is determined to obtain jump type information.

[0054] S130. Based on the trajectory correction strategy corresponding to the jump type information, the jump point is processed to obtain the target positioning information of ground personnel.

[0055] It should be noted that after determining the jump type information of the jump point, the corresponding trajectory correction strategy is selected according to different jump type information to correct or retain the positioning result of the jump point, thereby obtaining more accurate ground personnel target positioning information.

[0056] Optionally, for jump type information of abnormal jump, if the difference between the abnormal jump and the previous positioning time is less than a first threshold, the position information of the jump point is replaced by the predicted position information based on Kalman filter prediction; for jump type information of abnormal jump, if the difference between the abnormal jump and the previous positioning time is greater than the first threshold, the position information of the jump point is determined based on the historical trajectory of the same area; for jump type information of real jump, the first normal point before the jump point and the second normal point after the jump point are extracted, and the position information of the jump point is obtained by interpolation based on the first normal point and the second normal point.

[0057] Abnormal jumps refer to jump points where the main base station changes or the location changes abruptly, but this change does not conform to normal human movement patterns or base station coverage relationships. The previous positioning time refers to the timestamp corresponding to the most recent valid positioning data before the jump point. The first threshold is a pre-set time threshold used to distinguish between short-term and long-term anomalies. Kalman filtering is an algorithm that predicts and smooths the current or next moment's location based on historical position, velocity, and other state information. The predicted location information is the reasonable location information that ground personnel should be in at the jump point, predicted by the Kalman filtering algorithm.

[0058] It should be noted that when a jump point is identified as an abnormal jump, and the time interval between this jump point and the previous positioning point is short, it means that ground personnel could not have generated a large actual displacement in such a short period of time. Therefore, the location of this jump point is likely inaccurate. In this case, Kalman filtering can be used to replace the original location information of the jump point with a reasonable location predicted based on the preceding trajectory.

[0059] Among them, historical trajectories within the same area refer to historically collected personnel movement trajectory data within the same or similar area as the current jump point. Historical trajectories are a sequence of trajectories composed of multiple historical positioning points arranged in chronological order.

[0060] It should be noted that when a jump point is identified as an abnormal jump, but the time interval between this jump point and the previous location point is long, relying solely on the previous location data for prediction may be inaccurate. In this case, existing historical trajectory data within the same area can be referenced, and more reasonable location information for the jump point can be inferred based on the common movement paths or location distribution of historical individuals in that area.

[0061] In this context, "true jump" refers to a jump where the change or location of the main base station conforms to the movement patterns of people, the coverage relationship of base stations, or the judgment result of overlapping coverage areas. The first normal point refers to a location point located before the jump point and judged as having a normal positioning result. The second normal point refers to a location point located after the jump point and judged as having a normal positioning result. A normal point refers to a location point where the positioning result has not undergone any abnormal abrupt changes and meets conditions such as movement speed, time interval, and base station coverage relationship. Interpolation processing refers to calculating the position that the jump point should be in at the corresponding time based on the positions and times of the two normal points before and after it. The positioning information of the jump point refers to the position coordinates and related positioning data of the jump point obtained after interpolation correction.

[0062] It should also be noted that when a jump point is determined to be a genuine jump, it means that the jump is not entirely erroneous, but may be caused by actual personnel movement or normal base station switching. However, to make the trajectory smoother and more continuous, normal positioning points before and after the jump point can be extracted, and the position of the jump point can be interpolated based on these two normal points to obtain more reasonable jump point positioning information.

[0063] In this embodiment, the movement trajectory of ground personnel is determined based on the target positioning information corresponding to each current positioning data.

[0064] Specifically, the process involves acquiring target location information corresponding to multiple current location data points within a continuous time period. Then, the location points are sorted chronologically according to their timestamps, forming a sequence of location points arranged in chronological order. Further, adjacent location points are connected sequentially in chronological order to generate the initial movement trajectory of the personnel on the ground. Optionally, the location point sequence can be smoothed, outlier removed, or trajectory completion performed to make the trajectory more continuous and stable. Finally, the processed location point sequence and its connecting paths are used as the movement trajectory of the personnel on the ground. This trajectory represents the positional changes of the personnel on the ground within a certain time range.

[0065] The technical solution of this disclosure is applied to the location positioning and trajectory correction of ground personnel. First, the current location data of the ground personnel is acquired, and based on the current location data and pre-set scenario-based dynamic dual threshold data, the scenario type corresponding to the current location data is determined. Then, if it is determined that the ground personnel are located at a jump point based on the scenario type and the current location data, the jump point is judged to obtain jump type information. Finally, the jump point is processed based on the trajectory correction strategy corresponding to the jump type information to obtain the target location information of the ground personnel. This solves the problems of low positioning accuracy, jagged trajectory, poor scenario adaptability, and difficulty in meeting the application requirements of high positioning accuracy and trajectory continuity, such as those in emergency rescue, when locating user equipment trajectories based on 5G networks and determining the location area of ​​the user equipment based on the identifier of the main serving base station currently camped. This disclosure achieves the goal of obtaining the target location information of ground personnel based on the scenario type and current location data, and adaptively judging whether the ground personnel have trajectory jumps according to different movement scenarios, avoiding misjudgments or omissions, reducing the impact of abnormal jump points on trajectory results, and improving the accuracy, continuity, and stability of ground personnel trajectory positioning.

[0066] Example 2 Figure 2 This is a flowchart illustrating the method for locating the trajectory of ground personnel provided in an embodiment of the present invention. Based on the aforementioned embodiments, the method for determining the jump type at jump points and obtaining jump type information is explained in detail. For specific implementation details, please refer to the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here.

[0067] like Figure 2 As shown, the method specifically includes the following steps: S210. Obtain the current location data of ground personnel, and determine the scene type corresponding to the current location data based on the current location data and the pre-set scenario-based dynamic dual threshold data.

[0068] S220. If, based on the scene type and current location data, it is determined that a person on the ground is located at a jump point, the jump type is determined based on at least three verification dimensions to obtain jump type information.

[0069] Among them, at least three verification dimensions include: base station associated data verification, signal data verification, and motion feature verification.

[0070] It should be noted that base station association data verification refers to determining the jump type based on the association relationship between the main base stations before and after the jump point, and obtaining jump type information; signal data verification refers to determining the jump type based on signal parameters such as signal strength, signal quality, and actual sensitivity at the jump point, and obtaining jump type information; motion characteristic verification refers to determining the jump type based on the motion status of ground personnel, and obtaining jump type information.

[0071] Optionally, if the verification dimension is base station associated data verification, the hop type is determined based on the base station associated data verification to obtain hop type information, including: determining whether the main base station associated with the hop point is an adjacent base station; if not, the hop type information of the hop point is determined to be an abnormal hop; if yes, and whether the hop point is located in an overlapping coverage area, then signal data verification is performed; if yes, and the hop point is located in an overlapping coverage area, then the hop type information of the hop point is determined to be an abnormal hop.

[0072] It's important to first determine if the primary base stations associated with the jump point are adjacent. If they are not adjacent, it means personnel shouldn't jump directly from one base station to another that is far away or unrelated, thus classifying it as an abnormal jump. If they are adjacent, then determine if the jump point is within the overlapping coverage area of ​​the two base stations. If the jump point is within the overlapping coverage area, it means a primary base station handover might indeed occur at that location, so it cannot be directly classified as abnormal and signal data verification is required. If they are adjacent, but the jump point is not within the overlapping coverage area, it means that although the two base stations are adjacent, the current location is not within a reasonable handover area, and the change in primary base station does not conform to the coverage relationship, thus classifying it as an abnormal jump.

[0073] In this embodiment, if the verification dimension is signal data verification, the jump type is determined based on the signal data verification to obtain jump type information, including: within a first preset time period before the jump point, the third receiving sensitivity of the main base station to which the jump point belongs continuously decreases and the decrease is greater than a first amplitude threshold; and within a first preset time period after the jump point, the fourth receiving sensitivity of the main base station to which the jump point belongs continuously increases and the increase is greater than a first amplitude threshold. Then, the jump type is determined to be a real jump caused by the handover of the main base station.

[0074] The first preset duration refers to a pre-set time range, such as 5 seconds or 10 seconds before and after the jump point, or other time lengths. The first preset duration before the jump point refers to a period of time preceding the jump point time. The first preset duration after the jump point refers to a period of time following the jump point time. The primary base station is the base station mainly used to determine the location of personnel on the ground during the current positioning process. The third receiving sensitivity refers to the received signal strength or receiving signal capability corresponding to the primary base station within the first preset duration before the jump point. The fourth receiving sensitivity refers to the received signal strength or receiving signal capability corresponding to the primary base station within the first preset duration after the jump point. The decrease amplitude refers to the amount of change in receiving sensitivity from a higher value to a lower value. The increase amplitude refers to the amount of change in receiving sensitivity from a lower value to a higher value. The first amplitude threshold is a pre-set signal change amplitude threshold used to determine whether the signal change is sufficiently significant. Primary base station handover: refers to the change in the primary base station relied upon for positioning when personnel on the ground move from the coverage area of ​​one primary base station to the coverage area of ​​another.

[0075] It should be noted that if, for a period of time before the jump point occurs, the signal reception sensitivity of the primary base station corresponding to the jump point continuously decreases, and the decrease exceeds a set threshold, it indicates that the original primary base station signal is weakening. Conversely, if, for a period of time after the jump point occurs, the signal reception sensitivity of the primary base station corresponding to the jump point continuously increases, and the increase exceeds a set threshold, it indicates that the new primary base station signal is strengthening. This trend of signal weakening before handover and signal strengthening after handover is consistent with the normal signal change pattern when a person moves from one base station coverage area to another. Therefore, it can be determined that this jump is a genuine jump caused by the primary base station handover.

[0076] Optionally, if the verification dimension is motion feature verification, the jump type is determined based on the motion feature verification to obtain jump type information, including: in low-speed scenarios, if the instantaneous speed exceeds the first speed threshold and the acceleration is greater than the first acceleration threshold, the jump type information of the jump point is determined to be a real jump caused by the handover of the primary base station; in medium-speed scenarios, if the instantaneous speed is greater than the second speed threshold and the acceleration is greater than the second acceleration threshold, the jump type information of the jump point is determined to be a real jump caused by the handover of the primary base station.

[0077] Instantaneous velocity refers to the movement speed of ground personnel calculated within a short period between two adjacent positioning points, typically obtained by dividing distance by time. The first velocity threshold is a pre-set velocity judgment standard for low-speed scenarios, used to determine whether velocity increases abnormally in low-speed scenarios. The second velocity threshold is a pre-set velocity judgment standard for medium-speed scenarios, generally higher than the first velocity threshold. The first acceleration threshold is a pre-set acceleration judgment standard for low-speed scenarios. The second acceleration threshold is a pre-set acceleration judgment standard for medium-speed scenarios, generally set according to the characteristics of medium-speed motion.

[0078] It should be noted that in low-speed scenarios, the normal movement speed of people on the ground is relatively slow. If the instantaneous velocity calculated at a certain jump point suddenly exceeds the allowable speed range in low-speed scenarios, and the acceleration also suddenly increases, it indicates that a significant jump has occurred at that location point. Considering the master base station handover situation, this jump can be considered not caused by a sudden, high-speed movement of people, but rather by a change in the master base station, causing a jump in the location. Therefore, it is determined to be a genuine jump caused by the master base station handover. In medium-speed scenarios, the movement speed of people or targets on the ground is faster than in low-speed scenarios. Therefore, speed and acceleration thresholds that are more suitable for low-speed scenarios need to be used for judgment. If the instantaneous velocity of the jump point exceeds the second speed threshold, and the acceleration also exceeds the second acceleration threshold, it indicates that the location of that point has changed significantly, exhibiting a significant jump phenomenon. If this jump conforms to the master base station handover pattern, it is determined to be a genuine jump caused by the master base station handover.

[0079] Specifically, the system uses three dimensions—base station association data, signal data, and motion characteristics—to determine whether the jump point is an abnormal jump or a genuine jump caused by normal handover of the main base station.

[0080] S230. Based on the trajectory correction strategy corresponding to the jump type information, the jump point is processed to obtain the target positioning information of ground personnel.

[0081] The technical solution of this disclosure acquires the current location data of ground personnel and determines the scene type corresponding to the current location data based on the current location data and pre-set scenario-based dynamic dual threshold data. Then, if it is determined that the ground personnel are located at a jump point based on the scene type and the current location data, the jump point is judged based on at least three verification dimensions: base station association data verification, signal data verification, and motion feature verification, to obtain jump type information. Finally, the jump point is processed based on the trajectory correction strategy corresponding to the jump type information to obtain the target location information of the ground personnel. By identifying different scene types through scenario-based dynamic dual threshold data and combining multiple dimensions such as base station association, signal data, and motion features to comprehensively judge the jump point, the accuracy of jump point identification and jump type determination can be improved, and the misjudgment caused by a single threshold or a single verification method can be reduced. Furthermore, by using corresponding trajectory correction strategies to process jump points according to different jump types, abnormal abrupt changes in the positioning trajectory can be effectively reduced, making the target location information of ground personnel more continuous, smooth, and reliable, thereby improving the stability and positioning accuracy of personnel trajectory tracking.

[0082] Example 3 Figure 3 This is a schematic diagram of the structure of the ground personnel trajectory positioning device provided in the embodiments of this disclosure, as shown below. Figure 3 As shown, the device includes: a scene type determination module 310, a jump type information determination module 320, and a target positioning information determination module 330.

[0083] The scenario type determination module is used to acquire the current location data of ground personnel and determine the scenario type corresponding to the current location data based on the current location data and pre-set scenario-based dynamic dual threshold data. The current location data includes a location timestamp, a main base station identifier, location coordinates, and the actual sensitivity of the grid point to which the location coordinates belong. The jump type information determination module is used to determine the jump type of the jump point if, based on the scenario type and the current location data, the ground personnel are located at a jump point, thereby obtaining jump type information. The jump point indicates that the main base station locating the ground personnel has changed. The target location information determination module is used to process the jump point based on a trajectory correction strategy corresponding to the jump type information to obtain the target location information of the ground personnel.

[0084] The technical solution of this disclosure is applied to the location positioning and trajectory correction of ground personnel. First, the current location data of the ground personnel is acquired, and based on the current location data and pre-set scenario-based dynamic dual threshold data, the scenario type corresponding to the current location data is determined. Then, if it is determined that the ground personnel are located at a jump point based on the scenario type and the current location data, the jump point is judged to obtain jump type information. Finally, the jump point is processed based on the trajectory correction strategy corresponding to the jump type information to obtain the target location information of the ground personnel. This solves the problems of low positioning accuracy, jagged trajectory, poor scenario adaptability, and difficulty in meeting the application requirements of high positioning accuracy and trajectory continuity, such as those in emergency rescue, when locating user equipment trajectories based on 5G networks and determining the location area of ​​the user equipment based on the identifier of the main serving base station currently camped. This disclosure achieves the goal of obtaining the target location information of ground personnel based on the scenario type and current location data, and adaptively judging whether the ground personnel have trajectory jumps according to different movement scenarios, avoiding misjudgments or omissions, reducing the impact of abnormal jump points on trajectory results, and improving the accuracy, continuity, and stability of ground personnel trajectory positioning.

[0085] Based on the above technical solutions, a two-dimensional coverage model is constructed based on the ground scene base station parameters, and the scene-specific dynamic dual threshold data is determined based on the two-dimensional coverage model. The device further includes: a two-dimensional coverage model construction module, used to acquire basic plane parameters, antenna radiation parameters, signal propagation parameters, and neighbor cell association parameters of at least two base stations. The basic plane parameters include base station latitude and longitude parameters, antenna installation height parameters, and terrain type of the base station. The antenna radiation parameters include antenna azimuth angle, downtilt angle, and horizontal half-power beamwidth. The signal propagation parameters include base station transmit power, operating frequency band, and ground path loss parameters. The neighbor cell association parameters include adjacent base station identifiers, adjacent base station plane spacing, and overlapping area of ​​adjacent sectors. The basic plane parameters, antenna radiation parameters, signal propagation parameters, and neighbor cell association parameters are preprocessed to determine the first receiving sensitivity value of multiple grid points centered on the base station. Based on the first receiving sensitivity value and a preset sensitivity threshold, an initial coverage area is determined, and boundary redundancy processing is performed on the initial coverage area to obtain a polygonal region. Based on the polygonal region and the coverage areas of adjacent base stations, an overlapping coverage area is obtained. The overlapping coverage area is used to determine the hop type information of the hop point.

[0086] Based on the above technical solutions, the device further includes: a planar heat map acquisition module, used to calculate a second receiving sensitivity value for each grid point within the overlapping coverage area; and to obtain a planar heat map of the overlapping coverage area based on the second receiving sensitivity value, wherein the planar heat map is used to indicate the signal strength of the grid point relative to two adjacent base stations.

[0087] Based on the above technical solutions, the scene type determination module 310 is further configured to determine the movement speed of the ground personnel and the first displacement information within a first time period based on the current positioning data; and to determine the scene type to which the ground personnel belong based on the movement speed, the first displacement information and the scene-based dynamic dual threshold data; wherein, the scene type includes low-speed scene and medium-speed scene.

[0088] Based on the above technical solutions, the jump type information determination module 320 is further used to determine the jump type of the jump point based on at least three verification dimensions to obtain the jump type information; wherein, the at least three verification dimensions include at least: base station associated data verification, signal data verification, and motion feature verification.

[0089] Based on the above technical solutions, the jump type information determination module 320 further includes: a first jump type information determination submodule, a second jump type information determination submodule, and a third jump type information determination submodule.

[0090] The first hop type information determination submodule is used to determine whether the primary base station associated with the hop point is an adjacent base station when the verification dimension is base station associated data verification; if not, the hop type information of the hop point is determined to be an abnormal hop; if yes, and whether the hop point is located in an overlapping coverage area, the signal data verification is performed; if yes, and the hop point is located in the overlapping coverage area, the hop type information of the hop point is determined to be an abnormal hop.

[0091] The second hop type information determination submodule is used to determine the hop type as a real hop caused by a main base station handover when the verification dimension is signal data verification, and the third receiving sensitivity of the main base station to which the hop point belongs continuously decreases within a first preset time period before the hop point and the decrease is greater than a first amplitude threshold, and the fourth receiving sensitivity of the main base station to which the hop point belongs continuously increases within a first preset time period after the hop point and the increase is greater than the first amplitude threshold.

[0092] The third jump type information determination submodule is used to determine the jump type information of the jump point as a real jump caused by the main base station handover when the verification dimension is motion feature verification. In low-speed scenarios, if the instantaneous speed exceeds the first speed threshold and the acceleration is greater than the first acceleration threshold, the jump type information of the jump point is determined to be a real jump caused by the main base station handover. In medium-speed scenarios, if the instantaneous speed is greater than the second speed threshold and the acceleration is greater than the second acceleration threshold, the jump type information of the jump point is determined to be a real jump caused by the main base station handover.

[0093] Based on the above technical solutions, the target positioning information determination module 330 is further configured to: for jump type information being an abnormal jump, if the difference between the abnormal jump and the previous positioning time is less than a first threshold, replace the position information of the jump point with the predicted position information based on Kalman filter prediction; for jump type information being an abnormal jump, if the difference between the abnormal jump and the previous positioning time is greater than the first threshold, determine the positioning information of the jump point based on historical trajectories in the same area and according to the historical trajectories; for jump type information being a real jump, extract the first normal point before the jump point and the second normal point after the jump point, and obtain the positioning information of the jump point by interpolation based on the first normal point and the second normal point.

[0094] Based on the above technical solutions, the device further includes: a motion trajectory determination module, used to determine the motion trajectory of the ground personnel based on the target positioning information corresponding to each current positioning data.

[0095] The ground personnel trajectory positioning device provided in this disclosure can execute the ground personnel trajectory positioning method provided in any embodiment of this disclosure, and has the corresponding functional modules and beneficial effects of the execution method.

[0096] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of this disclosure.

[0097] Example 4 Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Refer to the following... Figure 4 It illustrates an electronic device suitable for implementing embodiments of the present disclosure (e.g., Figure 4The diagram below shows the structure of the terminal device or server 500. The terminal device in this embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and vehicle terminals (e.g., vehicle navigation terminals). Figure 4 The electronic device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments disclosed herein.

[0098] like Figure 4 As shown, electronic device 500 may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in read-only memory (ROM) 502 or a program loaded from storage device 508 into random access memory (RAM) 503. The RAM 503 also stores various programs and data required for the operation of electronic device 500. The processing unit 501, ROM 502, and RAM 503 are interconnected via bus 504. An edit / output (I / O) interface 505 is also connected to bus 504.

[0099] Typically, the following devices can be connected to I / O interface 505: input devices 506 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 507 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 508 including, for example, magnetic tapes, hard disks, etc.; and communication devices 509. Communication device 509 allows electronic device 500 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 4 An electronic device 500 with various devices is shown; however, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0100] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by the processing device 501, it performs the functions defined in the methods of embodiments of this disclosure.

[0101] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0102] The electronic device provided in this embodiment and the batch task dynamic processing method provided in the above embodiments belong to the same inventive concept. Technical details not described in detail in this embodiment can be found in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.

[0103] Example 5 This disclosure provides a computer storage medium storing a computer program that, when executed by a processor, implements the ground personnel trajectory positioning method provided in the above embodiments.

[0104] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-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 a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer 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. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0105] In some implementations, the server may communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and may interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0106] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0107] The aforementioned computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: The system acquires the current location data of ground personnel and determines the scene type corresponding to the current location data based on the current location data and pre-set scenario-based dynamic dual threshold data. The current location data includes a location timestamp, a main base station identifier, location coordinates, and the actual sensitivity of the grid point to which the location coordinates belong. If, based on the scenario type and the current location data, it is determined that the ground personnel are located at a jump point, then a jump type determination is performed on the jump point to obtain jump type information; wherein, the jump point is used to indicate that the main base station for locating the ground personnel has changed; The jump point is processed based on the trajectory correction strategy corresponding to the jump type information to obtain the target positioning information of the ground personnel.

[0108] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0109] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0110] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0111] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0112] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, 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 devices, magnetic storage devices, or any suitable combination of the foregoing.

[0113] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0114] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0115] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A trajectory positioning method of a ground person, characterized by, The method is applied to the location positioning and trajectory correction of ground personnel, and the method includes: The system acquires the current location data of ground personnel and determines the scene type corresponding to the current location data based on the current location data and pre-set scenario-based dynamic dual threshold data. The current location data includes a location timestamp, a main base station identifier, location coordinates, and the actual sensitivity of the grid point to which the location coordinates belong. If, based on the scenario type and the current location data, it is determined that the ground personnel are located at a jump point, then a jump type determination is performed on the jump point to obtain jump type information; wherein, the jump point is used to indicate that the main base station for locating the ground personnel has changed; The jump point is processed based on the trajectory correction strategy corresponding to the jump type information to obtain the target positioning information of the ground personnel.

2. The method of claim 1, wherein, A two-dimensional coverage model is constructed based on the operating parameters of a ground-based base station, and the scenario-specific dynamic dual-threshold data is determined based on the two-dimensional coverage model. The construction of the two-dimensional coverage model based on the operating parameters of the ground-based base station includes: The system acquires the basic planar parameters, antenna radiation parameters, signal propagation parameters, and neighbor cell association parameters of at least two base stations. The basic planar parameters include the base station's latitude and longitude parameters, antenna installation height parameters, and the terrain type where the base station is located. The antenna radiation parameters include the antenna azimuth angle, downtilt angle, and horizontal half-power beamwidth. The signal propagation parameters include the base station's transmit power, operating frequency band, and ground path loss parameters. The neighbor cell association parameters include the identifiers of adjacent base stations, the planar distance between adjacent base stations, and the overlapping area of ​​adjacent sectors. The basic plane parameters, antenna radiation parameters, signal propagation parameters, and neighbor cell association parameters are preprocessed to determine the first receiving sensitivity value of multiple grid points centered on the base station; Based on the first receiving sensitivity value and the preset sensitivity threshold, an initial coverage area is determined, and boundary redundancy processing is performed on the initial coverage area to obtain a polygonal area. Based on the polygonal area and the coverage areas of adjacent base stations, an overlapping coverage area is obtained. The overlapping coverage area is used to determine the jump type information of the jump point.

3. The method according to claim 1 or 2, characterized in that, The method further includes: Within the overlapping coverage area, a second receiving sensitivity value is calculated for each grid point; Based on the second receiving sensitivity value, a planar heat map of the overlapping coverage area is obtained, wherein the planar heat map is used to indicate the signal strength of the grid point relative to two adjacent base stations.

4. The method according to claim 1, characterized in that, The step of determining the scene type corresponding to the current location data based on the current location data and pre-set scenario-based dynamic dual threshold data includes: Based on the current positioning data, determine the movement speed of the ground personnel and the first displacement information within the first time period; Based on the movement speed, the first displacement information, and the scenario-based dynamic dual threshold data, the scenario type to which the ground personnel belong is determined; The scenario types include low-speed scenarios and medium-speed scenarios.

5. The method according to claim 1, characterized in that, The step of determining the jump type at the jump point to obtain jump type information includes: The jump type information is obtained by determining the jump point based on at least three verification dimensions. The at least three verification dimensions include at least: base station associated data verification, signal data verification, and motion feature verification.

6. The method according to claim 5, wherein the verification dimension is base station associated data verification, and the step of determining the hop type based on at least three verification dimensions to obtain the hop type information includes: Determine whether the primary base station associated with the jump point is an adjacent base station; If not, then the jump type information of the jump point is determined to be an abnormal jump; If so, and if the jump point is located in an overlapping coverage area, then perform the signal data verification; If so, and the jump point is located in the overlapping coverage area, then the jump type information of the jump point is determined to be an abnormal jump.

7. The method according to claim 6, characterized in that, The verification dimension is signal data verification. The step of determining the jump type based on at least three verification dimensions to obtain the jump type information includes: If, within a first preset time period before the jump point, the third receiving sensitivity of the main base station to which the jump point belongs continuously decreases and the decrease is greater than a first amplitude threshold, and within a first preset time period after the jump point, the fourth receiving sensitivity of the main base station to which the jump point belongs continuously increases and the increase is greater than the first amplitude threshold, then the jump type is determined to be a genuine jump caused by a main base station handover.

8. The method according to claim 6, characterized in that, The verification dimension is motion feature verification. The step of determining the jump type based on at least three verification dimensions to obtain the jump type information includes: In low-speed scenarios, if the instantaneous speed exceeds the first speed threshold and the acceleration is greater than the first acceleration threshold, then the jump type information of the jump point is determined to be a real jump caused by the handover of the main base station. In medium-speed scenarios, if the instantaneous speed is greater than the second speed threshold and the acceleration is greater than the second acceleration threshold, then the jump type information of the jump point is determined to be the actual jump for the main base station handover.

9. The method according to claim 1, characterized in that, The process of processing the jump point based on the trajectory correction strategy corresponding to the jump type information to obtain the target positioning information of the ground personnel includes: If the jump type information is an abnormal jump, and the difference between the abnormal jump and the previous positioning time is less than a first threshold, then the predicted position information based on Kalman filter prediction replaces the position information of the jump point. If the jump type information is abnormal jump, and the difference between the abnormal jump and the previous positioning time is greater than the first threshold, then the positioning information of the jump point is determined based on the historical trajectory in the same area and the historical trajectory. For jump type information that is a real jump, the first normal point before the jump point and the second normal point after the jump point are extracted, and the positioning information of the jump point is obtained by interpolation based on the first normal point and the second normal point.

10. The method according to claim 1, characterized in that, The method further includes: Based on the target location information corresponding to each current location data, the movement trajectory of the ground personnel is determined.

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