Tracking and positioning method, device, electronic device, and storage medium

Abstract

A tracking and positioning method is disclosed, which includes the steps of: positioning a tracked target and obtaining an initial position of the tracked target; collecting and obtaining movement data of the tracked target; determining a movement pattern of the tracked target based on the movement data; and determining an actual position of the tracked target based on the initial position and the movement pattern. A tracking and positioning device, an electronic device, and a computer-readable storage medium are further disclosed.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to Chinese patent application CN202210345811.X, filed on March 31, 2022, entitled "Tracking and positioning method, apparatus, electronic device and storage medium," the entire contents of which are incorporated herein by reference.

[0002] The present disclosure relates to the field of intelligent devices, and in particular to a tracking and positioning method, device, electronic device and storage medium. [Background technology]

[0003] Nowadays, there are a wide variety of terminal products for the Internet of Things, and customers' requirements for product functions and performance are becoming higher and higher. Tracker products generally use conventional positioning technologies such as GPS (Global Positioning System), WIFI (wireless communication technology), and base stations to perform tracking and positioning. Summary of the Invention [Problem to be solved by the invention]

[0004] The present disclosure provides a tracking and positioning method, and further provides a tracking and positioning device, an electronic device, and a computer-readable storage medium. [Means for solving the problem]

[0005] In a first aspect, the present disclosure provides a tracking and positioning method, the tracking and positioning method including the steps of positioning a tracked target and obtaining an initial position of the tracked target, collecting and obtaining movement data of the tracked target, determining a movement pattern of the tracked target based on the movement data, and determining an actual position of the tracked target based on the initial position and the movement pattern.

[0006] In a second aspect, the present disclosure provides a tracking and positioning device, the tracking and positioning device including an initial positioning module configured to position a tracked target and obtain an initial position of the tracked target, a movement data acquisition module configured to collect and acquire movement data of the tracked target, a movement pattern recognition module configured to identify a movement pattern of the tracked target based on the movement data, and a precise positioning module configured to identify an actual position of the tracked target based on the initial position and the movement pattern.

[0007] In a third aspect, the present disclosure provides an electronic device, the electronic device including: a memory configured to store a computer program; and a processor configured to, when executing the computer program, implement steps of any one of the tracking and positioning methods described above.

[0008] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored therein, the computer program being capable of implementing any one of the steps of the tracking and positioning method described above when executed by a processor.

[0009] The drawings herein are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure, and together with the specification serve to explain the principles of the present disclosure.

[0010] In order to more clearly describe the related art and the technical solutions in the embodiments of the present disclosure, the following briefly describes the accompanying drawings necessary for describing the related art and the embodiments of the present disclosure. Of course, the accompanying drawings related to the following embodiments of the present disclosure are only for describing some embodiments of the present disclosure, and those skilled in the art can obtain other accompanying drawings based on the accompanying drawings provided without creative labor, and the obtained other accompanying drawings also belong to the protection scope of the present disclosure. [Brief description of the drawings]

[0011] [Figure 1] 4 is a schematic flow chart of a tracking and positioning method provided by an embodiment of the present disclosure; [Diagram 2] FIG. 2 is a schematic diagram of a road layout provided by an embodiment of the present invention; [Diagram 3] 4 is a schematic flow chart of another tracking and positioning method provided by an embodiment of the present disclosure; [Figure 4] 1 is a schematic flow chart of a travel pattern database building method provided by an embodiment of the present disclosure; [Diagram 5] 4 is a schematic flow chart of yet another tracking and positioning method provided by an embodiment of the present disclosure; [Figure 6] 1 is a machine learning flowchart provided by an embodiment of the present invention. [Figure 7] 4 is a tracking positioning flowchart provided by an embodiment of the present disclosure. [Figure 8] FIG. 2 is a schematic diagram of a tracking and positioning device provided according to an embodiment of the present disclosure; [Figure 9] FIG. 1 is a schematic diagram illustrating the configuration of an electronic device provided according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] In order to make the objectives, technical solutions and advantages of the present disclosure clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in combination with the accompanying drawings in the embodiments of the present disclosure. It is clear that the described embodiments are not all the embodiments of the present disclosure, but are only some embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments that a person skilled in the art can obtain without performing creative labors belong to the scope of protection of the present disclosure.

[0013] When tracking and positioning is performed using conventional positioning technologies such as GPS (Global Positioning System), WIFI (Wireless Communication Technology), and base stations, there is often a problem that the position is inaccurate due to factors such as blocking of GPS signals, lack of WIFI hotspots, and uneven base station placement. For example, conventional GPS positioning technology can determine the location of a tracker on a road, but due to unfavorable factors such as signal blocking and weak signals, it is impossible to determine where on the road the tracker is located, whether it is on a vehicle on the roadway, or on the sidewalk. As can be seen, conventional tracking and positioning technologies have the problem of inaccurate positioning.

[0014] Therefore, how to effectively improve the accuracy of tracking positioning is a problem that needs to be urgently solved by those skilled in the art.

[0015] It should be noted that the tracking and positioning method provided by the present disclosure may be realized by a tracking and positioning device. The tracking and positioning device may be a mobile portable device or a mobile wearable device such as a mobile phone or a smart bracelet that a user can carry, or may be a small tracker that can be attached to a tracking target in the form of an accessory. For example, if the tracking target is a child or an elderly person, the tracking and positioning function can be integrated into a smart bracelet; if the tracking target is an animal, the small tracker can be attached to the animal's collar; if the tracking target is a transported object, the small tracker can be placed in a transport box in which the transported object is placed.

[0016] It should be noted that the tracking and positioning method provided by the embodiment of the present disclosure may be executed in real time, or may be executed periodically / irregularly. The execution mode can be customized and set by the user according to the actual needs, and the present disclosure does not limit this. For example, a switch button may be provided on the tracking and positioning device to control the on and off of the tracking and positioning function (for example, directly select on and off on the smart bracelet). A switch button may be provided on the remote control device of the tracking and positioning device to remotely control the on and off of the tracking and positioning function (for example, use a mobile phone to control the on and off of the small tracker). Of course, the above two control methods may exist simultaneously, allowing the user to freely select. In addition, in the process of implementing the tracking and positioning method periodically, the user may set the tracking and positioning device or its remote control device to perform a periodic execution timing, for example, to perform a tracking and positioning operation once every 24 hours, according to the actual needs.

[0017] Based on this, an embodiment of the present disclosure provides a tracking and positioning method.

[0018] Referring to FIG. 1, which is a schematic flow chart of a tracking and positioning method provided by an embodiment of the present disclosure, the tracking and positioning method may include steps S101 to S104.

[0019] In S101, the tracking target is located and the initial position of the tracking target is obtained.

[0020] This step is aimed at realizing the initial positioning of the tracking target and obtaining its initial position. The tracking target is a target object that needs to be tracked and positioned, and may be a person or an object. For example, if the tracking target is a person, the function of positioning children or the elderly can be realized. If the tracking target is an object, the function of tracking logistics, monitoring animals, etc. can be realized.

[0021] In the process of realization, this initial positioning process can be realized by using any conventional positioning technology. Conventional positioning technology has the disadvantage of inaccurate positioning, so the initial position obtained by this step is a rough position that is not sufficiently accurate. For example, by performing initial positioning on the tracking target, it is possible to determine which road the tracking target is on, but it is impossible to determine the position of the tracking target on that road. Based on this, by combining with each step described later, it is possible to realize accurate positioning of the tracking target. That is, it is possible to determine the position of the tracking target on the road, for example, on the sidewalk of the road, on the roadway, inside a building on the side of the road, etc.

[0022] At S102, movement data of the tracked target is collected and acquired.

[0023] This step is aimed at realizing the collection of movement data of the tracking target. This movement data is data information representing the current movement mode of the tracking target, the content of which does not affect the implementation of the technical solution, and can be set by the user according to the actual needs. For example, it may include speed, acceleration, gravitational acceleration, etc., but the present disclosure is not limited thereto.

[0024] Among these, the collection of movement data may be realized based on corresponding data collection equipment, such as sensor equipment. For different types of movement data, corresponding types of sensors may be provided in the tracking and positioning equipment. Of course, the types and numbers of sensors depend on the types and numbers of movement data that need to be obtained.

[0025] At S103, a movement pattern of the tracked target is identified based on the movement data.

[0026] This step aims to realize movement pattern recognition, i.e., identifying and determining the movement pattern of the tracked target based on the movement data of the tracked target, where the movement pattern is used in conjunction with the initial position to realize more accurate positioning of the tracked target, including but not limited to walking, running, climbing / descending stairs, taking an elevator, riding various different modes of transportation (e.g. subway, bus), etc.

[0027] As described above, the movement data may include speed, acceleration, gravitational acceleration, etc., so that the current movement pattern of the tracking target can be further recognized and identified by performing analysis processing on these movement data. For example, based on the speed of the tracking target, it can be identified whether it is in a walking pattern (corresponding to a low speed) or a riding pattern (corresponding to a high speed), and based on the gravitational acceleration of the tracking target (hypergravity or zero gravity), it can be identified whether it is in an elevator riding pattern.

[0028] In S104, the actual position of the tracked target is determined based on the initial position and the movement pattern.

[0029] This step aims to realize accurate positioning of the tracking target and obtain its real position. The initial position of the tracking target is obtained according to S101, and the movement pattern of the tracking target is obtained according to S102 and S103, and then the initial position and the movement pattern are combined to determine the real position of the tracking target. The real position is more accurate position information than the initial position.

[0030] For example, take positioning on a road as an example, and refer to FIG. 2, which is a road layout schematic diagram provided by an embodiment of the present disclosure. If the initial positioning process of S101 identifies the tracking target as being on a road (XX street shown in FIG. 2), and if the movement pattern of the tracking target is recognized as a bus ride pattern in a certain movement direction, the position P1 (on the bus on the roadway) of the tracking target can be identified. If the movement pattern of the tracking target is recognized as a walking pattern in a certain movement direction, the position P2 (on the sidewalk on the left side) or P3 (on the sidewalk on the right side) of the tracking target can be identified. Similarly, other positions such as P4 (in the subway on the roadway), P5 (on the stairs in a building by the road), and P6 (on the elevator in a building by the road) can be located, so that accurate positioning of the tracking target can be realized.

[0031] As can be seen, the tracking and positioning method provided by the embodiment of the present disclosure first locates the tracking target to obtain the initial position, then collects the movement data of the tracking target, and performs movement pattern recognition on the data. In this way, the movement pattern and the initial position can be combined to determine the precise position of the tracking target, and the tracking and positioning technology can be combined with the movement pattern of the tracking target. Compared with the traditional tracking and positioning technology, this not only effectively improves the positioning accuracy, but also allows the movement state of the tracking target to be obtained, thereby enriching the functions of the tracker product and improving the positioning performance of the product.

[0032] Based on the above embodiments, in one embodiment of the present disclosure, the above step of positioning the tracked target and obtaining the initial position of the tracked target may include a step of positioning the tracked target and obtaining the initial position using GPS positioning technology, or WIFI positioning technology, or base station positioning technology.

[0033] The embodiments of the present disclosure provide three different positioning technologies, which are GPS positioning technology, WIFI positioning technology, and base station positioning technology, respectively. Among them, the GPS positioning technology is a technology in which the GPS receiver performs error processing on the signal received and then calculates the location information. The WIFI positioning technology, i.e., WIFI real-time positioning, is a technology that uses the associated wireless network, in combination with the WIFI tag and the associated mobile terminal device (such as WIFI mobile phone, PDA, notebook computer, etc.), and further uses the corresponding positioning algorithm to identify the location information. The base station positioning technology, i.e., the mobile location service, is a communication service that calculates a rough location based on the communication time difference between the base station and the mobile terminal device. It should be noted that the above three positioning technologies are merely three realization methods provided by the embodiments of the present disclosure, and of course, it is also possible to adopt other positioning technologies to realize the present disclosure, and the present disclosure is not limited thereto.

[0034] In one embodiment of the present disclosure, the step of collecting and acquiring the movement data of the tracked target may include collecting and acquiring the movement data of the tracked target using a movement sensor, where the movement sensor includes one or more of a gravity sensor, an acceleration sensor, and a velocity sensor.

[0035] The embodiment of the present disclosure provides a method for acquiring moving data, i.e., the method is realized by a moving sensor. In the process of realization, the moving sensor is disposed in a tracking and positioning device, and the tracking and positioning device is equipped on a tracking target, so that various kinds of moving data can be collected for the tracking target.

[0036] Meanwhile, the embodiment of the present disclosure provides three different types of movement sensors: a gravity sensor, an acceleration sensor, and a velocity sensor. The gravity sensor is used to collect the gravitational acceleration of the tracked target, the acceleration sensor is used to collect the horizontal acceleration of the tracked target, and the velocity sensor is used to collect the velocity of the tracked target.

[0037] Similarly, the above three types of movement sensors are merely three implementation ways provided by the embodiments of the present disclosure, and other types of movement sensors, such as multi-axis sensors, may be provided according to actual needs to realize the collection of diverse movement data, and the present disclosure is not limited thereto. It is believed that the more types and number of movement sensors, the more types and number of movement data collected and acquired, which is helpful to realize more accurate and diverse movement pattern recognition.

[0038] An embodiment of the present disclosure provides another tracking and positioning method.

[0039] Referring to FIG. 3, which is a schematic flow chart of another tracking and positioning method provided by an embodiment of the present disclosure, the tracking and positioning method may include steps S201 to S205.

[0040] In S201, the position of the tracking target is determined, and the initial position of the tracking target is obtained.

[0041] In S202, movement data of the tracked target is collected and acquired.

[0042] In S203, kinematic analysis is performed on the movement data to obtain movement features.

[0043] In S204, movement pattern matching is performed based on the movement characteristics to identify the movement pattern of the tracked target.

[0044] In S205, the actual position of the tracked target is determined based on the initial position and the movement pattern.

[0045] In an embodiment of the present disclosure, an implementation scheme is provided for realizing movement pattern recognition based on movement data.

[0046] After collecting and acquiring the movement data of the tracking target, a kinematic analysis may be performed on each piece of movement data to obtain corresponding movement characteristics. Here, the kinematic analysis may be realized by calculating kinematic equations. The movement characteristics are used to recognize movement patterns, and the contents may be preset by engineers according to actual situations. For example, the movement distance, movement direction, etc. of the tracking target may be calculated based on the movement data such as speed, acceleration, etc., and the hypergravity, weightlessness, etc. of the tracking target may be calculated based on the movement data such as speed, gravitational acceleration, etc.

[0047] Furthermore, the movement pattern of the tracking target can be identified by performing movement pattern matching based on each movement feature. Here, the movement pattern matching can be a matching based on a threshold (the movement features of different movement patterns correspond to different standard thresholds). For example, based on the speed value, it can be identified whether the tracking target is in a walking pattern or a riding pattern. By combining the movement direction, it can be identified which road (normal vehicle or track vehicle) or sidewalk (left sidewalk or right sidewalk) the tracking target is on. Based on the gravitational acceleration, it can be identified that the tracking target is in an elevator riding pattern, and by combining with the hypergravity and zero gravity situations, it can be further identified that the tracking target is in an elevator ascending pattern or an elevator descending pattern.

[0048] In an embodiment of the present disclosure, each travel pattern and the standard travel characteristics are correspondingly stored in a travel pattern database. Based on this, refer to FIG. 4, which is a schematic flowchart of a travel pattern database construction method provided by an embodiment of the present disclosure, and the travel pattern database construction method may include steps S301 to S304.

[0049] In S301, movement data samples of a tracked target in each movement pattern are collected and obtained.

[0050] In S302, a kinematic analysis is performed on the movement data samples to obtain movement feature samples.

[0051] In S303, machine learning techniques are used to modify the motion feature samples to obtain standard motion features.

[0052] In S304, a mapping relationship between the movement patterns and standard movement features is established to generate a movement pattern database.

[0053] For ease of understanding, the following description will combine some of the above steps.

[0054] Each moving pattern and the standard moving feature may be stored in the moving pattern database in a corresponding manner. In other words, the moving pattern database stores the addition or deletion of a moving pattern, for example, the mapping relationship between the moving pattern and the standard moving feature. That is, different moving patterns correspond to different standard moving features. After obtaining the moving data of the tracking target and analyzing and identifying its moving feature, the moving feature can be matched with the standard moving feature in the moving pattern database to realize the recognition of the moving pattern.

[0055] Here, the process of generating the movement pattern database can be realized based on machine learning technology. First, sample data is collected for the tracking target to obtain its movement data samples in various different movement patterns. It is understood that a large number of movement data samples can be collected for each movement pattern to ensure the accuracy of the mapping relationship. Then, kinematic analysis is performed for each movement data sample to obtain a corresponding movement feature sample. This realization process can be referred to above S203. Furthermore, the machine learning technology is used to modify the movement feature sample to obtain a standard movement feature corresponding to the movement pattern. For example, the standard movement feature corresponding to the walking pattern is that the speed is equal to or less than a certain standard speed value. The standard movement feature corresponding to the rail vehicle riding pattern is that the speed is greater than a certain standard speed value. Finally, after obtaining the standard movement feature corresponding to each movement pattern, a mapping relationship between each movement pattern and the standard movement feature can be built and stored in a pre-set storage space, thereby generating a movement pattern database.

[0056] In one embodiment of the present disclosure, after the above steps of establishing a mapping relationship between the travel patterns and the standard travel features and generating the travel pattern database, the method may further include a step of performing an update operation on the travel pattern database when an update command is received, where the update operation includes adding or deleting travel patterns in the travel pattern database and / or modifying each standard travel feature.

[0057] In order to effectively guarantee the accuracy of the recognition result of the movement pattern and further guarantee the accuracy of the tracking positioning result, the movement pattern database may be updated periodically / irregularly. For example, if the tracking target is a child, as the child grows, for the same movement pattern, the corresponding movement characteristics will inevitably change significantly, and the movement pattern will become more diverse. Therefore, the corresponding movement pattern database may be updated periodically, for example, once a year.

[0058] Among them, the update operation for the movement pattern database mainly includes two kinds, one is to add or delete a movement pattern in the movement pattern database, for example, to add a new mapping relationship between the movement pattern and the standard movement feature, and the other is to obtain a standard movement feature corresponding to each movement pattern which is more suitable for the current tracking target by modifying each standard movement feature in the movement pattern database.

[0059] Here, the execution of the update operation on the movement pattern database can be realized based on the received update command. In a periodic update mode, the update command may be automatically responded to at a preset time interval. In an irregular update mode, the update command may be initiated by a remote control device of the tracking and positioning device. For example, the remote control device may be provided with a human-machine interaction interface, and the user may initiate the update command on the human-machine interaction interface.

[0060] In this way, by performing an update operation on the movement pattern database, it is possible to effectively ensure that the mapping relationship between the movement patterns in the movement pattern database and the standard movement features is more suitable for the current tracking target, and the accuracy of this mapping relationship can be guaranteed, which helps to realize more accurate movement pattern recognition, and can also effectively ensure the accuracy of the tracking positioning results.

[0061] The embodiment of the present disclosure provides yet another tracking and positioning method.

[0062] Referring to FIG. 5, which is a schematic flow chart of yet another tracking and positioning method provided by an embodiment of the present disclosure, the tracking and positioning method may include steps S401 to S405.

[0063] In S401, the tracking target is located and the initial position of the tracking target is obtained.

[0064] In S402, movement data of the tracked target is collected and acquired.

[0065] At S403, a movement pattern of the tracked target is identified based on the movement data.

[0066] In S404, the actual position of the tracked target is determined based on the initial position and the movement pattern.

[0067] In S405, the actual location is uploaded to a cloud server and / or sent to a predetermined terminal.

[0068] The tracking positioning method provided by the embodiment of the present disclosure can further realize a location information upload function. That is, the finally obtained real location can be uploaded to a cloud server and / or directly sent to a default terminal. In the realization process, after the real location is obtained, the real location can be uploaded to a cloud server through a mobile network or the like. Then, a default monitoring side or remote control device (such as a mobile phone, a PC, etc.) can log in to the cloud server to query the location information. The real location information can also be directly sent to a default terminal. This default terminal can be a monitoring side or a remote control device.

[0069] For example, if the tracking target is a child or an elderly person, the default terminal may be the mobile phone of the parent or child. Once the actual location of the child or elderly person is determined by tracking, it can be directly sent to the default terminal, which can effectively ensure the safety of the child and the elderly. If the tracking target is a parcel, once the actual location of the parcel is determined by tracking, it can be directly uploaded to the cloud server, so that the receiving and dispatching manager can log in to the cloud server to query the current location of the parcel as needed. Of course, the two functions of uploading the actual location to the cloud server and sending to the default terminal can exist simultaneously, which can facilitate querying the location information according to actual needs.

[0070] In addition, the location information upload function may be real-time or periodic, and can be customized and selected according to actual needs, but the present disclosure is not limited thereto.

[0071] As can be seen, the tracking and positioning method provided by the embodiments of the present disclosure realizes the location information upload function, so as to effectively ensure that the administrator knows the exact location of the tracked target in a timely manner.

[0072] Based on the above embodiments, an embodiment of the present disclosure provides a tracking and positioning method, which mainly includes a machine learning flow and a tracking and positioning flow.

[0073] First, referring to FIG. 6 which is a machine learning flowchart provided by an embodiment of the present invention, the implementation flow may include the following steps (1) to (5).

[0074] (1) Using the motion sensor in the Tracker, motion data (i.e., motion data samples) are collected for various motion patterns.

[0075] (2) The movement data acquired in (1) is transmitted to a processor such as a CPU or a one-chip computer, and movement features (i.e., movement feature samples) are extracted for each type of movement data.

[0076] (3) Using machine learning, the movement features in (3) are modified to obtain standard movement features corresponding to the movement pattern.

[0077] (4) A mapping relationship between the movement patterns and standard movement features is constructed and stored in memory to generate a movement pattern database.

[0078] (5) Updating the movement pattern database through machine learning, including, but not limited to, adding new mapping relationships between movement patterns and standard movement features, modifying the standard movement features within each mapping relationship, etc.

[0079] Furthermore, referring to FIG. 7, which is a tracking and positioning flowchart provided by an embodiment of the present disclosure, the implementation flow may include the following steps (1) to (6).

[0080] (1) The tracker obtains the initial position of the tracked object (tracking target) using positioning technologies such as GPS / WIFI / base station.

[0081] (2) The Tracker acquires movement data of the tracked object via a movement sensor.

[0082] (3) The tracker's processor analyzes the movement data and extracts and acquires movement characteristics.

[0083] (4) The tracker's processor compares the movement characteristics in (3) with a movement pattern database to confirm the movement pattern of the tracked subject.

[0084] (5) The tracker's processor combines the initial position (1) with the movement pattern (4) to obtain more accurate location information.

[0085] (6) The tracker's processor transmits the location information of (5) to the cloud server or the monitoring party.

[0086] As can be seen, the tracking and positioning method provided by the embodiment of the present disclosure first locates the tracking target to obtain the initial position, then collects the movement data of the tracking target, and performs movement pattern recognition on the data. In this way, the movement pattern and the initial position can be combined to determine the precise position of the tracking target, and the tracking and positioning technology can be combined with the movement pattern of the tracking target. Compared with the traditional tracking and positioning technology, this not only effectively improves the positioning accuracy, but also allows the movement state of the tracking target to be obtained, thereby enriching the functions of the tracker product and improving the positioning performance of the product.

[0087] An embodiment of the present disclosure provides a tracking and positioning device.

[0088] Referring to FIG. 8, which is a schematic configuration diagram of a tracking and positioning device provided by an embodiment of the present disclosure, the tracking and positioning device may include an initial positioning module 1 configured to position a tracked target and obtain an initial position of the tracked target, a movement data acquisition module 2 configured to collect and acquire movement data of the tracked target, a movement pattern recognition module 3 configured to identify a movement pattern of the tracked target based on the movement data, and a precise positioning module 4 configured to identify an actual position of the tracked target based on the initial position and the movement pattern.

[0089] As can be seen, the tracking and positioning device provided in the embodiment of the present disclosure initially positions the tracking target to obtain the initial position, and then collects the movement data of the tracking target, and performs movement pattern recognition on the data. In this way, the movement pattern and the initial position can be combined to determine the precise position of the tracking target, and the tracking and positioning technology can be combined with the movement pattern of the tracking target. Compared with the traditional tracking and positioning technology, this not only effectively improves the positioning accuracy, but also allows the movement state of the tracking target to be obtained, thereby enriching the functions of the tracker product and improving the positioning performance of the product.

[0090] In one embodiment of the present disclosure, the movement pattern recognition module 3 may include a kinematic analysis unit configured to perform kinematic analysis on the movement data to obtain movement characteristics, and a matching recognition unit configured to perform movement pattern matching based on the movement characteristics to identify the movement pattern of the tracked target.

[0091] In one embodiment of the present disclosure, each movement pattern and the standard movement feature are stored in a movement pattern database in correspondence with each other. The tracking positioning device may further include a movement pattern database construction module, which may include a sample data acquisition unit configured to collect and acquire movement data samples of the tracking target in each movement pattern, a sample data analysis unit configured to perform kinematic analysis on the movement data samples to obtain movement feature samples, a machine learning unit configured to use machine learning technology to correct the movement feature samples to obtain standard movement features, and a movement pattern database construction unit configured to build a mapping relationship between the movement patterns and the standard movement features to generate a movement pattern database.

[0092] In one embodiment of the present disclosure, the tracking and positioning device may further include a movement pattern database update module configured to, after establishing a mapping relationship between the movement patterns and the standard movement features and generating the movement pattern database, perform an update operation on the movement pattern database when receiving an update command, where the update operation includes adding or deleting movement patterns in the movement pattern database and / or modifying each standard movement feature.

[0093] In one embodiment of the present disclosure, the initial positioning module 1 may be configured to use GPS positioning technology or WIFI positioning technology or base station positioning technology to position the tracked target and obtain the initial position.

[0094] In one embodiment of the present disclosure, the movement data acquisition module 2 may be configured to collect and acquire movement data of the tracking target using a movement sensor, where the movement sensor includes one or more of a gravity sensor, an acceleration sensor, and a speed sensor.

[0095] In one embodiment of the present disclosure, the tracking and positioning device determines the actual position of the tracking target based on the initial position and the moving pattern, and then: An embodiment of the present disclosure provides an electronic device.

[0096] Referring to FIG. 9, which is a schematic diagram of an electronic device provided by the present disclosure, the electronic device may include a memory configured to store a computer program, and a processor configured to, when executing the computer program, realize the steps of any one of the tracking and positioning methods described above.

[0097] 9 shows a schematic diagram of an electronic device, which may include a processor 10, a memory 11, a communication interface 12, and a communication bus. The processor 10, the memory 11, and the communication interface 12 all communicate with each other via a communication bus 13.

[0098] In the embodiment of the present disclosure, the processor 10 may be a central processing unit (CPU), an application specific integrated circuit, a digital signal processor, a field programmable gate array, or other programmable logic devices, etc. The processor 10 can call a program stored in the memory 11, and the processor 10 can execute operations in the embodiment of the tracking and positioning method.

[0099] The memory 11 stores one or more programs, and the programs may include program codes including computer operation instructions. In an embodiment of the present disclosure, the memory 11 stores at least a program for realizing the following functions: a function for locating a tracked target and acquiring an initial position of the tracked target, a function for collecting and acquiring movement data of the tracked target, a function for determining a movement pattern of the tracked target based on the movement data, and a function for determining an actual position of the tracked target based on the initial position and the movement pattern.

[0100] In one possible implementation, the memory 11 may include a program storage area and a data storage area, the program storage area may store an operating system and application programs necessary for at least one function, and the data storage area may store data created during use.

[0101] Furthermore, memory 11 may include high speed random access memory, or may include non-volatile memory, such as at least one magnetic disk memory device, or other volatile solid-state memory device.

[0102] The communication interface 12 may be an interface of a communication module used to connect to other devices or systems.

[0103] Of course, the configuration shown in FIG. 9 does not constitute a limitation on the electronic device in the embodiments of the present disclosure, and in actual applications, the electronic device may include more or fewer components than those shown in FIG. 9, or may combine some components.

[0104] An embodiment of the present disclosure provides a computer-readable storage medium having a computer program stored therein, which, when executed by a processor, can realize any one of the steps of the tracking and positioning method described above.

[0105] This computer-readable storage medium may include various media capable of storing program code, such as a USB memory, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0106] For the description of the computer-readable storage medium provided by the embodiments of the present disclosure, please refer to the above method embodiments, and the description of the embodiments of the present disclosure will be omitted here.

[0107] The tracking and positioning method provided by the present disclosure includes the steps of locating the tracking target and obtaining the initial position of the tracking target, collecting and obtaining the movement data of the tracking target, determining the movement pattern of the tracking target based on the movement data, and determining the actual position of the tracking target based on the initial position and the movement pattern. Using the technical solution provided by the present disclosure, the tracking target is initially located to obtain the initial position, and then the movement data of the tracking target is collected and the movement pattern is recognized. In this way, the movement pattern and the initial position can be combined to determine the precise position of the tracking target, and the combination of the movement pattern of the tracking target with the tracking and positioning technology is realized. Compared with the traditional tracking and positioning technology, not only can the positioning accuracy be effectively improved, but the movement state of the tracking target can be obtained, which can enrich the functions of the tracker product and improve the positioning performance of the product.

[0108] The tracking and positioning device, electronic device, and computer-readable storage medium provided by the present disclosure all have the beneficial effects described above, so further description will be omitted here.

[0109] Each embodiment in this specification is described in a progressive manner, and the differences between each embodiment are described with emphasis on the differences between the other embodiments, and the similarities between the embodiments may be referred to each other. The apparatuses disclosed in the embodiments are briefly described because they correspond to the methods disclosed in the embodiments, and the relevant parts may be referred to the description of the methods.

[0110] Those skilled in the art may further appreciate that the units and algorithm steps of each example described in connection with the embodiments disclosed herein may be realized by electronic hardware, computer software, or a combination of both. In order to clearly explain the compatibility of hardware and software, the above description generally describes the configurations and steps of each example based on functions. Whether these functions are performed by hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art may realize the described functions using different methods for each specific application, but such realization should not be considered as going beyond the scope of the present disclosure.

[0111] The technical solution provided by the present disclosure has been described in detail above. In this specification, the principle and embodiments of the present disclosure are described using specific examples, but the description of the above examples is only to help understand the method and core concept of the present disclosure. It should be noted that those skilled in the art can make some improvements and modifications to the present disclosure without departing from the principle of the present disclosure, and these improvements and modifications are also included in the protection scope of the present disclosure.

Claims

1. A tracking and positioning method, comprising: positioning a tracked target and obtaining an initial position of the tracked target; collecting and acquiring movement data of the tracked target; determining a movement pattern of the tracked target based on the movement data; determining an actual position of the tracked target based on the initial position and the movement pattern; A tracking and positioning method including:

2. The step of identifying a movement pattern of the tracked target based on the movement data includes: performing a kinematic analysis on the movement data to obtain movement characteristics; performing movement pattern matching based on the movement characteristics to identify a movement pattern of the tracked target; 2. The tracking and positioning method of claim 1, comprising:

3. Each travel pattern and a standard travel feature are stored in a travel pattern database in correspondence therewith, and the travel pattern database construction process includes: collecting and acquiring movement data samples of the tracked target in each of the movement patterns; performing a kinematic analysis on the movement data samples to obtain movement feature samples; utilizing machine learning techniques to modify the motion feature samples to obtain the standard motion feature; establishing a mapping relationship between the movement patterns and the standard movement characteristics to generate the movement pattern database; The tracking and positioning method according to claim 2 , comprising:

4. After the step of constructing a mapping relationship between the movement patterns and the standard movement characteristics and generating the movement pattern database, and performing an update operation on the movement pattern database when an update command is received, the update operation including adding or deleting a movement pattern in the movement pattern database and / or modifying each of the standard movement characteristics. The tracking and positioning method according to claim 3.

5. The step of positioning a tracked target and obtaining an initial position of the tracked target includes: and locating the tracked target using GPS positioning technology, WiFi positioning technology, or base station positioning technology to obtain the initial position. The tracking and positioning method according to claim 1 .

6. The step of collecting and acquiring movement data of the tracked target includes: Collecting and acquiring movement data of the tracked target using a movement sensor, the movement sensor including one or more of a gravity sensor, an acceleration sensor, and a velocity sensor. The tracking and positioning method according to claim 1 .

7. after the step of determining an actual position of the tracked target based on the initial position and the movement pattern, Uploading the actual location to a cloud server and / or sending it to a predetermined terminal. The tracking and positioning method of claim 1 , further comprising:

8. an initial positioning module configured to position a tracked target and obtain an initial position of the tracked target; a movement data acquisition module configured to collect and acquire movement data of the tracked target; a movement pattern recognition module configured to identify a movement pattern of the tracked target based on the movement data; a precise positioning module configured to determine an actual position of the tracked target based on the initial position and the movement pattern; A tracking and positioning device including:

9. An electronic device, a memory configured to store a computer program; A processor configured to, when executing the computer program, implement the steps of the tracking and positioning method according to any one of claims 1 to 7; Electronic equipment, including

10. A computer program is stored, and when the computer program is executed by a processor, the steps of the tracking and positioning method according to any one of claims 1 to 7 are realized. A computer-readable storage medium.

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