Positioning method and system

Abstract

Embodiments of the present application provide a positioning method and system. The method comprises: acquiring an original positioning location of a target detection device at a first time; acquiring switching parameters; receiving sensing information between a plurality of base stations and the target detection device at a second time; and on the basis of the original positioning location, the switching parameters and the sensing information, acquiring a current positioning location of the target detection device. The present application can improve the accuracy of indoor positioning.

Description

Positioning method and system Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a positioning method and system. Background Art

[0002] Positioning technology has been increasingly widely used across many industries over the past few years, playing an increasingly important role in our daily lives. Over the past three decades, global satellite navigation systems, such as the Global Positioning System (GPS), have reshaped human life and become a major technological milestone in modern society. However, GPS cannot provide reliable location data indoors. Consequently, indoor positioning technology is becoming a hot area of ​​academic research and industrial application.

[0003] Currently, the more commonly used indoor positioning technologies include Ultra Wideband (UWB) positioning technology, Bluetooth positioning technology, and WiFi positioning technology. The principle of these indoor positioning technologies is to estimate the distance between the device to be located and the positioning device through wireless broadcast sensing information, and then calculate the position of the device to be located. The stability of wireless broadcast signals is greatly affected by factors such as hardware design, transmission strength, transmission frequency, environmental settings, human body shielding, and signals from other wireless devices. This can cause variations in sensing information, poor signal reception, or missed signals. Unstable signals and incorrect signal gaps will directly affect positioning accuracy or distance estimation, and have a significant impact on positioning-derived application services. Therefore, how to improve the positioning accuracy of indoor positioning technology is an urgent problem that needs to be solved.

[0004] Summary of the Invention

[0005] In view of this, embodiments of the present application provide a positioning method and system to improve positioning accuracy. For example, the positioning method described herein may be an indoor positioning method.

[0006] In a first aspect, an embodiment of the present application provides a positioning method, which is applied to a server, wherein the server is communicatively connected to multiple base stations and / or target detection devices, and the multiple base stations are arranged at multiple locations in a preset space. The positioning method includes: obtaining an original positioning position of the target detection device at a first time; obtaining a switching parameter; receiving sensing information between the multiple base stations and the target detection device at a second time; and obtaining a current positioning position of the target detection device based on the original positioning position, the switching parameter, and the sensing information.

[0007] In a possible implementation manner, the sensing information is sent by the multiple base stations or the target detection device.

[0008] In a possible implementation, the step of obtaining the switching parameters includes: setting the switching parameters, wherein the switching parameters include the hierarchy of the multiple base stations.

[0009] In a possible implementation, the step of obtaining the switching parameter includes: setting the switching parameter, and the step of setting the switching parameter includes: setting the switching sensitivity between any two base stations among the multiple base stations.

[0010] In one possible implementation, the multiple base stations include at least a first base station and a second base station, which are used to physically or map-locate the target detection device, where the original positioning position corresponds to the first base station. The step of obtaining the current positioning position of the target detection device based on the original positioning position, the handover parameter, and the sensing information includes: applying the sensing information to a sensing method or a positioning algorithm to obtain an estimated positioning position, where the estimated positioning position corresponds to the second base station; and determining whether the current positioning position corresponds to the first base station or the second base station based on the handover sensitivity between the first base station and the second base station and based on a difference between the sensing information between the first base station and the target detection device and the sensing information between the second base station and the target detection device.

[0011] In a second aspect, embodiments of the present application provide a positioning system for use in a predetermined space. The positioning system includes: a target detection device for transmitting sensing information; multiple base stations disposed in the predetermined space for transmitting the sensing information and locating the target detection device; and a server for: obtaining an original positioning position of the target detection device at a first time; obtaining a handover parameter; receiving the sensing information between the multiple base stations and the target detection device at a second time; and obtaining a current positioning position of the target detection device based on the original positioning position, the handover parameter, and the sensing information. For example, the positioning system described herein may be an indoor positioning system.

[0012] In a possible implementation manner, the sensing information is sent by the multiple base stations or the target detection device.

[0013] In one possible implementation, the step of obtaining the handover parameters includes setting the handover parameters, wherein the handover parameters include the hierarchy of the multiple base stations. Specifically, the multiple base stations within the electronic fence can set handover parameters (such as the hierarchy of the multiple base stations and / or the handover sensitivity between any two base stations among the multiple base stations), and the multiple base stations outside the electronic fence may not set handover parameters. For a description of the electronic fence, please refer to the embodiments in the specification. It will be understood that the term "electronic fence" is merely a descriptive term and not a restrictive term.

[0014] In one possible implementation, the step of obtaining the handover parameters includes: setting the handover parameters, and the step of setting the handover parameters includes: setting the handover sensitivity between any two base stations among the multiple base stations. In one aspect, the handover sensitivity may be related to the sensing information and / or the hierarchy of the base station. In another aspect, the handover sensitivity may be unrelated to the sensing information and / or the hierarchy of the base station. In one possible implementation, the step of setting the handover parameters includes: setting the handover parameters, wherein the handover parameters include the hierarchy of the multiple base stations; and / or the handover sensitivity set according to the hierarchy. The step of setting the handover parameters includes: setting the hierarchy of each base station according to the positional relationship of the multiple base stations in the preset space; and setting the handover sensitivity between any two base stations among the multiple base stations according to the hierarchy of each base station.

[0015] In one possible implementation, the multiple base stations include at least a first base station and a second base station, which are used to physically or map-locate the target detection device, and the original positioning position corresponds to the first base station. The step of obtaining the current positioning position of the target detection device based on the original positioning position, the handover parameter, and the sensing information includes: applying the sensing information to a sensing method or a positioning algorithm to obtain an estimated positioning position, and the estimated positioning position corresponds to the second base station. Based on the handover sensitivity between the first base station and the second base station, and based on the difference between the sensing information between the first base station and the target detection device and the sensing information between the second base station and the target detection device, determining whether the current positioning position corresponds to the first base station or the second base station.

[0016] The positioning method and system provided by the embodiments of the present application can reduce the error drift easily caused by indoor wireless positioning technology, improve the positioning stability of the positioning target detection device, and enhance the accuracy of indoor positioning by obtaining the original positioning position of the target detection device at a first time; obtaining the handover parameters; receiving the sensing information between the multiple base stations and the target detection device at a second time; and obtaining the current positioning position of the target detection device based on the original positioning position, the handover parameters, and the sensing information. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0018] FIG1A is a schematic diagram of a positioning system architecture provided in an embodiment of the present application.

[0019] FIG1B is a schematic diagram of a positioning system architecture provided by another embodiment of the present application.

[0020] FIG1C is a schematic diagram of a positioning system architecture provided by another embodiment of the present application.

[0021] FIG2 is a schematic diagram of the structure of a base station provided in an embodiment of the present application.

[0022] FIG3 is a schematic structural diagram of a target detection device provided in one embodiment of the present application.

[0023] FIG4 is a schematic diagram of the structure of a server provided in another embodiment of the present application.

[0024] FIG5 is a flowchart of a positioning method provided in an embodiment of the present application.

[0025] FIG6A is a flowchart of a positioning method provided by another embodiment of the present application.

[0026] FIG6B is a flowchart of a positioning method provided by another embodiment of the present application.

[0027] FIG7 is a schematic diagram of a positioning method provided in an embodiment of the present application applied in a preset space.

[0028] FIG8 is another schematic diagram of the positioning method provided in an embodiment of the present application applied in a preset space.

[0029] FIG9 is another schematic diagram of the positioning method provided by an embodiment of the present application applied in a preset space.

[0030] FIG10 is another schematic diagram of a positioning method provided by another embodiment of the present application applied in a preset space.

[0031] FIG11 is another schematic diagram of a positioning method provided by another embodiment of the present application applied in a preset space.

[0032] FIG12 is another schematic diagram of the positioning method provided in an embodiment of the present application applied in a preset space.

[0033] FIG13 is another schematic diagram of a positioning method provided by another embodiment of the present application applied in a preset space.

[0034] FIG14 is another schematic diagram of the positioning method provided by another embodiment of the present application applied in a preset space.

[0035] FIG15 is another schematic diagram of the positioning method provided by another embodiment of the present application applied in a preset space.

[0036] FIG16 shows the structure of a positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the objectives, technical solutions and advantages of this application clearer, this application is described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] It should be noted that in this application, "at least one" means one or more, and "more than one" means two or more than two. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of this application are used to distinguish similar objects, rather than to describe a specific order or sequence.

[0039] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete manner. The following embodiments and features in the embodiments may be combined with each other unless there is a conflict.

[0040] Indoor positioning technology has been increasingly widely used in many industries in the past few years, and plays an increasingly important role in our daily lives. Currently, the more commonly used indoor positioning technologies include Ultra Wideband (UWB) positioning technology, Bluetooth positioning technology, and WiFi positioning technology. The principle of the above-mentioned indoor positioning technology is to estimate the distance between the device to be located and the positioning device through wireless broadcast sensing information, and then calculate the position of the device to be located. The stability of the wireless broadcast signal is greatly interfered by factors such as hardware design, transmission strength, transmission frequency, environmental settings, human body shielding, and signals of other wireless devices, which will cause variations in sensing information, or receive poor signals, or miss received signals. Unstable signals and incorrect signal drop will directly affect the positioning accuracy or distance estimation, and have a great impact on positioning-derived application services. In order to solve the problems existing in the above-mentioned indoor wireless positioning technology, the positioning method provided in the embodiment of the present application reduces the error drift of indoor wireless positioning and improves the positioning stability of the positioning target detection device.

[0041] The solution provided in the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0042] Please refer to Figure 1A, which is a schematic diagram of a positioning system architecture provided in an embodiment of the present application. For example, the positioning system described herein may be an indoor positioning system. The positioning system may include multiple base stations 10, a target detection device 20, and a server 30. Wireless communication can be performed between the multiple base stations 10 and the target detection devices 20, between the multiple base stations 10 and the server 30, and between the target detection devices 20 and the server 30. The server 30 is communicatively connected to the multiple base stations 10 and / or the target detection devices 20. In one embodiment of the present application, wired communication can also be performed between the multiple base stations 10 and the server 30, which is not shown in Figure 1A. One of the multiple base stations 10 and the target detection device 20 is configured to transmit sensing information, and another of the multiple base stations 10 and the target detection device 20 is configured to receive and transmit the sensing information back to the server 30. The target detection device 20 is used to transmit sensing information; the multiple base stations 10, disposed in the predetermined space, are used to transmit the sensing information and locate the target detection device 20.

[0043] In FIG. 1A to FIG. 1B and FIG. 2 to FIG. 16 described herein, for simplicity of description, the target detection device 20 is configured to send sensing information, and the plurality of base stations 10 are configured to receive and transmit the sensing information back to the server 30 .

[0044] It is understandable that, in addition to FIG. 1C described herein, FIG. 1A and FIG. 2 to FIG. 16 described herein may also be adjusted such that: multiple base stations 10 are configured to send sensing information, and the target detection device 20 is configured to receive and transmit the sensing information back to the server 30. However, this is not specifically illustrated in the drawings to avoid redundancy.

[0045] Specifically, multiple base stations 10 can be set up at multiple locations in a preset space. For example, multiple base stations 10 can be set up in multiple wards of a hospital, multiple base stations 10 can be set up in multiple rooms of a daycare center, multiple base stations 10 can be set up in multiple classrooms of a school, etc., and this application is not limited to this. The base station 10 is equipped with a device for wireless communication with the target detection device 20. For example, when the base station 10 communicates with the target detection device 20 via UWB technology, the base station 10 is equipped with a UWB chip, and the target detection device 20 is equipped with a UWB tag. For example, the UWB chip can be a chip integrated inside the base station 10. Alternatively, the UWB chip can also be a separate electronic device, which is not limited here. The UWB tag can be a chip integrated inside the target detection device 20. Alternatively, the UWB tag can also be a separate electronic device, which is not limited here. The base station 10 can wirelessly communicate with the UWB tag in the target detection device 20 via the UWB chip.

[0046] It should be noted that when the base station 10 and the target detection device 20 communicate via infrared technology, the base station 10 may be an infrared sensor, and the target detection device 20 may be an electronic tag capable of emitting infrared rays. When the base station 10 and the target detection device 20 communicate via other wireless communication technologies, the base station 10 may be an electronic device compatible with the wireless communication technology, and the target detection device 20 may be an electronic tag communicating with the base station 10.

[0047] In one embodiment, the target detection device 20 may include user equipment (UE), a mobile station, a mobile device, a user terminal, a wireless communication device, etc. For example, the target detection device 20 may be a smart phone, a wireless phone, an Internet (VoIP) phone, a personal digital assistant (PDA), a tablet computer, a wearable electronic device with wireless communication capabilities (such as a smart watch, a smart bracelet, a smart ring, smart glasses, an electronic tag), etc., and this application does not limit this. In one embodiment, the server 30 may be an application built into an electronic device (such as a mobile phone, a computer, or an electronic tag), or it may be an independent server that communicates with an electronic device (such as a mobile phone). For example, the base station 10 is responsible for sending sensing information, and the target detection device 20 is responsible for receiving sensing information and transmitting the sensing information back to the built-in application.

[0048] Please refer to Figure 1B, which is a schematic diagram of another positioning system architecture provided in an embodiment of the present application. For example, the positioning system described herein may specifically be an indoor positioning system. The positioning system may include multiple base stations 10, multiple target detection devices 20, and a server 30. Wireless communication can be performed between the multiple base stations 10 and the multiple target detection devices 20, wireless communication or wired communication can be performed between the multiple base stations 10 and the server 30, and wireless communication can be performed between the multiple target detection devices 20 and the server 30. In the embodiment of the present application, after the multiple target detection devices 20 are communicatively connected with the multiple base stations 10, the multiple base stations 10 are then communicatively connected with the server 30. In the embodiment of the present application, the multiple target detection devices 20 are used to send sensing information, and the multiple base stations 10 are used to receive and transmit the sensing information back to the server 30. It should be noted that the multiple target detection devices 20 can be wirelessly connected to any two of the multiple base stations 10 and the server 30, and are not limited to those shown in Figure 1B. For example, as shown in FIG1C , after multiple base stations 10 are communicatively connected to multiple target detection devices 20, the multiple target detection devices 20 are then communicatively connected to a server 30. In this embodiment of the present application, the multiple base stations 10 are used to transmit sensing information, and the multiple target detection devices 20 are used to receive and transmit the sensing information back to the server 30. The server 30 can determine the current location of the target detection device based on the original location of the target detection device at a first time, the handover parameters, and the sensing information between the target detection device and the multiple base stations at a second time. For a detailed description of how the server 30 determines the current location of the target detection device, please refer to the description of FIG5 through FIG16 below.

[0049] For example, FIG2 is a schematic diagram of the structure of a base station provided in an embodiment of the present application. As shown in FIG2 , the base station 10 may include a communication module 101, a processor 102, and a memory 103. The communication module 101, the processor 102, and the memory 103 are interconnected, and the base station 10 communicates with the target detection device 20 and the server 30 via the communication module 101. The communication module 101 includes a wired communication module 1011 and a wireless communication module 1012. The base station 10 is connected to the target detection device 20 and / or the server 30 via a wired communication module 1011. Alternatively, the base station 10 may also be connected to the server 30 wirelessly via the wireless communication module 1012. The base station 10 is connected to the target detection device 20 wirelessly via the wireless communication module 1012.

[0050] The wireless communication module 1012 can provide solutions for wireless communication methods such as wireless local area networks (WLAN) (e.g., wireless networks (WiFi)), Bluetooth (BT), and ZigBee networks applied to the base station 10. The wireless communication module 1012 can be one or more devices that integrate at least one communication processing module. In the embodiment of the present application, the wireless communication module 1012 can be used to receive or send sensing information.

[0051] Processor 102 may include one or more processing units. Memory 103 may be used to store one or more computer programs. One or more computer programs include instructions. Processor 102 may execute the instructions stored in memory 103, thereby enabling base station 10 to execute various applications and process data. Memory 103 may include a code storage area and a data storage area.

[0052] It is understood that the components shown in FIG2 above do not constitute a specific limitation on the structure of the base station. In other embodiments of the present application, the base station may also include more or fewer components than those shown in FIG2, or combine certain components, or split certain components, or arrange the components differently. For example, the base station 10 may also include a battery, a power management module, and a charging management module. The power management module is used to connect the battery, the processor 102, and the charging management module. The components shown in FIG2 can be implemented in hardware, software, or a combination of software and hardware.

[0053] The power management module receives input from the battery and / or charging management module to power the processor 102, memory 103, and communication module 101. The charging management module is used to receive charging input from a charger to charge the battery. The charger can be a wireless charger or a wired charger.

[0054] For example, FIG3 is a schematic diagram of the structure of a target detection device according to an embodiment of the present application. As shown in FIG3 , the target detection device 20 may include a wireless communication module 201 , a processor 202 , a memory 203 , and a battery 204 .

[0055] The wireless communication module 201 can provide solutions for wireless communication methods such as wireless local area networks (WLAN) (e.g., wireless fidelity (Wi-Fi) networks), Bluetooth (BT), and ZigBee networks for use in the target detection device 20. The wireless communication module 201 can be one or more devices that integrate at least one communication processing module. In an embodiment of the present application, the wireless communication module 201 can be used to receive or send sensing information. The processor 202 can include one or more processing units. The memory 203 can be used to store one or more computer programs. One or more computer programs include instructions. The processor 202 can execute the instructions stored in the memory 203, thereby enabling the target detection device 20 to perform various applications and data processing. The memory 203 can include a code storage area and a data storage area. The battery 204 can be used to power the wireless communication module 201, the processor 202, and the memory 203.

[0056] It should be understood that the components shown in FIG3 do not constitute a specific limitation on the structure of the target detection device. In other embodiments of the present application, the target detection device may include more or fewer components than those shown in FIG3 , or may combine or separate certain components, or arrange the components differently. The components shown in FIG3 may be implemented in hardware, software, or a combination of software and hardware.

[0057] For example, Figure 4 is a schematic diagram of the structure of a server provided in an embodiment of the present application. As shown in Figure 4, server 30 includes, but is not limited to, a processor 301, memory 302, and communication module 303. The processor 301, memory 302, and communication module 303 are interconnected. For example, the processor 301, memory 302, and communication module 303 are connected via a communication bus. The communication bus is at least used to provide a communication channel between the memory 302 and processor 301 in server 30. Server 30 communicates with target detection device 20 and base station 10 via communication module 303. Communication module 303 includes a wired communication module 3031 and a wireless communication module 3032. Server 30 is connected to target detection device 20 and / or base station 10 via a wired communication module 3031. Alternatively, server 30 can also be connected to target detection device 20 wirelessly via wireless communication module 3032. Server 30 can also be connected to base station 10 wirelessly via wireless communication module 3032. FIG4 is merely an example of a server and does not constitute a corresponding limitation. In other embodiments, the server may include more components than shown in the figure.

[0058] The processor 301 may include one or more processing units. For example, the processor 301 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural network processing unit (NPU). Different processing units may be independent devices or integrated into one or more processors.

[0059] The processor 301 provides computing and control capabilities. For example, the processor 301 is used to execute a computer program stored in the memory 302 to implement the above-mentioned positioning method.

[0060] Memory 302 may include one or more random access memories (RAMs) and one or more non-volatile memories (NVMs). RAM can be directly read and written by processor 302 and can be used to store executable programs (e.g., machine instructions) for the operating system or other running programs, as well as user and application data. RAM may include static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), etc.

[0061] The non-volatile memory can also store executable programs and user and application data, etc., and can be pre-loaded into the random access memory for direct reading and writing by the processor 301. The non-volatile memory can include disk storage devices and flash memory.

[0062] The memory 302 is used to store one or more computer programs. The one or more computer programs are configured to be executed by the processor 301. The one or more computer programs include multiple instructions. When the multiple instructions are executed by the processor 301, the positioning method executed on the processor 301 can be implemented.

[0063] It should be understood that the structure illustrated in the embodiments of the present application does not constitute a specific limitation on the server 30. In other embodiments of the present application, the server 30 may include more or fewer components than shown, or may combine or separate certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0064] In an embodiment of the present application, a positioning method is provided to accurately determine the current location of a target detection device, in order to solve the problem that, after a target detection device enters a target subspace within a preset space and is simultaneously detected by base stations in other surrounding subspaces, the base stations in other subspaces output their positioning location to a server while the target detection device is in the target subspace, resulting in an erroneous positioning location.

[0065] Refer to FIG5 , which is a flowchart of a positioning method provided in one embodiment of the present application. For example, the positioning method described herein may be an indoor positioning method. The positioning method in this embodiment may be applied to the server 30 shown in FIG4 . The positioning method includes the following steps:

[0066] In step S110 , an original positioning position of the target detection device at a first time is obtained.

[0067] In one embodiment of the present application, multiple base stations may be pre-installed at multiple locations within a preset space, with each base station corresponding to a subspace, or multiple base stations may correspond to a subspace, although this application is not limited thereto. For example, the initial positioning position of the target detection device at a first moment is determined by one of the multiple base stations. Furthermore, the method for obtaining the initial positioning position in step S110 may be the same as or different from the method described in step S140 below, or may be the initial positioning position of the target detection device stored in the real-time positioning, without limitation. In one embodiment of the present application, the target detection device receives sensing information transmitted by multiple base stations and transmits it back to a server, or multiple base stations receive sensing information transmitted by the target detection device and transmit it back to a server. If the target detection device receives sensing information transmitted by multiple base stations, the sensing information transmitted by the target detection device to the server may include a base station identifier and signal strength. If multiple base stations receive sensing information transmitted by the target detection device and transmit it back to the server, the sensing information transmitted by the multiple base stations to the server may include a base station identifier and signal strength. This and other similar methods are not further described here.

[0068] Step S120: Obtain switching parameters.

[0069] In one embodiment of the present application, the handover parameters may include, but are not limited to, the hierarchy of the multiple base stations and / or the handover sensitivity between any two of the multiple base stations. In one embodiment of the present application, the hierarchy and / or the handover sensitivity may be set based on the positional relationship of the multiple base stations in the preset space. It is understood that the types of handover parameters are not limited to the specific embodiments exemplified in this application, and may also include other types.

[0070] It can be understood that when the switching parameter includes the hierarchy of the multiple base stations, it means that the switching parameter includes at least one hierarchy of the multiple base stations. For example, the switching parameter may include only one hierarchy of only one base station, or the switching parameter may include only at least one hierarchy of two base stations (for example, the two base stations have the same hierarchy, or the two base stations have two different hierarchies). In other words, the switching parameter may be only the hierarchy of one (or one group of) embodiments, or the hierarchy of multiple (or multiple groups of) embodiments. And so on, there is no limitation in this application.

[0071] It can be understood that when the handover parameter includes the handover sensitivity between any two base stations among the multiple base stations, it means that the handover parameter includes the handover sensitivity of one or more groups of embodiments. For example, the handover parameter may include only the handover sensitivity of only one group of embodiments (between two base stations), or the handover parameter may include the handover sensitivity of two or three groups of embodiments (for example, between any two base stations among three base stations). In other words, the handover sensitivity can be the handover sensitivity of only one group of embodiments, or the handover sensitivity of multiple groups of embodiments. And so on, there is no limitation in this application.

[0072] It is understood that the server can obtain the handover parameters by providing the handover parameters to the server through external software and hardware, or by providing the handover parameters to the server through a base station and a target detection device, or by setting the handover parameters on external software and hardware, a base station, and / or a target detection device before providing them to the server, or by setting the handover parameters on the server. As long as the current location of the target detection device can be obtained based on at least the handover parameters in the subsequent step S140, the present application does not limit the method of obtaining the handover parameters. In the present application, only the method of obtaining the handover parameters by setting the handover parameters is used as an example. It is understood that all embodiments of the present application can also be applied to other methods of obtaining the handover parameters.

[0073] In one embodiment of the present application, the step of obtaining the switching parameter includes setting the switching parameter, wherein the switching parameter includes the hierarchy of the multiple base stations. In addition, the switching parameter may also include a switching sensitivity set according to the hierarchy. Specifically, the multiple base stations in the electronic fence may set the switching parameter (for example, the hierarchy of the multiple base stations and / or the switching sensitivity set according to the hierarchy), and the multiple base stations outside the electronic fence may not set the switching parameter. For the description of the electronic fence, please refer to the embodiments in the specification. It can be understood that the term "electronic fence" is only a descriptive term and not a restrictive term.

[0074] In one embodiment of the present application, the level of each of the multiple base stations is set according to the floor or compartment information of the preset space. In one embodiment of the present application, the switching sensitivity is related to the sensing information. Specifically, the step of setting the switching parameters includes: setting the level of each base station according to the positional relationship of the multiple base stations in the preset space; setting the switching sensitivity between any two base stations in the multiple base stations according to the level of each base station, for example, setting the switching sensitivity between any two levels. Among them, the positional relationship of the multiple base stations in the preset space includes adjacent subspaces as non-connected spaces, adjacent subspaces as indirectly connected spaces, different subspaces are on different floors, and adjacent subspaces include connected channels and subspaces, special control subspaces, etc. For the specific setting of the level of each base station in the multiple base stations and the setting of the switching sensitivity between any two base stations in the multiple base stations according to the level, please refer to the detailed description of Figures 7 to 15 below.

[0075] In another embodiment of the present application, the step of obtaining the switching parameters includes setting the switching parameters, and the step of setting the switching parameters includes: setting the switching sensitivity between any two base stations among the multiple base stations. For example, the switching sensitivity can be set only between two specific base stations to avoid erroneous drift in positioning between the two specific base stations. In setting the switching sensitivity between any two base stations, the number of base stations set with switching sensitivity can be determined according to the needs of the actual field. In one aspect, the switching sensitivity can be related to the sensing information and / or the level of the base station. In another aspect, the switching sensitivity can be unrelated to the sensing information and / or the level of the base station. In a specific embodiment of the present application, if the switching sensitivity is related to the level of the base station, then the step of setting the switching parameters includes: setting the switching sensitivity between any two levels of the multiple base stations, so that it is only necessary to set the switching sensitivity of any two level combinations, without setting the switching sensitivity of all base station combinations according to the base station number.

[0076] Step S130 , receiving sensing information between a plurality of base stations and the target detection device at a second time.

[0077] In one embodiment of the present application, when a user carrying a target detection device moves from a first subspace to a location near a second subspace at a second time, sensing information between the target detection device and a second base station in the second subspace and surrounding base stations is transmitted to a server. It should be noted that this sensing information can be sent by multiple base stations or by the target detection device.

[0078] In one embodiment of the present application, the sensing information may include but is not limited to received signal strength indicator (RSSI), or a time (or time difference, round-trip time, etc.), or a sensing value of at least one inertial component, such as a three-axis accelerometer (measuring acceleration to estimate movement distance, number of steps and stride length), a three-axis gyroscope (determining the direction of travel) and / or a three-axis magnetometer (determining the direction of travel), or an image related to the detected position (for example, the target detection device is provided with a camera module), etc., where the three axes may be a length coordinate (x-coordinate), a width coordinate (y-coordinate) and a height coordinate (z-coordinate).

[0079] In step S140 , the current positioning position of the target detection device is obtained according to the original positioning position, the switching parameters and the sensing information.

[0080] In one embodiment of the present application, the server can obtain the current location of the target detection device based on the original location, the switching parameters, and the sensing information. It should be noted that the present application does not limit the order in which the server receives the original location, the switching parameters, and the sensing information. The server can obtain the current location of the target detection device after receiving the original location, the switching parameters, and the sensing information.

[0081] It will be appreciated that during real-time positioning, steps S110 to S140 described above in FIG. 5 can be repeated to instantly update the current location of the target detection device. It will be appreciated that the time difference between the first and second times can be extremely short, such as within 5 seconds, within 3 seconds, within 1 second, or within 10 milliseconds, which is particularly applicable in the embodiments of FIG. 7 through FIG. 15 below. For example, the time difference between the first and second times can be the time difference between two consecutive positionings during real-time positioning. The time difference between the first and second times can be set based on the needs of the actual scenario. In a preferred embodiment of the present application, the time difference between the first and second times can be within 3 seconds.

[0082] 6A and 6B are flowcharts of a positioning method according to another embodiment of the present invention. For example, the positioning method described herein may be an indoor positioning method. The positioning method in this embodiment may be applied to the server 30 shown in FIG. 4 . The positioning method includes the following steps:

[0083] In step S110 , an original positioning position of the target detection device at a first time is obtained, where the original positioning position corresponds to a first base station.

[0084] In an embodiment of the present application, multiple base stations can be pre-set at multiple locations in a preset space, and each base station corresponds to a subspace, or multiple base stations correspond to a subspace, which is not limited in this application. The multiple base stations include at least a first base station and a second base station, which are used to physically or on a map locate the target detection device, and the original positioning position corresponds to the first base station. For example, the first base station is set in the first subspace of the preset space, and the second base station is set in the second subspace of the preset space. For example, the original positioning position of the target detection device at the first time is located by the first base station. In addition, the method of obtaining the original positioning position in step S110 may be the same as the method of step S140 below, or may be different from the method of step S140 below, or may be the positioning position of the target detection device at the first time stored in the real-time positioning, which is not limited here.

[0085] In one embodiment of the present application, the location of the first base station is the original positioning location of the target detection device. Specifically, when the first base station receives the sensing information sent by the target detection device, the first base station calculates a first signal strength based on the sensing information sent by the target detection device, and the first base station sends a first base station signal to the server, wherein the first base station signal may include a first base station identification code and a first signal strength. When the second base station receives the sensing information sent by the target detection device, the second base station calculates a second signal strength based on the sensing information sent by the target detection device, and the second base station sends a second base station signal to the server, wherein the second base station signal may include a second base station identification code and a second signal strength. And so on, and will not be repeated here.

[0086] Step S120, obtaining the handover parameters. As shown in FIG6A, step S120 includes step S121 and step S122, or as shown in FIG6B, step S120 includes step S121'.

[0087] Step S121 , setting the hierarchy of the multiple base stations.

[0088] In this embodiment of the present application, to address the issue of a target detection device entering the second subspace at a second time and being simultaneously detected by base stations in other subspaces, causing the base stations in other subspaces to output their location to the server while the target detection device is in the second subspace, resulting in an incorrect location output, a hierarchy of multiple base stations in a preset space can be first set. Specifically, the hierarchy of each base station is set based on the positional relationship of the multiple base stations in the preset space.

[0089] It can be understood that when the switching parameter includes the hierarchy of the multiple base stations, it means that the switching parameter includes at least one hierarchy of the multiple base stations. For example, the switching parameter may include only one hierarchy of only one base station, or the switching parameter may include only at least one hierarchy of two base stations (for example, the two base stations have the same hierarchy, or the two base stations have two different hierarchies). In other words, the switching parameter may be only the hierarchy of one (or one group of) embodiments, or the hierarchy of multiple (or multiple groups of) embodiments. And so on, there is no limitation in this application.

[0090] It can be understood that the type of switching parameters may not be limited to the specific embodiments exemplified in this application, but may also include other types.

[0091] Step S122 : setting the handover sensitivity between any two base stations among the multiple base stations according to the level of each base station.

[0092] In an embodiment of the present application, after the levels of the multiple base stations are set in step S121, it is also necessary to determine whether the corresponding base station needs to be switched based on the switching sensitivity between any two base stations. For example, the switching sensitivity between any two levels of the multiple base stations is set according to the level of each base station. In a specific embodiment of the present application, if the switching sensitivity is related to the level of the base station, the step of setting the switching parameter includes: setting the switching sensitivity between any two levels of the multiple base stations. In this way, it is only necessary to set the switching sensitivity of any two level combinations, without setting the switching sensitivity of all base station combinations according to the base station number.

[0093] Step S121', setting the switching sensitivity between any two base stations among the multiple base stations. For example, the switching sensitivity can be set only between specific two base stations in the second subspace to avoid erroneous drift in positioning between the specific two base stations. In setting the switching sensitivity between any two base stations, the number of base stations set with switching sensitivity can be determined according to actual field requirements. On the one hand, the switching sensitivity may be related to the sensing information and / or the level of the base station. On the other hand, the switching sensitivity may be unrelated to the sensing information and / or the level of the base station. In a specific embodiment of the present application, if the switching sensitivity is related to the level of the base station, the step of setting the switching parameters includes: setting the switching sensitivity between any two levels among the multiple base stations, so that it is only necessary to set the switching sensitivity of any two level combinations, without setting the switching sensitivity of all base station combinations according to the base station number.

[0094] It can be understood that when the handover parameter includes the handover sensitivity between any two base stations among the multiple base stations, it means that the handover parameter includes the handover sensitivity of one or more groups of embodiments. For example, the handover parameter may include only the handover sensitivity of only one group of embodiments (between two base stations), or the handover parameter may include the handover sensitivity of two or three groups of embodiments (for example, between any two base stations among three base stations). In other words, the handover sensitivity can be the handover sensitivity of only one group of embodiments, or the handover sensitivity of multiple groups of embodiments. And so on, there is no limitation in this application.

[0095] It is understood that the server can obtain the handover parameters by providing the handover parameters to the server through external software and hardware, or by providing the handover parameters to the server through a base station and a target detection device, or by setting the handover parameters on external software and hardware, a base station, and / or a target detection device before providing them to the server, or by setting the handover parameters on the server. As long as the current location of the target detection device can be obtained based on at least the handover parameters in the subsequent step S140, the present application does not limit the method of obtaining the handover parameters. In the present application, only the method of obtaining the handover parameters by setting the handover parameters is used as an example. It is understood that all embodiments of the present application can also be applied to other methods of obtaining the handover parameters.

[0096] It can be understood that the type of switching parameters may not be limited to the specific embodiments exemplified in this application, but may also include other types.

[0097] Step S130 , receiving sensing information between a plurality of base stations and the target detection device at a second time.

[0098] In an embodiment of the present application, if the target detection device moves from the first subspace to the second subspace at the second time, then after being detected by the base station of the second subspace, it can receive sensing information between the base station corresponding to the first subspace and the target detection device, as well as sensing information between the base station corresponding to the second subspace and the target detection device. It should be noted that in addition to receiving sensing information between the base station corresponding to the first subspace and the target detection device, and sensing information between the base station corresponding to the second subspace and the target detection device, the server can also receive sensing information between other base stations located around the second subspace and the target detection device. Other base stations around the second subspace include all base stations within the preset space that can detect the target detection device.

[0099] In step S140 , the current location of the target detection device is obtained according to the original location, the switching parameters, and the sensing information. Step S140 includes steps S141 and S142 .

[0100] In step S141 , the sensing information is processed through a sensing method or a positioning algorithm to obtain an estimated positioning position, where the estimated positioning position corresponds to the second base station.

[0101] In this embodiment of the present application, an estimated positioning position can be obtained using a sensing method or positioning algorithm based on sensing information between the base station corresponding to the first subspace and the target detection device, sensing information between the base station corresponding to the second subspace and the target detection device, and sensing information between other base stations located around the second subspace and the target detection device. The estimated positioning position corresponds to the second base station. That is, the estimated positioning position is determined by the second base station.

[0102] In the embodiment of the present application, in the step of obtaining an estimated positioning position by using the sensing method for sensing information, the sensing method may be to sense the base station with the strongest sensing information among all base stations at a time to locate the target detection device, which is not limited here.

[0103] In the embodiment of the present application, the positioning algorithm includes but is not limited to indoor positioning technologies such as the strongest RSSI signal positioning, Wi-Fi, RFID, ZigBee, infrared, Bluetooth positioning, angle of arrival (Angle of Arrival) and ultra-wideband (UWB), and is not limited here.

[0104] In step S142, based on the handover sensitivity between the first and second base stations, and the difference between the sensing information between the first base station and the target detection device and the sensing information between the second base station and the target detection device, it is determined whether the current location corresponds to the first or second base station. It is understood that when the estimated location corresponding to the second base station is obtained based on the sensing information using a sensing method or positioning algorithm in step S141, to avoid erroneous positioning due to the estimated location drift, step S142 further determines whether the current location has been switched from the original location to the estimated location. Specifically, the difference = the sensing information between the second base station and the target detection device at the second time - the sensing information between the first base station and the target detection device at the second time, where the second base station corresponds to the estimated location, and the first base station corresponds to the original location. In this context, the difference can be obtained as a specific value based on the difference relationship described above. It can be understood that if the difference is a positive value, it means that the sensing information between the second base station and the target detection device is greater than the sensing information between the first base station and the target detection device during the second time period; if the difference is a negative value, it means that the sensing information between the second base station and the target detection device is less than the sensing information between the first base station and the target detection device during the second time period.

[0105] In an embodiment of the present application, step S142 includes: if the switching sensitivity between the first base station and the second base station is the preset sensitivity S0, judging that the current positioning position corresponds to the position of the first base station; or if the sensitivity between the first base station and the second base station is the preset sensitivity Si, judging that the current positioning position corresponds to the first base station or the second base station based on the size of the difference and the preset value.

[0106] It will be appreciated that during real-time positioning, steps S110 to S142 described above in Figures 6A and 6B can be repeated to instantly update the current location of the target detection device. It will be appreciated that the time difference between the first time and the second time can be an extremely short time difference, such as within 5 seconds, within 3 seconds, within 1 second, within 10 milliseconds, etc., which is particularly applicable to the embodiments of Figures 7 to 15 below. For example, the time difference between the first time and the second time can be the time difference between two consecutive positionings in real-time positioning. The time difference between the first time and the second time can be set according to the needs of the actual situation. In a preferred embodiment of the present application, the time difference between the first time and the second time can be within 3 seconds.

[0107] In one embodiment of the present application, if the location of the first base station corresponding to the original positioning position is not connected to the location of the second base station corresponding to the estimated positioning position, the levels of the first base station and the second base station are set respectively, as in step S121, and the handover sensitivity between the first base station and the second base station is set to the preset sensitivity S0. Alternatively, the handover sensitivity between the first base station and the second base station is set to the preset sensitivity S0, as in step S121'. Then, regardless of the level of the first base station and the second base station, when the handover sensitivity between the first base station and the second base station is set to the preset sensitivity S0, the current positioning position is determined to correspond to the first base station. Therefore, the position of the second base station that is spatially disconnected will not be mistakenly determined.

[0108] In one embodiment of the present application, if the location of the first base station corresponding to the original positioning location is indirectly connected to the location of the second base station corresponding to the estimated positioning location, the levels of the first base station and the second base station are respectively set in step S121, and the switching sensitivity between the first base station and the second base station is set to a preset sensitivity S1. Alternatively, in step S121', the switching sensitivity between the first base station and the second base station is set to the preset sensitivity S1. Based on the preset sensitivity S1 between the first base station and the second base station, and based on the difference between the sensing information between the first base station and the target detection device and the sensing information between the second base station and the target detection device (see the difference relationship formula above) and a first preset value (e.g., 7), it is determined whether the current positioning location corresponds to the first base station or the second base station. For example, if it is determined that the difference is greater than or equal to the first preset value, the current positioning location is determined to correspond to the second base station. If it is determined that the difference is less than the first preset value, the current positioning location is determined to correspond to the first base station.

[0109] If the location of the first base station corresponding to the original positioning location is directly connected to the location of the second base station corresponding to the estimated positioning location, the hierarchy of the first base station and the second base station is set, respectively, in step S121, and the handover sensitivity between the first base station and the second base station is set to a preset sensitivity S2. Alternatively, in step S121', the handover sensitivity between the first base station and the second base station is set to the preset sensitivity S2. Based on the preset sensitivity S2 between the first base station and the second base station, and based on the difference between the sensing information between the first base station and the target detection device, and the sensing information between the second base station and the target detection device (see the difference relationship formula above) and a second preset value (e.g., 5), it is determined whether the current positioning location corresponds to the first base station or the second base station. For example, if the difference is determined to be greater than or equal to the second preset value, the current positioning location is determined to correspond to the second base station. If the difference is determined to be less than the second preset value, the current positioning location is determined to correspond to the first base station.

[0110] In one embodiment of the present application, when the location of the first base station corresponding to the original positioning position and the location of the second base station corresponding to the estimated positioning position are located on different floors in a preset space and are not directly connected by an elevator or stairs, as in step S121, the levels of the first base station and the second base station are set respectively, and the switching sensitivity between the first base station and the second base station is set to the preset sensitivity S0. Alternatively, as in step S121', the switching sensitivity between the first base station and the second base station is set to the preset sensitivity S0. Then, regardless of the level of the first base station and the second base station, when the switching sensitivity between the first base station and the second base station is set to the preset sensitivity S0, it is determined that the current positioning position corresponds to the first base station. Therefore, it will not be mistakenly judged as the location of the second base station that is not connected in space.

[0111] In one embodiment of the present application, when the location of a first base station corresponding to the original positioning location is connected to the location of a second base station corresponding to the estimated positioning location, and the location of the first base station is a narrow channel and the location of the second base station is an adjacent subspace, in step S121, the hierarchy of the first and second base stations is set, and the handover sensitivity between the first and second base stations is set to a preset sensitivity S1. Alternatively, in step S121', the handover sensitivity between the first and second base stations is set to the preset sensitivity S1. Based on the preset sensitivity S1 between the first and second base stations, and based on the difference between the sensing information between the first base station and the target detection device, and the sensing information between the second base station and the target detection device (see the difference relationship formula above), and a first preset value (e.g., 7), the current positioning location is determined to correspond to the first base station or the second base station. For example, if the difference is determined to be greater than or equal to the first preset value, the current positioning location is determined to correspond to the second base station. If the difference is determined to be less than the first preset value, the current positioning location is determined to correspond to the first base station.

[0112] In one embodiment of the present application, the positioning method further includes the step of setting an electronic fence based on an electronic map of a preset space, wherein at least some of the multiple base stations are located within the electronic fence. Specifically, the electronic fence is set based on the electronic map of the preset space and the locations of the multiple base stations in the electronic map. For example, the server receives an operation by a user to select multiple base stations in the electronic map, and forms an electronic fence based on the selected base stations. It should be noted that multiple electronic fences can be set based on the electronic map of the preset space, and the multiple electronic fences can have at least one common base station. In one embodiment of the present application, the first base station and the second base station are both located within the electronic fence. Specifically, the multiple base stations within the electronic fence can have switching parameters set (e.g., the hierarchy of the multiple base stations and / or switching sensitivities set based on their positional relationships), while the multiple base stations outside the electronic fence may not have switching parameters set. For a description of the electronic fence, please refer to the embodiments in the specification. It should be understood that the term "electronic fence" is merely a descriptive term and not a restrictive term.

[0113] It should be noted that, it is also possible to set the level of the first base station and the second base station in the electronic fence according to the position of the first base station corresponding to the original positioning position and the position of the second base station corresponding to the estimated positioning position in the electronic fence, and determine whether it is a special control area; or it is possible to set the level of the first base station and the second base station in the electronic fence according to the position of the first base station corresponding to the original positioning position and the position of the second base station corresponding to the estimated positioning position in the electronic fence according to the position of the first base station in the first electronic fence according to the position of the second base station corresponding to the estimated positioning position and the position of the first base station in the second electronic fence according to the position of the first base station in the first electronic fence according to the position of the second ... second electronic fence according to the position of the first base station in the first electronic fence according to the position of the second base station in the second electronic fence according to the position of the first base station in the second electronic fence according to the position of the first base station in the second electronic fence according to the position of the first base station in the first electronic fence according to the position of the second base station in the second electronic fence according to the position of the first base station in the second electronic fence according to the position of the first base station in the second electronic fence according to the position of the first base station in the second electronic fence according to the position of the first base station in the second electronic fence according to the position of the first base station in the second electronic fence according to the position of the The transmission direction may also be the opposite (ie, the base station is used to send the sensing information, and the target detection device is used to receive and return the sensing information to the server), which will not be described in detail here.

[0114] In one embodiment of the present application, as shown in FIG7 , for example, it is assumed that the preset space is a floor of a hospital, which includes five wards and a corridor. The five wards are numbered #3, #4, #5, #6 and #7, and the corridor near room #4 is set to #2 at one end and #1 at the other end. A base station is set at the corresponding positions of #1, #2, #3, #4, #5, #6 and #7 (as shown by the circles in FIG7 ). Thus, the position of the target detection device on the floor can be accurately located through the base station. It can be understood that the position numbers of the wards and corridors in FIG7 (or the corresponding base station numbers) are only narrative and may not be the same as the numbers in other embodiments. An electronic fence can be set according to the base stations in wards #3, #4, #5, #6 and #7. Assume that, upon first entering Ward #3, the base station corresponding to Ward #3 outputs sensing information to the server. The server then obtains the original location of the target detection device as the current location of the base station corresponding to Ward #3. However, if the target detection device appears in Ward #3 near Corridor #1, Ward #4, Ward #5, or Ward #6, the base stations corresponding to Corridor #1, Ward #4, Ward #5, and Ward #6 can all detect the target detection device and transmit sensing information corresponding to the detected target detection device to the server. In this case, if the server outputs the location output by the base station corresponding to Corridor #1, Ward #4, Ward #5, or Ward #6, the server will receive the location information from the base station corresponding to Ward #1. Then, the server will know that the target detection device is actually in Ward #3, but will output an incorrect location of the target detection device, that is, in Corridor #1, Ward #4, Ward #5, or Ward #6.

[0115] In order to solve the above-mentioned positioning error problem, the sensing information, original positioning position, and switching parameters between multiple base stations and the target detection device at the second time can be received to obtain the current positioning position of the target detection device. Specifically, the sensing information is subjected to a sensing method or positioning algorithm to obtain an estimated positioning position, and the estimated positioning position corresponds to the second base station; based on the switching sensitivity between the first base station and the second base station, and based on the difference Δ between the sensing information between the first base station and the target detection device and the sensing information between the second base station and the target detection device, it is determined whether the current positioning position corresponds to the first base station or the second base station. Specifically, the difference Δ = the sensing information between the second base station and the target detection device at the second time - the sensing information between the first base station and the target detection device at the second time, the second base station corresponds to the estimated positioning position, and the first base station corresponds to the original positioning position. In this article, the difference can be obtained as a specific value based on the difference relationship formula above. It can be understood that if the difference Δ is a positive value, it indicates that the sensing information between the second base station and the target detection device is greater than the sensing information between the first base station and the target detection device during the second time period; if the difference Δ is a negative value, it indicates that the sensing information between the second base station and the target detection device is less than the sensing information between the first base station and the target detection device during the second time period. Specifically, if the handover sensitivity between the first base station and the second base station is a preset sensitivity S0, the current positioning position is determined to correspond to the first base station; or if the handover sensitivity between the first base station and the second base station is a preset sensitivity Si, the current positioning position is determined to correspond to the first base station or the second base station based on the relationship between the difference Δ and the preset value, where i is a positive integer. The relationship between the preset sensitivity Si, the difference Δ, and the preset value can satisfy the relationship shown in Table 1 below.

[0116] Table 1

[0117] It should be noted that Table 1 is only for example, and the magnitude relationship between the difference Δ corresponding to the preset sensitivity Si and the preset value can also be any other setting and is not limited to that shown in Table 1.

[0118] In this embodiment of the present application, please continue to refer to Figure 7. Since Wards #3 and #4 are both on one side of the floor, Wards #5, #6, and #7 are all on the other side of the floor, and Wards #1 and #2 are in the same corridor, the base stations corresponding to Wards #3 and #4 are set to the level of L0; the base stations corresponding to Wards #1 and #2 in the corridor are set to the level of L1; and the base stations corresponding to Wards #5, #6, and #7 are set to the level of L2. The switching sensitivity between base stations at level L0 and level L2 is set to S0, where S0 = 0, indicating that regardless of the difference in sensing information between the base stations at level L0 and level L2, the positioning position of the base station at level L0 cannot be switched to the positioning position of the base station at level L2; nor can the positioning position of the base station at level L2 be switched to the positioning position of the base station at level L0.

[0119] In one embodiment, the switching sensitivity between base stations at level L0 and base stations at level L0 is set to S1, where S1 = 1. This means that at the second time, the switching can only be performed when the sensing information between different base stations at the same level L0 and the target detection device is very large. For example, at the second time, after the base stations corresponding to Ward #3 and Ward #4 detect the target detection device, if the difference between the sensing information received by the base station in Ward #3 and the sensing information received by the base station in Ward #4 is greater than or equal to a first preset value, the positioning position detected in Ward #3 can be switched to the positioning position detected in Ward #4; or the positioning position detected in Ward #4 can be switched to the positioning position detected in Ward #3.

[0120] In one embodiment, the switching sensitivity between a base station at level L0 and a base station at level L1 is set to S2, where S2 = 2. This means that at the second time, a switching can only be performed if the difference between the sensing information between the base station at level L0 and the target detection device and the sensing information between the base station at level L1 and the target detection device is relatively large. For example, at the second time, after the base stations corresponding to Ward #3 and Corridor #2 detect the target detection device, if the difference between the sensing information received by the base station in Ward #3 and the sensing information received by the base station in Corridor #2 is greater than or equal to a second preset value, the positioning position detected in Ward #3 can be switched to the positioning position detected in Corridor #2; or the positioning position detected in Corridor #2 can be switched to the positioning position detected in Ward #3.

[0121] In one embodiment, the switching sensitivity between base stations at level L1 and base stations at level L1 is set to S3, where S3 = 3. This means that at the second time, a slightly larger difference in sensing information between different base stations at the same level L1 and the target detection device is required for switching to occur. For example, at the second time, after the base stations corresponding to corridors #1 and #2 detect the target detection device, if the difference in sensing information received by the base station in corridor #1 and the base station in corridor #2 is greater than or equal to a third preset value, the positioning position detected in corridor #1 can be switched to the positioning position detected in corridor #2; or the positioning position detected in corridor #2 can be switched to the positioning position detected in corridor #1.

[0122] In the embodiment of the present application, the first preset value is greater than the second preset value, the second preset value is greater than the third preset value, and so on. The preset values ​​can be adjusted according to the actual situation.

[0123] It should be noted that the switching sensitivity between base stations at level L2 and L1 can also be set to S0. This means that at the second time, no switching will occur between base stations at level L2 and L1. For example, at the second time, after the base stations corresponding to Ward #7 and Corridor #2 detect the target detection device, the positioning position of the base station at level L1 cannot be switched to the positioning position of the base station at level L2; nor can the positioning position of the base station at level L2 be switched to the positioning position of the base station at level L1 at the second time.

[0124] FIG7 above gives an example of the switching sensitivity corresponding to multiple groups of hierarchical combinations. It can be understood that the positioning method of the present application can be implemented only according to the switching sensitivity corresponding to one group of hierarchical combinations, or the positioning method of the present application can be implemented only according to one hierarchical setting, which is not limited in the present application. That is to say, in the embodiments of FIG7 to FIG15 of the present application, the switching parameter can be only the level of one (or one group of) embodiments, the switching parameter can also be the level of multiple (or multiple groups of) embodiments, the switching parameter can also be only the switching sensitivity of one group of embodiments (for example, the switching sensitivity between only two base stations), the switching parameter can also be the switching sensitivity of multiple groups of embodiments (for example, the switching sensitivity between any two of three base stations), and so on, which is not limited in the present application.

[0125] Referring to FIG8 , it is assumed that the preset space includes area A and area B, wherein area A and area B are adjacent to each other in the preset space but cannot be connected. The inability of area A and area B to be connected means that when the user is in area A, he cannot directly enter area B through the opening (for example, a door) opened on the wall adjacent to area A and area B. Four base stations are set in advance in the preset space (base station No. 1 to base station No. 4 as shown by the five-pointed star in FIG8 ), wherein two base stations (base station No. 1 and base station No. 2) are set in area A, and two base stations (base station No. 3 and base station No. 4) are also set in area B. It can be understood that the position labels and base station labels in area A and area B in FIG8 are only narrative and may be different from the labels in other embodiments. The server receives the operation of selecting the base stations in area A and area B, and generates an electronic fence based on the operation, such as setting the level of each base station in the electronic fence and the switching sensitivity between each two levels in step S121. Specifically, the level of the two base stations in area A (base station 1 and base station 2) is set to L1, and the level of the two base stations in area B (base station 3 and base station 4) is set to L2; the switching sensitivity between the two base stations in area A at the same level is set to S2, where S2=2; the switching sensitivity between the two base stations in area B at the same level is set to S2, where S2=2; the switching sensitivity between the base stations in area A and the base stations in area B at different levels is set to S0, where S0=0. Alternatively, the switching sensitivity between each two base stations is set as in step S121'. Specifically, the switching sensitivity between base stations 1 and 2 is set to S2, where S2=2; the switching sensitivity between base stations 3 and 4 is set to S2, where S2=2; the switching sensitivity between base stations 1 and 3 is set to S0, where S0=0. And so on, which will not be repeated here. It should be noted that the larger the value of the switching sensitivity Si, the easier it is to switch.

[0126] When a target detection device enters the range defined by the electronic fence (e.g., Area A or Area B), one or more nearby base stations detect the wireless signal strength transmitted by the target detection device and transmit this sensing information back to the server. The server can then obtain the original positioning location of the target detection device at the first time (e.g., the positioning location of the target detection device at the first time stored in real-time positioning); obtain switching parameters; receive sensing information between multiple base stations and the target detection device at the second time; and use this sensing information through a sensing method or positioning algorithm (e.g., strongest RSSI signal positioning) to obtain an estimated positioning location. If the base station corresponding to the original positioning location of the target detection device and the base station corresponding to the estimated positioning location belong to Area A or Area B, respectively (for example, the base station corresponding to the original positioning location is a base station in Area A, and the base station corresponding to the estimated positioning location is a base station in Area B); or the base station corresponding to the original positioning location is a base station in Area B, and the base station corresponding to the estimated positioning location is a base station in Area A), then, because the switching sensitivity between the base stations in Area A and Area B, which are at different levels, is S0, the server can determine the current positioning location as the original positioning location at the second time and not switch the original positioning location to the estimated positioning location. If the base station corresponding to the original positioning position of the target detection device and the base station corresponding to the estimated positioning position both belong to the same area (for example, both belong to area A or both belong to area B), then a decision is made as to whether to update the positioning position based on the handover sensitivity between the two base stations and the difference between the sensing information between the base station corresponding to the original positioning position and the target detection device and the sensing information between the base station corresponding to the estimated positioning position and the target detection device.

[0127] Specifically, the difference = the sensing information of the second base station and the target detection device at the second time - the sensing information of the first base station and the target detection device at the second time, the second base station corresponds to the estimated positioning position, and the first base station corresponds to the original positioning position. In this article, the difference can obtain a specific value based on the difference relationship formula above. It can be understood that if the difference is a positive value, it means that the sensing information of the second base station and the target detection device at the second time is greater than the sensing information of the first base station and the target detection device; if the difference is a negative value, it means that the sensing information of the second base station and the target detection device at the second time is less than the sensing information of the first base station and the target detection device. For example, if the base station corresponding to the original positioning position is base station No. 1 in area A, when it is determined that the switching sensitivity between base station No. 1 in area A and base station No. 2 in area A at the same level is S2. Only when the difference between the sensing information received by base station 1 in area A and base station 2 in area A and the target detection device at the second time is greater than or equal to 5, the positioning position of the target detection device is switched from the position of base station 1 in area A to the position of base station 2 in area A. If the difference between the sensing information received by base station 1 in area A and base station 2 in area A and the target detection device at the second time is less than 5, the positioning position of the target detection device is not switched and the position of base station 1 in area A is retained.

[0128] Referring to FIG. 9 , it is assumed that a preset space includes area A, area B, and area C, which is connected to both areas A and B. Areas A and B are indirectly connected within the preset space through area C. The indirect connection between areas A and B through area C within the preset space means that when a user is in area A, they cannot directly enter area B through an opening (e.g., a door) in the wall adjacent to area A and area B. However, they can enter area C through an opening in the wall adjacent to area A and area C, and then enter area B through an opening in the wall adjacent to area B and area C. Three base stations are pre-set in the preset space (base station 1, base station 2, and base station 3, as indicated by the five-pointed star in FIG. 9 ), with one base station each in area A, area B, and area C: base station 1, base station 2, and base station 3, respectively. It should be understood that the location and base station numbers in areas A, B, and C in FIG. 9 are merely descriptive and may differ from those in other embodiments. The server receives the operation of selecting the base stations in area A, area B, and area C, and generates an electronic fence based on the operation, such as setting the level of each base station in the electronic fence and the switching sensitivity between every two levels in step S121. Specifically, the level of the base station in area A is set to L1, the level of the base station in area B is set to L1, and the level of the base station in area C is set to L2; the switching sensitivity between the two base stations in area A and area B at the same level is set to S1, where S1=1; the switching sensitivity between the base station in area A and the base station in area C at different levels is set to S2, where S2=2; the switching sensitivity between the base station in area B and the base station in area C at different levels is set to S2, where S2=2. Alternatively, the switching sensitivity between every two base stations is set as in step S121'. Specifically, the handover sensitivity between base stations 1 and 2 is set to S2, where S2 = 2; the handover sensitivity between base stations 3 and 4 is set to S2, where S2 = 2; and the handover sensitivity between base stations 1 and 3 is set to S0, where S0 = 0. And so on, which is not detailed here. It should be noted that the larger the handover sensitivity Si, the easier the handover.

[0129] When the target detection device enters the range selected by the electronic fence (for example, area A, area B, or area C), one or more nearby base stations scan the sensing information sent by the target detection device (such as wireless signal strength) and transmit the sensing information back to the server. The server can obtain the original positioning position of the target detection device at the first time (for example, the positioning position of the target detection device at the first time stored by real-time positioning); obtain switching parameters; receive sensing information between multiple base stations and the target detection device at the second time; and obtain an estimated positioning position by using the sensing information through a sensing method or positioning algorithm (for example, positioning with the strongest RSSI signal). If the base station corresponding to the original positioning position of the target detection device and the base station corresponding to the estimated positioning position belong to area A or area B respectively. For example, the base station corresponding to the original positioning position is base station No. 1 in area A, and the base station corresponding to the estimated positioning position is base station No. 2 in area B; or the base station corresponding to the original positioning position is base station No. 2 in area B, and the base station corresponding to the estimated positioning position is base station No. 1 in area A. Then, since the handover sensitivity between base station 1 in area A and base station 2 in area B, which are at the same level, is S1, whether to update the positioning position is determined based on the handover sensitivity between the two base stations and the difference between the sensing information of the base station and the target detection device corresponding to the original positioning position and the sensing information of the base station and the target detection device corresponding to the estimated positioning position.

[0130] Specifically, the difference = the sensing information between the second base station and the target detection device at the second time - the sensing information between the first base station and the target detection device at the second time, where the second base station corresponds to the estimated positioning position, and the first base station corresponds to the original positioning position. In this context, the difference can be obtained as a specific value based on the difference relationship formula described above. It can be understood that a positive difference indicates that the sensing information between the second base station and the target detection device at the second time is greater than the sensing information between the first base station and the target detection device; a negative difference indicates that the sensing information between the second base station and the target detection device at the second time is less than the sensing information between the first base station and the target detection device. For example, if the base station corresponding to the original positioning position is a base station in area A, and the handover sensitivity between the base station in area A and the base station in area B at the same level is determined to be S1, then if the difference between the sensing information between the base station in area A and the target detection device at the second time and the sensing information between the base station in area B and the target detection device at the second time is greater than or equal to 7. Then, the target detection device's location is switched from the location of the base station in area A to the location of the base station in area B. If, at a second time, the difference between the sensing information between the base station in area A and the target detection device and the sensing information between the base station in area B and the target detection device is less than 7, the target detection device's location is not switched and remains at the location of the base station in area A. This reduces the risk that, when the target detection device is in area A, the server will be updated with the location of the base station in area B after receiving the location from the base station in area A. This also reduces the probability of receiving erroneous information indicating that the target detection device is in area B when it is in area A.

[0131] Referring to FIG. 10 , assume that a preset space includes Area A and Area B, where Area A and Area B are located on different floors of the preset space. For example, Area A is located on the N+1th floor of the preset space, and Area B is located on the Nth floor of the preset space. Four base stations are pre-set in the preset space (base stations 1 to 4, as indicated by the five-pointed star in FIG. 10 ), with two base stations (base station 1 and base station 2) set in Area A and two base stations (base station 3 and base station 4) set in Area B. It will be understood that the location and base station numbers of Area A and Area B in FIG. 10 are merely descriptive and may differ from those in other embodiments. The server receives an operation to select base stations in Areas A and B and, based on the operation, generates an electronic fence. In step S121, the level of each base station in the electronic fence and the switching sensitivity between each two levels are set. Specifically, the level of Base Station 1 in Area A is set to L4, the level of Base Station 2 in Area A is set to L2, the level of Base Station 3 in Area B is set to L3, and the level of Base Station 4 in Area B is set to L1. The handover sensitivity between base station No. 2 in area A and base station No. 4 in area B, which are located on different floors and levels, is set to S0, where S0 = 0; the handover sensitivity between two base stations in area B, which are located on different levels on the same floor (e.g., floor N), is set to S2, where S2 = 2; the handover sensitivity between base station No. 1 in area A and base station No. 4 in area B, which are located on different floors and levels, is set to S0, where S0 = 0; the handover sensitivity between base station No. 2 in area A and base station No. 3 in area B, which are located on different floors and levels, is set to S0, where S0 = 0; the sensitivity between two base stations in area A, which are located on different levels on the same floor (e.g., floor N+1), is set to S2, where S2 = 2; the handover sensitivity between base station No. 1 in area A and base station No. 3 in area B, which are located on different floors and levels at elevator entrances or staircases, is set to S1, where S1 = 1. Alternatively, the handover sensitivity between each two base stations is set as in step S121'. Specifically, based on their locational relationships, the handover sensitivity between base stations 2 and 4, and between base stations 1 and 4, is set to S0, where S0 = 0; the handover sensitivity between base stations 1 and 2, and between base stations 3 and 4, is set to S2, where S2 = 2; and the handover sensitivity between base stations 1 and 3 is set to S1, where S1 = 1. This process continues in this order, and will not be further elaborated here. It should be noted that the larger the handover sensitivity Si, the easier it is to switch.

[0132] When the target detection device enters the range selected by the electronic fence (area A or area B), one or more nearby base stations scan the sensing information sent by the target detection device (such as wireless signal strength) and transmit the sensing information back to the server. The server can obtain the original positioning position of the target detection device at the first time (for example, the positioning position of the target detection device at the first time stored by real-time positioning); obtain switching parameters; receive sensing information between multiple base stations and the target detection device at the second time; and obtain an estimated positioning position by applying the sensing information to a sensing method or positioning algorithm (such as the strongest RSSI signal positioning). If the base station corresponding to the original positioning position of the target detection device and the base station corresponding to the estimated positioning belong to area A or area B respectively. For example, the base station corresponding to the original positioning position is a base station in area A, and the base station corresponding to the estimated positioning position is a base station in area B. Then, since the switching sensitivity between the base station in area A and the base station in area B, which are located on different floors and levels, can be S0 or S1, whether to update the positioning position is determined based on the switching sensitivity between the two base stations and the difference between the sensing information of the base station and the target detection device corresponding to the original positioning position and the sensing information of the base station and the target detection device corresponding to the estimated positioning position.

[0133] Specifically, the difference = the sensing information between the second base station and the target detection device at the second time - the sensing information between the first base station and the target detection device at the second time, where the second base station corresponds to the estimated positioning position, and the first base station corresponds to the original positioning position. In this context, the difference can be expressed as a specific value based on the difference relationship equation described above. It should be understood that a positive difference indicates that the sensing information between the second base station and the target detection device at the second time was greater than the sensing information between the first base station and the target detection device; a negative difference indicates that the sensing information between the second base station and the target detection device at the second time was less than the sensing information between the first base station and the target detection device. Specifically, if the sensitivity is S0, since the switching sensitivity between the base station in area A and the base station in area B on different floors and levels is S0, the server still outputs the position of the base station corresponding to the original positioning position and does not switch the base station corresponding to the original positioning position to the position of the base station corresponding to the estimated positioning position; if the switching sensitivity is S1, since the switching sensitivity between the base station in area A and the base station in area B on different floors and levels is S1, the server determines that the current positioning position corresponds to the original positioning position or the estimated positioning position based on the switching sensitivity S1 and the difference between the sensing information between the base station corresponding to the original positioning position and the target detection device and the sensing information between the base station corresponding to the estimated positioning position and the target detection device. For example, if the base station corresponding to the original positioning position is a base station in area A, when the switching sensitivity between the base station in area A and the base station in area B located on different floors and levels is determined to be S1, if the difference between the sensing information between the base station in area A and the target detection device and the sensing information between the base station in area B and the target detection device at the second time (see the difference relationship formula above) is greater than or equal to 7, the positioning position of the target detection device is switched from the position of the base station in area A to the position of the base station in area B; if the difference between the sensing information between the base station in area A and the target detection device and the sensing information between the base station in area B and the target detection device at the second time (see the difference relationship formula above) is less than 7, the positioning position of the target detection device is not switched, and the position of the base station in area A is retained.

[0134] Referring to Figure 11, it is assumed that the preset space includes area A and area B, wherein area A and area B are adjacent and connected in the preset space. Among them, area A is a narrow passage, and area B is a subspace adjacent to and connected to area A. Four base stations are set in advance in the preset space (base station No. 1 to base station No. 4 as shown by the five-pointed star in Figure 11), wherein two base stations (base station No. 1 and base station No. 2) are set in area A, and two base stations (base station No. 3 and base station No. 4) are also set in area B. It can be understood that the position labels and base station labels in area A and area B in Figure 11 are only narrative and may be different from the labels of other embodiments. The server receives the operation of selecting the base stations in area A and area B, and generates an electronic fence based on the operation, such as setting the level of each base station in the electronic fence and the switching sensitivity between every two levels in step S121. Specifically, the level of the two base stations in area A (base station 1 and base station 2) is set to L2, and the level of the two base stations in area B (base station 3 and base station 4) is set to L1; the switching sensitivity between the two base stations in area A (base station 1 and base station 2) at the same level is set to S2, where S2=2; the switching sensitivity between the two base stations in area B (base station 3 and base station 4) at the same level is set to S2, where S2=2; the switching sensitivity between the base station in area A and the base station in area B at different levels is set to S1, where S1=1. Alternatively, as in step S121', the switching sensitivity between each two base stations is set. The specific method of setting the switching sensitivity according to the positional relationship can be found in the above embodiment, and so on, which will not be repeated here. When the target detection device enters the range selected by the electronic fence (for example, area A or area B), one or more nearby base stations scan the sensing information sent by the target detection device (such as wireless signal strength) and transmit the sensing information back to the server. The server can obtain the original positioning position of the target detection device at the first time (for example, the positioning position of the target detection device at the first time stored in the real-time positioning); obtain the switching parameters; receive the sensing information between multiple base stations and the target detection device at the second time; and obtain the estimated positioning position by using the sensing method or positioning algorithm (for example, the strongest RSSI signal positioning). If the base station corresponding to the original positioning position of the target detection device and the base station corresponding to the estimated positioning position belong to area A or area B respectively. For example, the first base station corresponding to the original positioning position is the base station in area A (base station 1, base station 2), and the second base station corresponding to the estimated positioning position is the base station in area B (base station 3, base station 4). Then, since the switching sensitivity between the base station in area A and the base station in area B at different levels is S1, the server determines whether the current positioning position of the target detection device is to maintain the position of the first base station or switch from the position of the first base station to the position of the second base station based on the sensing information between these two base stations and the target detection device at the second time and the size of the switching sensitivity.

[0135] For example, if the base station corresponding to the original positioning position is a base station in area A, the base station corresponding to the estimated positioning position is a base station in area B, and the switching sensitivity between the base stations in area A and area B, which are located at different levels, is determined to be S1, then the positioning position of the target detection device is switched from the location of the base station in area A to the location of the base station in area B only if the difference between the sensing information received by the base station in area A and the sensing information received by the base station in area B at the second time (see the difference relationship formula above) is greater than or equal to 7. If the difference between the sensing information received by the base station in area A and the sensing information received by the base station in area B at the second time (see the difference relationship formula above) is less than 7, the positioning position of the target detection device is not switched and the location of the base station in area A is retained.

[0136] If the base station corresponding to the original positioning position of the target detection device and the base station corresponding to the estimated positioning position both belong to the same area (for example, both belong to area A or both belong to area B), then a decision is made as to whether to update the positioning position based on the sensing information received by the two base stations from the target detection device at the second time and the switching sensitivity. For example, if the base station corresponding to the original positioning position is the base station on the left side of area A, and the switching sensitivity between the base station on the left side of area A and the base station on the right side of area A at the same level is determined to be S2. Then, only when the difference between the sensing information of these two base stations and the target detection device at the second time is greater than or equal to 5, the positioning position of the target detection device is switched from the position of the base station on the left side of area A to the position of the base station on the right side of area A. If the difference between the sensing information of these two base stations and the target detection device at the second time is less than 5, the positioning position of the target detection device is not switched, and the position of the original base station in area A is retained.

[0137] In one embodiment of the present application, referring to FIG12 , it is assumed that the preset space includes a special control area and a non-control area, wherein the special control area is an area where an alarm notification event is triggered when the base station detects that the target detection device enters the area. For example, the corridor area shown in FIG12 . A plurality of base stations are set in the preset space in advance (as shown by the five-pointed star in FIG12 ), wherein three base stations are set in the special control area (for example, base stations No. 1 to No. 3 in FIG12 ), and ten base stations are also set in the non-control area (for example, base stations No. 4 to No. 13 in FIG12 ). It can be understood that the base station numbers in the special control area and the non-control area in FIG12 are only narrative and may be different from the numbers in other embodiments. The server receives the operation of selecting a base station (for example, selecting base stations No. 1 to No. 13 in FIG12 ), and generates an electronic fence based on the operation, such as setting the level of each base station in the electronic fence and the switching sensitivity between every two levels in step S121. Specifically, the levels of base stations No. 1 to No. 3 in the special control area are set to L0, and the levels of base stations No. 5 and No. 8 in the non-control area are set to L1; the levels of base stations No. 4, No. 10 and No. 11 in the non-control area are set to L2; the levels of base stations No. 6, 7, 9 and No. 12-13 in the non-control area are set to L3; the switching sensitivity between any two base stations at the levels L0 and L1 is set to S2, where S2=2; the switching sensitivity between any two base stations at the levels L0 and L2 is set to S1, where S1=1; the switching sensitivity between any two base stations at the levels L0 and L3 is set to S0, where S0=0; the switching sensitivity between any two base stations corresponding to other level combinations in the electronic fence (for example, level L1 and level L1, etc.) is set to S3, where S3=3. Alternatively, as in step S121', the switching sensitivity between each two base stations is set. The specific method of setting the switching sensitivity based on the position relationship can be referred to in the above embodiment, and so on, which is not repeated here. When the target detection device enters the range of the electronic fence, one or more nearby base stations scan the sensing information (such as wireless signal strength) sent by the target detection device and transmit the sensing information back to the server. The server can obtain the original positioning position of the target detection device at the first time and obtain the switching parameters; receive the sensing information between multiple base stations and the target detection device at the second time; use the sensing information through a sensing method or positioning algorithm (such as the strongest RSSI signal positioning) to obtain an estimated positioning position, and then determine whether the current positioning position of the target detection device corresponds to the original positioning position or the estimated positioning position based on the switching parameters and the sensing information.It is understood that if the original positioning position and the estimated positioning position are within the electronic fence of Figure 12 (for example, base stations No. 1 to 13 in Figure 12), the specific method of obtaining the current positioning position of the target detection device based on the original positioning position, switching parameters and sensing information can refer to Figures 8 to 11 above, and will not be repeated here. It is understood that if the original positioning position and / or the estimated positioning position are outside the electronic fence of Figure 12 (for example, the base stations without labels other than base stations No. 1 to 13 within the electronic fence in Figure 12), the current positioning position can be obtained according to the sensing method or positioning algorithm on the market (for example, the strongest RSSI signal positioning), without the need to determine the current positioning position based on the switching parameters of this application. For the description of the electronic fence, please refer to the embodiments in the specification. It is understood that the term "electronic fence" is only a descriptive term and not a restrictive term.

[0138] In one embodiment of the present application, when it is determined that the base station corresponding to the current positioning position belongs to a base station with a preset alarm condition, a preset alarm message is issued. For example, the base station with a preset alarm condition can be a base station with a preset level, or can be a base station at a preset point, or other conditions can be set as preset alarm conditions. For example, the base stations with a preset level are set to base stations No. 1 to No. 3 in Figure 12, and their level is L0. When it is determined that the current positioning position is the position of a base station (such as base stations No. 1 to No. 3 in Figure 12) in a special area (for example, a lane), it means that the target detection device has entered a special control area, and the server issues an alarm message to notify relevant personnel to determine that the target detection device has entered a special control area.

[0139] In one embodiment of the present application, referring to FIG13 , a plurality of electronic fences can be set on the same plane of a preset space, and there is no intersection between the multiple electronic fences. 11 base stations are pre-set in the preset space (as shown by the five-pointed star in FIG13 ). It can be understood that the base station numbers of the multiple electronic fences in FIG13 are only narrative and may be different from the numbers in other embodiments. The server receives an operation of the user selecting base stations No. 1 to No. 5, and generates a first electronic fence based on the operation; the server receives an operation of selecting base stations No. 8 to No. 10, and generates a second electronic fence based on the operation; as in step S121, the level of each base station in the first electronic fence and the second electronic fence and the switching sensitivity between each two levels are respectively set. Specifically, the level of base stations No. 1 and No. 2 in the first electronic fence is set to L0, the level of base station No. 3 is set to L2, the level of base station No. 4 is set to L1, and the level of base station No. 5 is set to L3; the level of base station No. 8 in the second electronic fence is set to L1, the level of base station No. 9 is set to L2, and the level of base station No. 10 is set to L3.

[0140] Set the switching sensitivity between the two base stations with levels L0 and L1 in the first electronic fence to S4, where S4=4; set the switching sensitivity between the two base stations with levels L0 and L2 in the first electronic fence to S1, where S1=1; set the switching sensitivity between the two base stations with levels L1 and L2 in the first electronic fence to S2, where S2=2; set the switching sensitivity between the two base stations with levels L0 and L3 in the first electronic fence to S0, where S0=0; set the switching sensitivity between the two base stations with levels L1 and L3 in the first electronic fence to S1, where S1=1; set the switching sensitivity between the two base stations with levels L2 and L3 in the first electronic fence to S0, where S0=0; set the switching sensitivity between the two base stations corresponding to any other two levels in the first electronic fence to S3, where S3=3.

[0141] The switching sensitivity between two base stations at levels L1 and L3 in the second electronic fence is set to S1, where S1=1; the switching sensitivity between two base stations at levels L2 and L3 in the second electronic fence is set to S2, where S2=2; the switching sensitivity between two base stations corresponding to any other two levels in the second electronic fence is set to S3, where S3=3.

[0142] Alternatively, as in step S121 ′, the handover sensitivity between every two base stations is set. The specific method of setting the handover sensitivity according to the position relationship can be referred to the above embodiment, and so on, which is not repeated here.

[0143] It should be noted that for different base stations with the same level setting, different switching sensitivities can be achieved in different electronic fences. For example, the switching sensitivity between two base stations at levels L2 and L3 in the first electronic fence shown in FIG13 is S0, but the switching sensitivity between two base stations at levels L2 and L3 in the second electronic fence is S2. It can be seen from this that the switching sensitivity settings in different electronic fences can be set differently according to the properties and purposes of the electronic fences. The specific method for obtaining the current positioning position of the target detection device based on the original positioning position, switching parameters, and sensing information can be found in FIG8 to FIG11 above, and will not be repeated here. It can be understood that the same level combination can have different switching sensitivities according to different positional relationships. For example, the combination of levels L2 and L3 in FIG13 can have a switching sensitivity of S0 or a switching sensitivity of S2 according to different positional relationships (for example, within the first electronic fence or within the second electronic fence).

[0144] It is understood that if the original positioning position and / or the estimated positioning position is outside the electronic fence of Figure 13 (for example, base station No. 6 and base station No. 7 in Figure 13 are not located within the first electronic fence or within the second electronic fence), the current positioning position can be obtained according to the sensing method or positioning algorithm on the market (for example, positioning with the strongest RSSI signal), without the need to determine the current positioning position based on the switching parameters of this application. For a description of the electronic fence, please refer to the embodiments in the specification. It is understood that the term "electronic fence" is merely a descriptive term and not a restrictive term.

[0145] In one embodiment of the present application, referring to FIG14 , multiple electronic fences can be set up in the same plane of a preset space, and there are intersections between the multiple electronic fences. 11 base stations are pre-set in the preset space (as shown by the five-pointed stars in FIG14 ). It can be understood that the base station numbers of the multiple electronic fences in FIG14 are only narrative and may be different from the numbers in other embodiments. The server receives the user's operation of selecting base stations No. 1 to No. 5, and generates a first electronic fence based on the operation; the server receives the operation of selecting base stations No. 4, No. 5, No. 8, No. 9 and No. 10, and generates a second electronic fence based on the operation; as in step S121, the level of each base station in the first electronic fence and the second electronic fence and the switching sensitivity between each two levels are set respectively. Alternatively, as in step S121 ', the switching sensitivity between each two base stations is set. The specific method of setting the switching sensitivity according to the positional relationship can be referred to the above embodiment, and so on, which will not be repeated here. The following uses step S121 as an example to illustrate that, in one embodiment of the present application, the same base station can be located within multiple electronic fences simultaneously. For example, base stations No. 4 and No. 5 in FIG14 can be located within both the first electronic fence and the second electronic fence. Specifically, the levels of base stations No. 1 and No. 2 in the first electronic fence are set to L0, the level of base station No. 3 is set to L2, the level of base station No. 4 is set to L1, and the level of base station No. 5 is set to L3; the level of base station No. 4 in the second electronic fence is set to L1, the level of base station No. 5 is set to L3; the level of base station No. 8 is set to L2, the level of base station No. 9 is set to L4, and the level of base station No. 10 is set to L3.

[0146] Set the switching sensitivity between the two base stations with levels L0 and L1 in the first electronic fence to S4, where S4=4; set the switching sensitivity between the two base stations with levels L0 and L2 in the first electronic fence to S1, where S1=1; set the switching sensitivity between the two base stations with levels L1 and L2 in the first electronic fence to S2, where S2=2; set the switching sensitivity between the two base stations with levels L0 and L3 in the first electronic fence to S0, where S0=0; set the switching sensitivity between the two base stations with levels L1 and L3 in the first electronic fence to S1, where S1=1; set the switching sensitivity between the two base stations with levels L2 and L3 in the first electronic fence to S0, where S0=0; set the switching sensitivity between the two base stations corresponding to any other two levels in the first electronic fence to S3, where S3=3.

[0147] Set the switching sensitivity between two base stations at levels L1 and L2 in the second electronic fence to S3, where S3 = 3; set the switching sensitivity between two base stations at levels L3 and L2 in the second electronic fence to S1, where S1 = 1; set the switching sensitivity between two base stations at levels L1 and L3 in the second electronic fence to S1, where S1 = 1; set the switching sensitivity between two base stations at levels L4 and L3 in the second electronic fence to S2, where S2 = 2; set the switching sensitivity between two base stations corresponding to any other two levels in the second electronic fence to S3, where S3 = 3. It should be noted that multiple electronic fences can be selected on the server, and the switching sensitivity settings for different positioning level combinations can be set for each electronic fence as needed. Base stations selected by different electronic fences may overlap, and the level and switching sensitivity settings for the overlapped base stations must be consistent. For example, as shown in FIG14 , the handover sensitivity between two base stations at levels L1 and L3 in the first electronic fence is set to S1, and the handover sensitivity between two base stations at levels L1 and L3 in the second electronic fence is also set to S1. In this embodiment, the specific method for obtaining the current location of the target detection device based on the original location, handover parameters, and sensing information can be found in FIG8 through FIG11 above and will not be further described here.

[0148] It is understood that if the original positioning position and / or the estimated positioning position is outside the electronic fence of Figure 14 (for example, base station No. 6, base station No. 7, and base station No. 11 in Figure 14 are not located within the first electronic fence or within the second electronic fence), the current positioning position can be obtained according to the sensing method or positioning algorithm on the market (for example, positioning with the strongest RSSI signal), without the need to determine the current positioning position based on the switching parameters of this application. For a description of the electronic fence, please refer to the embodiments in the specification. It is understood that the term "electronic fence" is merely a descriptive term and not a restrictive term.

[0149] In one embodiment of the present application, as shown in FIG15 , multiple electronic fences can be set up on a certain floor in a preset space, and there may or may not be an intersection between the multiple electronic fences. More than forty base stations are pre-set on a certain floor in the field (as shown in the circle in FIG15 ), and the base stations set up in the stairwell are at level L0. The base stations set up at the stairwell and the elevator are at level L1. It can be understood that the base station numbers of the multiple electronic fences in FIG15 are only descriptive and may be different from the numbers in other embodiments. The server receives the user's operation of selecting base stations No. 1 to No. 4 and generates a first electronic fence based on the operation; the server receives the operation of selecting base stations No. 11 to No. 14 and generates a second electronic fence based on the operation; the server receives the operation of selecting base station No. 3 and base stations No. 5 to No. 10 and generates a third electronic fence based on the operation; as in step S121, the level of each base station in the first electronic fence, the second electronic fence, and the third electronic fence and the switching sensitivity between each two levels are set respectively. Alternatively, as in step S121', the switching sensitivity between every two base stations is set. The specific method of setting the switching sensitivity according to the positional relationship can be referred to the above embodiment, and so on, which will not be repeated here. The following takes step S121 as an example. Specifically, the level of base stations No. 1 and No. 2 in the first electronic fence is set to L3, and the level of base stations No. 3 and No. 4 in the first electronic fence is set to L2. The level of base station No. 12 in the second electronic fence is set to L1, the level of base stations No. 11 and No. 13 is set to L3, and the level of base station No. 14 is set to L0. The level of base stations No. 3 and No. 5 in the third electronic fence is set to L2, the level of base station No. 6 is set to L1, the level of base station No. 7 is set to L0, and the level of base stations No. 8, No. 9 and No. 10 is set to L3.

[0150] When the locations of the first group of base stations (base station 1 and base station 2) in the base stations selected by the first electronic fence are far apart from the locations of the second group of base stations (base station 3 and base station 4) on a certain floor in the field and are not connected. In order to prevent the device carrying the target detection device from being detected by the second group of base stations when passing through the location of the first group of base stations and outputting sensing information to the server, so that the server outputs the current location of the device as the erroneous location corresponding to the location of the second group of base stations. By setting the switching sensitivity between any two base stations at levels L3 and L2 in the first electronic fence to S0, where S0=0. If the device carrying the target detection device passes through the location of any base station in the first group of base stations, even if any base station in the second group of base stations detects the target detection device and outputs sensing information to the server, the positioning position output by the server will still be the location of any base station in the first group of base stations. The switching sensitivity between any two base stations corresponding to other level combinations (e.g., level L2 and level L2) in the first electronic fence is set to S2, where S2 = 2. The specific method for obtaining the current location of the target detection device based on the original location, switching parameters, and sensing information can be found in Figures 8 to 11 above and will not be repeated here.

[0151] When two of the multiple base stations selected by the second electronic fence are located in two adjacent but unconnected subspaces, for example, base stations 11 and 13 are located in a room on a certain floor of the facility, base station 12 is located at the stairwell and elevator shaft next to the room, and base station 14 is located in the stairwell next to the room. Then, the location of base station 11 or 13 and the location of base station 12 are located in two adjacent but unconnected subspaces, and the location of base station 11 or 13 and the location of base station 14 are located in two adjacent but unconnected subspaces. To prevent a device carrying a target detection device from being detected by base station 12 or base station 14 in the stairwell and elevator shaft when it is in the room but near the stairwell and elevator shaft, and outputting sensing information to the server, the server outputs the device's current location as an incorrect location between the stairwell and elevator shaft or the stairwell. By setting the switching sensitivity between any two base stations at levels L1 and L3 in the second electronic fence to S0, where S0 = 0; and setting the switching sensitivity between any two base stations at levels L0 and L3 in the second electronic fence to S0, where S0 = 0. If a device carrying a target detection device is in the room but near the stairwell and elevator hall or stairwell, even if the target detection device is detected by base station 12 at the stairwell and elevator hall or base station 14 in the stairwell and outputs sensing information to the server, the positioning position output by the server will still be the position of base station 11 or base station 13 in the room. This ensures that the device is still accurately positioned in the room. By setting the switching sensitivity between any two base stations corresponding to other level combinations in the second electronic fence (for example, level L3 and level L3, etc.) to S2, where S2 = 2. The specific method of obtaining the current positioning position of the target detection device according to the original positioning position, the switching parameters and the sensing information can be referred to as shown in FIG. 8 to FIG. 11 above, which will not be repeated here.

[0152] When two of the multiple base stations selected by the third electronic fence are located in two unconnected subspaces, for example, base stations 8 and 9 are located in two unconnected rooms on a certain floor of a hospital, and base station 7 is located in the stairwell next to the two rooms. Then, the location of base station 8 or base station 9 and the location of base station 7 are located in two unconnected subspaces, respectively. To prevent a device carrying a target detection device from being detected by base station 7 in the stairwell when it is in the room where base station 8 is located but near the stairwell, causing the server to output the device's current location as the incorrect location in the stairwell, the switching sensitivity between any two base stations at levels L0 and L3 in the third electronic fence is set to S0, where S0 = 0. And the switching sensitivity between any two base stations at levels L3 and L3 in the third electronic fence is set to S0, where S0 = 0. If a device carrying a target detection device is in the room where Base Station 8 or Base Station 9 is located but near a stairwell, even if Base Station 7 in the stairwell detects the target detection device and outputs sensing information to the server, the location output by the server will still be the location of Base Station 8 or Base Station 9. This ensures that the device is accurately located in the room.

[0153] The switching sensitivity between any two base stations in the third electronic fence at levels L1 and L3 is set to S1, where S1=1; the switching sensitivity between any two base stations in the third electronic fence at levels L2 and L3 is set to S1, where S1=1; the switching sensitivity between any two base stations in the third electronic fence at levels L1 and L2 is set to S2, where S2=2; the switching sensitivity between any two base stations in the third electronic fence at levels L0 and L2 is set to S1, where S1=1; and the switching sensitivity between any two base stations corresponding to other level combinations (e.g., levels L2 and L3) in the third electronic fence is set to S3, where S3=3. The specific method for obtaining the current positioning position of the target detection device based on the original positioning position, the switching parameters, and the sensing information can be found in Figures 8 to 11 above and will not be repeated here.

[0154] In one embodiment of the present application, the positioning method may further include: when the current positioning position corresponds to a base station with a preset alarm condition, issuing a preset alarm message. For example, when the preset space is a daycare center, when the base station set up in the daycare center is selected in the server to form an electronic fence, the area where the child is within the electronic fence is set as a safe area, and the base station with the preset alarm condition is the base station outside the electronic fence. If the child leaves the safe area, the server receives the positioning position sent by the base station with the preset alarm condition (for example, a base station set outside the electronic fence), and outputs the preset alarm information so that the relevant personnel can handle it in time to ensure the safety of the child. In one embodiment of the present application, the base station with the preset alarm condition can be a base station with a preset level, or can be a base station at a preset point, or other conditions can be set as preset alarm conditions.

[0155] It is understood that if the original positioning position and / or the estimated positioning position is outside the electronic fence of Figure 15 (for example, the base station in Figure 15 is not located within the first electronic fence, the second electronic fence, or the third electronic fence), the current positioning position can be obtained according to the sensing method or positioning algorithm on the market (for example, the strongest RSSI signal positioning), without the need to determine the current positioning position based on the switching parameters of this application. For a description of the electronic fence, please refer to the embodiments in the specification. It is understood that the term "electronic fence" is merely a descriptive term and is not a restrictive term.

[0156] Refer to Figure 16, which is a schematic diagram of the structure of a positioning device provided in an embodiment of the present application. In one embodiment of the present application, the positioning device 100 may include multiple functional modules composed of computer program segments. The computer programs of each program segment in the positioning device 100 may be stored in the memory of the server 30 and executed by at least one processor to perform the positioning function (see Figure 5 for details).

[0157] In one embodiment of the present application, the positioning device 100 can be divided into multiple functional modules based on the functions it performs. The functional modules of the positioning device 100 may include: a receiving module 1001 and a processing module 1002. A module in this embodiment of the present application refers to a series of computer program segments that can be executed by at least one processor and can perform fixed functions, and is stored in a memory.

[0158] The receiving module 1001 is configured to obtain an original positioning position of the target detection device at a first time; obtain a switching parameter; and receive sensing information between the plurality of base stations and the target detection device at a second time.

[0159] The processing module 1002 is configured to obtain the current positioning position of the target detection device according to the original positioning position, the switching parameter, and the sensing information.

[0160] The processing module 1002 is used to execute the methods in the above-mentioned embodiments of the present application.

[0161] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. The computer program includes program instructions. The method implemented when the program instructions are executed can refer to the methods in the above-mentioned embodiments of the present application.

[0162] The computer-readable storage medium may be an internal memory of the electronic device described in the above embodiment, such as a hard disk or memory of the electronic device. The computer-readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (SMC), a secure digital (SD) card, a flash memory card, etc. equipped on the electronic device.

[0163] In one embodiment of the present application, the computer-readable storage medium may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function, etc.; the data storage area may store data created according to the use of the electronic device, etc.

[0164] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0165] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0166] In the embodiments provided in this application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely illustrative. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0167] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0168] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A positioning method, applied to a server, wherein the server is in communication with a plurality of base stations and / or target detection devices, wherein the plurality of base stations are arranged at a plurality of locations in a preset space, characterized in that: The positioning method includes: Obtaining the original positioning position of the target detection device at a first time; Get switching parameters; receiving sensing information between the plurality of base stations and the target detection device at a second time; The current positioning position of the object detection device is obtained according to the original positioning position, the switching parameter and the sensing information.

2. The positioning method according to claim 1, wherein: The sensing information is sent by the multiple base stations or the target detection device.

3. The positioning method according to claim 1, wherein: The step of obtaining the switching parameters includes: The handover parameters are set, wherein the handover parameters include the hierarchy of the plurality of base stations.

4. The positioning method according to claim 1, wherein: The step of obtaining the switching parameters includes: Setting the switching parameters, the step of setting the switching parameters includes: The handover sensitivity between any two base stations among the plurality of base stations is set.

5. The positioning method according to claim 4, wherein: The plurality of base stations include at least a first base station and a second base station, and are used to locate the target detection device physically or on a map, wherein the original positioning position corresponds to the first base station; The step of obtaining the current positioning position of the target detection device according to the original positioning position, the switching parameter and the sensing information includes: Obtain an estimated positioning position by applying the sensing information to a sensing method or a positioning algorithm, wherein the estimated positioning position corresponds to the second base station; Determining whether the current positioning location corresponds to the first base station or the second base station based on the handover sensitivity between the first base station and the second base station and based on a difference between the sensing information between the first base station and the target detection device and the sensing information between the second base station and the target detection device.

6. A positioning system, applied to a preset space, characterized in that: The positioning system comprises: a target detection device for transmitting sensing information; a plurality of base stations, disposed in the preset space, for transmitting the sensing information and locating the target detection device; Server for: Obtaining the original positioning position of the target detection device at a first time; Get switching parameters; receiving the sensing information between the plurality of base stations and the target detection device at a second time; The current positioning position of the object detection device is obtained according to the original positioning position, the switching parameter and the sensing information.

7. The positioning system according to claim 6, wherein: The sensing information is sent by the multiple base stations or the target detection device.

8. The positioning system according to claim 6, wherein: The step of obtaining the switching parameters includes: The handover parameters are set, wherein the handover parameters include the hierarchy of the plurality of base stations.

9. The positioning system according to claim 6, wherein: The step of obtaining the switching parameters includes: Setting the switching parameters, the step of setting the switching parameters includes: The handover sensitivity between any two base stations among the plurality of base stations is set.

10. The positioning system according to claim 9, wherein: The plurality of base stations include at least a first base station and a second base station, and are used to locate the target detection device physically or on a map, wherein the original positioning position corresponds to the first base station; The step of obtaining the current positioning position of the target detection device according to the original positioning position, the switching parameter and the sensing information includes: Obtain an estimated positioning position by applying the sensing information to a sensing method or a positioning algorithm, wherein the estimated positioning position corresponds to the second base station; Determining whether the current positioning location corresponds to the first base station or the second base station based on the handover sensitivity between the first base station and the second base station and based on a difference between the sensing information between the first base station and the target detection device and the sensing information between the second base station and the target detection device.

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