CN112558007A - Accurate positioning method - Google Patents

Abstract

The invention discloses a precise positioning method. According to the ultra-broadband high-precision positioning result, the position of the mobile entity is precisely matched by line matching and area matching methods to form the precise positioning result of the mobile entity in a given line and a given area. The method can greatly improve the positioning accuracy of mobile entities in complex environments, and meet the requirements of precise positioning.

Description

a precise positioning method

technical field

The invention relates to the technical field of ultra-wideband, in particular to a precise positioning method.

Background technique

Ultra Wide Band (UWB) high-precision positioning technology, the positioning accuracy can reach centimeter level, which adopts the two-way TOF (Time Of Flight, time of flight) asynchronous positioning method, TDOA (Time Difference Of Arrival, time difference) synchronous positioning method .

In the two-way TOF asynchronous positioning method, the positioning terminal sends a polling (POLL) message to measure and record the transmission time T1 of the UWB signal; after receiving the POLL message, the positioning base station measures and records the receiving time of the first path signal in the UWB signal. T2; the positioning base station sends a response (RESPONSE) message, and the transmission time of the UWB signal is measured and recorded as T3; the positioning terminal receives the RESPONSE message, and measures and records the receiving time of the first path signal in the UWB signal T4; the positioning terminal sends the final ( FINAL) message, measure and record the transmission time T5 of the ultra-wideband signal, wherein, the FINAL message includes T1, T4 and T5 recorded by the positioning terminal; the positioning base station receives the FINAL message, measures and records the reception of the first path signal in the ultra-wideband signal Time T6. Therefore, the positioning base station obtains all transmit times and receive times, namely T1, T2, T3, T4, T5 and T6.

The positioning base station calculates the ranging result by the following formula:

The TDOA synchronous positioning method determines the position of the positioning terminal by detecting the absolute time difference between the ultra-wideband signals reaching the two positioning base stations, rather than the arrival time of flight, and uses the time of the positioning terminal to arrive at the two positioning base stations TOA (Time Of Arrival, time of arrival), Taking the difference to obtain it requires strict time synchronization between the positioning base stations, and the time synchronization accuracy is nanosecond (10 ^-9 s), so as to meet the ranging accuracy and positioning accuracy requirements of UWB.

In the existing ultra-wideband high-precision positioning methods, the basis and key of the positioning accuracy are the accuracy of ranging results and angle measuring results. In the LOS environment, the accuracy of the ranging result and the angle measurement result is high; in the NLOS environment, the accuracy of the ranging result and the angle measurement result is low. In the field environment, the positioning base station is severely blocked by buildings, facilities, equipment, etc., and the positioning terminal is installed on the mobile entity and is seriously blocked by the mobile entity. Therefore, due to the complex environment, the positioning accuracy cannot meet the requirements of precise positioning.

SUMMARY OF THE INVENTION

The invention discloses a precise positioning method, which solves the problem of precise positioning in a complex environment.

An embodiment of the present invention provides a precise positioning method, including:

Obtain ultra-wideband high-precision positioning results of mobile entities;

According to the ultra-wideband high-precision positioning result of the mobile entity, a line matching method is used to obtain the precise positioning result of the mobile entity on a predetermined line; and/or,

According to the ultra-wideband high-precision positioning result of the mobile entity, the precise positioning result of the mobile entity in a predetermined area is obtained through the area matching method.

Optionally, according to the ultra-wideband high-precision positioning result of the mobile entity, a line matching method is used to obtain the precise positioning result of the mobile entity on a given line, including:

The line matching method includes lines and line matching rules;

The information of the line includes one or more of the following information: line type, line number, line name, line direction, line segment set, endpoint set, distance threshold value, time threshold value, count threshold value, map number, map name;

The line type includes one or more of the following types: a first-class line, a second-class line, and a third-class line, the second-class line includes a distance attribute, and the third-class line includes a distance attribute, a time attribute, and a direction attribute ;

The line matching rules include one or more of the following rules: first-class line matching, second-class line matching, third-class line matching, line activation, line deactivation, line segment switching, and map switching.

Optionally, the line matching rules include one or more of the following rules: first-class line matching, second-class line matching, third-class line matching, line activation, line deactivation, line segment switching, and map switching, including:

When performing one-class line matching, project the current ultra-wideband high-precision positioning result on the first-class line; or,

When performing the second-class line matching, the second-class line matching operation is performed according to the matching condition of the distance threshold, and the second-class line matching operation includes one or more of the following: placing the current ultra-wideband high-precision positioning result in the second-class line matching operation. Projection on the class line, using the current ultra-wideband high-precision positioning results; or,

When performing three-type line matching, a three-type line matching operation is performed according to a matching condition consisting of one or more of a distance threshold value, a time threshold value, and a count threshold value, and the three-type line matching operation includes the following: One or more of: project the current ultra-wideband high-precision positioning result on the three types of lines, use the last precise positioning result, and add the compensation value to the advancing direction of the last precise positioning result on the one-type line ;or,

Execute line enable when line matching rules are met; or,

When the number of the predetermined line where the current ultra-wideband high-precision positioning result is located is consistent with the line number, the execution line is enabled; or,

When the name of the established line where the current UWB high-precision positioning result is located is consistent with the line name, the execution line is enabled; or,

When the line matching rules are not met, the execution line is deactivated; or,

Perform line deactivation when all lines on the map are matched; or,

The current ultra-wideband high-precision positioning result is projected on the line, reaching the second endpoint of the line segment, and performing line segment switching; or,

The current ultra-wideband high-precision positioning result is projected on the line, and the line segment switching is performed near the second endpoint of the line segment; or,

When the number of the map where the current UWB high-precision positioning result is located is inconsistent with the map number, perform map switching; or,

When the name of the map where the current UWB high-precision positioning result is located is inconsistent with the map name, perform map switching.

Optionally, according to the ultra-wideband high-precision positioning result of the mobile entity, obtain the precise positioning result of the mobile entity in a given area by using an area matching method, including:

The area matching method includes area and area matching rules;

The information of the area includes one or more of the following information: area type, area number, area name, boundary line set, vertex set, entry and exit point set, distance threshold value, time threshold value, count threshold value , map number, map name;

The area type includes one or more of the following types: a first-class area, a second-class area, and the second-class area includes a boundary attribute;

The area matching rules include one or more of the following rules: first-class area matching, second-class area matching, entrance and exit matching, and map matching.

Optionally, the area matching rules include one or more of the following rules: first-class area matching, second-class area matching, entrance and exit matching, and map matching, including:

When performing one-class area matching, use the current UWB high-precision positioning results; or,

When performing second-class area matching, if the current ultra-wideband high-precision positioning result is within the second-class area, the current ultra-wideband high-precision positioning result is used, and if the current ultra-wideband high-precision positioning result is outside the second-class area, Then, project the current ultra-wideband high-precision positioning result on the nearest boundary line of the second-class area; or,

When performing entry and exit matching, use the closest entry point if the current UWB hyperlocation result is within the area, and use the closest exit point if the current UWB hyperlocation result is outside the area; or,

When the number of the map where the current UWB high-precision positioning result is located is inconsistent with the map number, perform map switching; or,

When the name of the map where the current UWB high-precision positioning result is located is inconsistent with the map name, perform map switching.

Optionally, also include:

determining the state of the mobile entity, the state of the mobile entity includes a normal state and/or an abnormal state;

When the mobile entity is in a normal state, perform line matching according to the predetermined line of the mobile entity; and/or,

When the mobile entity is in a normal state, perform area matching according to a predetermined area of the mobile entity; and/or,

When the mobile entity is in an abnormal state, an abnormal situation of the mobile entity is determined, and the abnormal situation includes one or more of the following situations: the mobile entity leaves a predetermined line, the mobile entity approaches a predetermined line, The mobile entity returns to the intended route.

Optionally, determine an abnormal situation in which the mobile entity is located, and the abnormal situation includes one or more of the following situations: the mobile entity leaves a predetermined line, the mobile entity approaches a predetermined line, the mobile entity Returns a given line, including:

It is determined that the mobile entity leaves a predetermined line according to a matching condition consisting of one or more of a distance threshold value, a time threshold value, and a count threshold value; and/or,

It is determined that the mobile entity is close to a predetermined line according to a matching condition consisting of one or more of a distance threshold value, a time threshold value, and a count threshold value; and/or,

It is determined that the mobile entity returns to the predetermined line according to a matching condition consisting of one or more of a distance threshold value, a time threshold value, a count threshold value, and a line direction.

Optionally, also include:

The mobile entities are production objects, production personnel, production vehicles, production equipment, etc.;

The precise positioning result of the mobile entity is used for production management and application of the mobile entity;

The precise positioning result of the mobile entity includes one or more of the following information: production object information, production personnel information, production vehicle information, production equipment information, positioning terminal information, coordinate information, status information, and process information;

The production management and application of the mobile entity includes one or more of the following functions: production track management, production time management, production video management, beat analysis application, and energy efficiency analysis application.

The above-mentioned technical scheme of the present invention has at least the following beneficial effects:

According to the embodiment of the present invention, according to the ultra-wideband high-precision positioning result, the position of the mobile entity is precisely matched by line matching and area matching methods to form the precise positioning result of the mobile entity on a given line and a given area. In this way, the positioning accuracy of mobile entities in complex environments can be greatly improved, and the requirements of precise positioning can be met.

Description of drawings

1 is a schematic flowchart of a precise positioning method according to an embodiment of the present invention;

FIG. 2 is a schematic flowchart of a line matching precise positioning method provided by an embodiment of the present invention;

FIG. 3 is a schematic flowchart of an area matching precise positioning method provided by an embodiment of the present invention;

4 is a schematic flowchart of a method for precise positioning in a normal state provided by an embodiment of the present invention;

5 is a schematic flowchart of a precise positioning method in an abnormal state provided by an embodiment of the present invention;

6 is a schematic flowchart of a method for precise positioning of a production object provided by an embodiment of the present invention;

FIG. 7 is a schematic flowchart of a method for accurately locating production personnel according to an embodiment of the present invention.

Detailed ways

In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

Referring to FIG. 1, a schematic flowchart of a precise positioning method provided by an embodiment of the present invention, as shown in FIG. 1, includes the following steps:

101: Obtain the ultra-wideband high-precision positioning result of the mobile entity;

102: According to the ultra-wideband high-precision positioning result of the mobile entity, obtain the precise positioning result of the mobile entity on a predetermined line through a line matching method; and/or, according to the ultra-wideband high-precision positioning result of the mobile entity, pass The area matching method obtains the precise positioning result of the mobile entity in a given area.

In this embodiment, the above-mentioned moving entities may be movable entities such as products, personnel, vehicles, etc., the above-mentioned predetermined routes may be predetermined routes such as production lines, patrol lines, roads, tracks, etc., and the above-mentioned predetermined areas may be production areas, patrol lines, etc. More areas, outdoor areas, indoor areas and other predetermined areas. Each positioning terminal has a unique identification code, such as Universal Unique Identifier (UUID). By binding the mobile entity and the positioning terminal one by one, the ultra-wideband high-precision positioning management system can realize real-time monitoring of the mobile entity. Accurate positioning and tracking to obtain ultra-wideband high-precision positioning results of mobile entities.

In specific implementation, the ultra-wideband high-precision positioning management system can be a management platform based on ultra-wideband high-precision positioning technology, providing high-level application services based on location information; it can also be a software and hardware system based on ultra-wideband high-precision positioning technology, hardware It includes positioning terminal, positioning base station, camera, server, NFC (Near Field Communication) card reader, etc. The software includes positioning engine, management platform, video service, video player, NFC service, etc. The positioning terminal is a device capable of sending and/or receiving ultra-wideband signals, which can be a positioning tag; it can also be a user terminal (User Equipment, UE) capable of sending and/or receiving UWB signals, for example, a mobile phone, a tablet computer ( Tablet Personal Computer), laptop computer (Laptop Computer), personal digital assistant (personal digital assistant, PDA), mobile Internet device (Mobile Internet Device, MID) or wearable device (Wearable Device) and other terminal-side devices. A positioning base station is a network-side device with UWB signal transmission and/or reception capabilities, for example, a macro station: such as LTE eNB, 5G NR gNB, etc., and a small station: such as a low power node (LPN), a pico base station (pico) , home base station (femto), relay node (RN), etc., access point (AP, accesspoint), transmission reception point (Transmission Reception Point, TRP), home appliances and other network side devices. The server is a centralized control and processing node, which can manage and control multiple positioning base stations and positioning terminals, calculate the position information of the positioning terminals, and provide high-level application services based on the position information. For example, an independent local area network node or an independent access network node: a local gateway (Local Gateway) or a local controller (Local Controller), or a core network node or an OAM (Operation Administration and Maintenance) node. It should be noted that the specific types of the positioning terminal, the positioning base station, and the server are not limited in the embodiments of the present invention. The Positioning Engine calculates the precise position of the positioning terminal according to the ranging results and angle measurement results reported by the positioning base station. The management platform provides location-based application services, and the video service provides real-time streaming, playback streaming services related to video linkage, and video playback. The NFC server provides video playback services on the client side, and the NFC service provides services such as positioning terminal scanning and ID card scanning.

Optionally, according to the ultra-wideband high-precision positioning result of the mobile entity, a line matching method is used to obtain the precise positioning result of the mobile entity on a given line, including:

The line matching method includes lines and line matching rules;

The information of the line includes one or more of the following information: line type, line number, line name, line direction, line segment set, endpoint set, distance threshold value, time threshold value, count threshold value, map number, map name;

The line type includes one or more of the following types: a first-class line, a second-class line, and a third-class line, the second-class line includes a distance attribute, and the third-class line includes a distance attribute, a time attribute, and a direction attribute ;

The line matching rules include one or more of the following rules: first-class line matching, second-class line matching, third-class line matching, line activation, line deactivation, line segment switching, and map switching.

In a specific implementation, a line refers to a straight line, a curved line, a broken line, a loop line, etc. that can be abstracted according to a predetermined line. Specifically, it can be a loop line abstracted from a production line, a broken line abstracted from a patrol line, a straight line abstracted from a road, or a curved line abstracted from a track. Further, it can be a combination of various lines such as straight lines, curved lines, broken lines, and loop lines. A type 1 line refers to a line without attributes. For a type 1 line matching rule, no matching conditions are set, that is, a type 1 line matching operation is directly performed in any case. Type 2 line refers to a line with distance attribute. For the matching rule of type 2 line, a matching condition of the distance threshold value is set, and the matching operation of type 2 line is performed when the matching condition is satisfied. Type 3 line refers to a line with distance attributes, time attributes, and direction attributes. For the three types of line matching rules, set one or more of distance threshold, time threshold, and count threshold. A matching condition consisting of two types of line matching operations is performed when the matching conditions are met.

In a specific implementation, the line number can be the process number of the production line, the route number of the patrol line, the section number of the road, the track number of the track, and the line name can be the process name of the production line, the route name of the patrol line, the road section of the road. name, the track name of the track. Line direction refers to the direction of three types of lines, including forward direction, backward direction, vertical direction, etc. A line can contain one or more line segments, and a line segment contains two endpoints, that is, a line can be represented as a line segment set and an endpoint set. The first endpoint of the first segment of the line is the start point of the line, and the second endpoint of the last segment of the line is the end point of the line. A map can contain one or more lines of the same or different types.

For example, there are 2 lines line1 and line2 on map1, line1 is a second-class line, and line2 is a third-class line. line1 contains 1 line segment, the endpoint coordinates of the line segment are (x1, y1, z1), (x2, y2, z2), line2 contains 2 line segments, and the endpoint coordinates of the line segment are (x3, y3, z3), (x4, y4) , z4), (x5, y5, z5), the distance threshold of line1 is 10 meters, and the time threshold of line2 is 10 seconds, line1 and line2 can be as follows.

line[1]=x1,y1,z1;x2,y2,z2

line[2]= x3,y3,z3; x4,y4,z4; x5,y5,z5

mapId=1,1

lineType=2,3

lineName=line1,line2

lineDistanceThreshold[1]=10000

lineTimeThreshold[2]=10000

Optionally, the line matching rules include one or more of the following rules: first-class line matching, second-class line matching, third-class line matching, line activation, line deactivation, line segment switching, and map switching, including:

When performing one-class line matching, project the current ultra-wideband high-precision positioning result on the first-class line; or,

When performing the second-class line matching, the second-class line matching operation is performed according to the matching condition of the distance threshold, and the second-class line matching operation includes one or more of the following: placing the current ultra-wideband high-precision positioning result in the second-class line matching operation. Projection on the class line, using the current ultra-wideband high-precision positioning results; or,

When performing three-type line matching, a three-type line matching operation is performed according to a matching condition consisting of one or more of a distance threshold value, a time threshold value, and a count threshold value, and the three-type line matching operation includes the following: One or more: project the current ultra-wideband high-precision positioning result on the three types of lines, use the last precise positioning result, and add the compensation value to the advancing direction of the three types of lines with the last precise positioning result ;or,

Execute line enable when line matching rules are met; or,

When the number of the predetermined line where the current ultra-wideband high-precision positioning result is located is consistent with the line number, the execution line is enabled; or,

When the name of the established line where the current UWB high-precision positioning result is located is consistent with the line name, the execution line is enabled; or,

When the line matching rules are not met, the execution line is deactivated; or,

Perform line deactivation when all lines on the map are matched; or,

The current ultra-wideband high-precision positioning result is projected on the line, reaching the second endpoint of the line segment, and performing line segment switching; or,

The current ultra-wideband high-precision positioning result is projected on the line, and the line segment switching is performed near the second endpoint of the line segment; or,

When the number of the map where the current UWB high-precision positioning result is located is inconsistent with the map number, perform map switching; or,

When the name of the map where the current UWB high-precision positioning result is located is inconsistent with the map name, perform map switching.

In a specific implementation, the current ultra-wideband high-precision positioning result may include mobile entity information, positioning terminal information, coordinate information, and status information. The mobile entity information includes the number and name of the mobile entity, and the positioning terminal information includes the number and type of the positioning terminal. , binding time, binding status, positioning frequency, etc., the coordinate information includes the coordinates of the mobile entity, map number, map name, etc., and the status information includes the alarm status and battery level of the positioning terminal.

In a specific implementation, the line matching rules for the three types of lines include the following three ways.

Mode 1: One-class line matching. When performing one-class line matching, the current ultra-wideband high-precision positioning result is projected on a first-class line, that is, the positioning point corresponding to the current ultra-wideband high-precision positioning result is drawn on a first-class line as a vertical line, the vertical line The intersection with the first-class line is the projection of the current ultra-wideband high-precision positioning result on the first-class line, as the current precise positioning result.

Mode 2: Class II line matching. When the second-class line is matched, the matching condition of the distance threshold value is set, and the second-class line matching operation is performed if the matching condition is satisfied. Specifically, the matching condition is set as the projection distance of the current ultra-wideband high-precision positioning result on the second-class line is less than the distance threshold. If the matching condition is satisfied, then the current ultra-wideband high-precision positioning result is placed on the second-class line. The projection is used as the current precise positioning result; otherwise, no projection is performed, and the current ultra-wideband high-precision positioning result is directly used as the current precise positioning result.

Mode 3: Three types of lines are matched. When performing the three-type line matching, a matching condition consisting of one or more of the distance threshold value, the time threshold value, and the counting threshold value is set, and the three-type line matching operation is performed when the matching condition is satisfied. Specifically, the first matching condition is set that the distance between the projection of the current ultra-wideband high-precision positioning result on the three-type line and the last precise positioning result is less than the distance threshold. If the matching condition one is satisfied, then the current ultra-wideband high-precision positioning The projection of the precision positioning result on the three types of lines is used as the current precise positioning result; otherwise, the timer or the counter is started, and the last precise positioning result is used as the current precise positioning result. Set the matching condition 2 to be that the timer does not meet the matching condition 1 during the time-out period, or the counter does not meet the matching condition 1 during the time-out period. Increase the compensation value in the forward direction of , as the current precise positioning result; otherwise, close the timer or close the counter. Further, due to the directionality of the three types of lines, the fallback is not allowed on the three types of lines. If the projection of the current ultra-wideband high-precision positioning results on the three types of lines is compared with the previous In the backward direction, the last precise positioning result is used as the current precise positioning result.

In a specific implementation, the line matching rule enabled by the line includes the following three ways.

Mode 1: When the line matching rules of the first-class line, the second-class line, and the third-class line are satisfied, the execution line is enabled.

Method 2: When the number of the predetermined line where the current ultra-wideband high-precision positioning result is located is consistent with the line number, the execution line is enabled. Specifically, a given line is a production line, and the number of the given line where the current ultra-wideband high-precision positioning result is located is the process number of the production line. If the process number of the production line where the current ultra-wideband high-precision positioning result is located is the same as the line number, the execution line is enabled.

Mode 3: When the name of the established line where the current UWB high-precision positioning result is located is consistent with the line name, the execution line is enabled. Specifically, the given line is a production line, and the name of the given line where the current ultra-wideband high-precision positioning result is located is the process name of the production line. If the process name of the production line where the current ultra-wideband high-precision positioning result is located is the same as the line name, then the execution line is enabled.

In a specific implementation, the line matching rule for line deactivation includes the following two ways.

Mode 1: When the line matching rules of the first-class line, the second-class line, and the third-class line are not satisfied, the execution line is disabled.

Method 2: When the lines on the map are all matched, the execution line is deactivated, that is, when the end point of the last line on the map is reached, the execution line on the map is deactivated.

In a specific implementation, the line matching rule for line segment switching includes the following two ways.

Method 1: The projection of the current ultra-wideband high-precision positioning result on the line reaches the second endpoint of a line segment of the line, indicating that the line matching of the line segment has been completed, and the line segment switching is performed.

Method 2: Projection of the current ultra-wideband high-precision positioning result on the line, close to the second endpoint of a line segment of the line, specifically, the distance between the projection point and the second endpoint of the line segment is within the distance threshold range, explain The line matching of the line segment has been completed, and the line segment switching is performed.

In a specific implementation, the line matching rules for map switching include the following two methods.

Method 1: When the number of the map where the current UWB high-precision positioning result is located is inconsistent with the map number, perform map switching. Specifically, the map can be switched immediately, which is a normal map switching; it is also possible to continuously satisfy the condition of inconsistent numbers until the time threshold is exceeded, and then switch the map, which is an abnormal map switching.

Method 2: When the name of the map where the current ultra-wideband high-precision positioning result is located is inconsistent with the map name, perform map switching. Specifically, the map can be switched immediately, which is a normal map switching; it is also possible to continue to meet the condition of inconsistent names until the time threshold is exceeded, and then switch the map, which is an abnormal map switching.

Optionally, according to the ultra-wideband high-precision positioning result of the mobile entity, obtain the precise positioning result of the mobile entity in a given area by using an area matching method, including:

The area matching method includes area and area matching rules;

The information of the area includes one or more of the following information: area type, area number, area name, boundary line set, vertex set, entry and exit point set, distance threshold value, time threshold value, count threshold value , map number, map name;

The area type includes one or more of the following types: a first-class area, a second-class area, and the second-class area includes a boundary attribute;

The area matching rules include one or more of the following rules: first-class area matching, second-class area matching, entrance and exit matching, and map matching.

In a specific implementation, the area refers to a square, rectangle, triangle, trapezoid, polygon, circle, curved shape, regular figure, irregular figure, etc. that can be abstracted according to a predetermined area. Specifically, it can be a graphic or a combination of multiple graphics abstracted from the production area, the patrol area, the outdoor area, and the indoor area. Type 1 region refers to a region without attributes. For a type of region matching rule, no matching conditions are set, that is, a type of region matching operation is directly performed under any circumstances. Type 2 region refers to a region with boundary attributes. For the matching rule of the type 2 region, a matching condition of the boundary line is set, and the matching operation of the type 2 region is performed when the matching condition is satisfied.

In a specific implementation, the area number may be the process number of the production area, the area number of the patrol area, the area number of the outdoor area, the area number of the indoor area, and the area name may be the process name of the production area, the area name of the patrol area , the area code name of the outdoor area, and the area name of the indoor area. A region can contain multiple boundary lines and multiple vertices, that is, a region can be represented as a set of boundary lines and a set of vertices. A zone can contain one or more entry and exit points. A map can contain one or more areas, and the types of areas can be the same or different.

For example, there are 2 regions region1 and region2 on map2, region1 is a first-class region, and region 2 is a second-class region. region1 contains 4 vertices, 2 entry points, 1 exit point, and the vertex coordinates are (x11, y11, z11), (x12, y12, z12), (x13, y13, z13) , (x14, y14, z14) , the coordinates of the entry point are (x6, y6, z6), (x7, y7, z7), the coordinates of the exit point are (x8, y8, z8), region2 contains 3 vertices, and the vertex coordinates are (x21, y21, z21 ), (x22, y22, z22), (x23, y23, z23), region1 and region2 can be as follows.

region[1]= x11,y11,z11; x12,y12,z12; x13,y13,z13; (x14,y14,z14)

region[2]= x21,y21,z21; x22,y22,z22; x23,y23,z23

region[1].entrypoints= x6,y6,z6; x7,y7,z7

region[1].exitpoints= x8,y8,z8

mapId=2,2

regionType=1,2

regionName=region1, region2

Optionally, the area matching rules include one or more of the following rules: first-class area matching, second-class area matching, entrance and exit matching, and map matching, including:

When performing one-class area matching, use the current UWB high-precision positioning results; or,

When performing second-class area matching, if the current ultra-wideband high-precision positioning result is within the second-class area, the current ultra-wideband high-precision positioning result is used, and if the current ultra-wideband high-precision positioning result is outside the second-class area, Then, project the current ultra-wideband high-precision positioning result on the nearest boundary line of the second-class area; or,

When performing entry and exit matching, use the closest entry point if the current UWB hyperlocation result is within the area, and use the closest exit point if the current UWB hyperlocation result is outside the area; or,

When the number of the map where the current UWB high-precision positioning result is located is inconsistent with the map number, perform map switching; or,

When the name of the map where the current UWB high-precision positioning result is located is inconsistent with the map name, perform map switching.

In a specific implementation, the area matching rules for the two types of areas include the following two methods.

Mode 1: One-class area matching. When performing the first-class area matching, if the current ultra-wideband high-precision positioning result is within the first-class area, it is determined that the mobile entity enters the first-class area, then the current ultra-wideband high-precision positioning result is used as the current precise positioning result; if the current ultra-wideband high-precision positioning result If the high-precision positioning result is outside the range of the first-class area, it is determined that the mobile entity leaves the first-class area, and the current ultra-wideband high-precision positioning result is used as the current precise positioning result.

Mode 2: Second-class area matching. When performing the second-class area matching, if the current ultra-wideband high-precision positioning result is within the second-class area, it is determined that the mobile entity enters the second-class area, then the current ultra-wideband high-precision positioning result is used as the current precise positioning result; if the current ultra-wideband high-precision positioning result is The precision positioning result is outside the second-class area. Since the second-class area has boundary attributes, the current ultra-wideband high-precision positioning result is projected on the nearest boundary line of the second-class area as the current precise positioning result.

In a specific implementation, the area matching rules for entry and exit matching include the following two ways.

Mode 1: When performing entrance and exit matching, if the current ultra-wideband high-precision positioning result is within the area, and it is determined that the mobile entity enters the area, the nearest entry point is used as the current precise positioning result.

Mode 2: When performing entrance and exit matching, if the current ultra-wideband high-precision positioning result is outside the area, and it is determined that the mobile entity leaves the area, the nearest exit point is used as the current precise positioning result.

Further, for a type of area including an entrance and exit, the entrance and exit matching may be performed first, and then the type of area matching may be performed.

In a specific implementation, the area matching rules for map switching include the following two ways.

Method 1: When the number of the map where the current UWB high-precision positioning result is located is inconsistent with the map number, perform map switching. Specifically, the map can be switched immediately, which is a normal map switching; it is also possible to continuously satisfy the condition of inconsistent numbers until the time threshold is exceeded, and then switch the map, which is an abnormal map switching.

Method 2: When the name of the map where the current ultra-wideband high-precision positioning result is located is inconsistent with the map name, perform map switching. Specifically, the map can be switched immediately, which is a normal map switching; it is also possible to continue to meet the condition of inconsistent names until the time threshold is exceeded, and then switch the map, which is an abnormal map switching.

Optionally, also include:

determining the state of the mobile entity, the state of the mobile entity includes a normal state and/or an abnormal state;

When the mobile entity is in a normal state, perform line matching according to the predetermined line of the mobile entity; and/or,

When the mobile entity is in a normal state, perform area matching according to a predetermined area of the mobile entity; and/or,

When the mobile entity is in an abnormal state, an abnormal situation of the mobile entity is determined, and the abnormal situation includes one or more of the following situations: the mobile entity leaves a predetermined line, the mobile entity approaches a predetermined line, The mobile entity returns to the intended route.

In a specific implementation, determining that the mobile entity is in a normal state includes the following three ways.

Method 1: When the map contains lines corresponding to the established lines, the first-class line matching, second-class line matching, third-class line matching, line activation, line segment switching, and line deactivation are performed according to the line matching rules, indicating that the mobile entity is in a normal state .

Mode 2: When the map does not contain a line corresponding to a given line, the first-class area matching, the second-class area matching, and the entrance and exit matching are performed according to the area matching rules, indicating that the mobile entity is in a normal state.

Mode 3: Normal map switching, indicating that the mobile entity is in a normal state.

In a specific implementation, determining that the mobile entity is in an abnormal state includes the following two ways.

Mode 1: When the map contains a line corresponding to a predetermined line, the line deactivation is not executed, and the conditions for leaving the predetermined line are met, indicating that the mobile entity is in an abnormal state.

Mode 2: Abnormal map switching, indicating that the mobile entity is in an abnormal state.

In specific implementation, the abnormal situation includes the following three types.

Case1: The moving entity leaves the established route. Specifically, it can be that production objects, production personnel, production equipment, etc. leave the production line, inspection personnel, inspection vehicles, etc. leave the patrol line, production personnel, production vehicles, driving vehicles, etc. leave the road, high-speed rail, trains, rail robots, etc. leave track.

Case2: The moving entity is close to the established line. Specifically, it can be that production objects, production personnel, production equipment, etc. are close to the production line, inspection personnel, inspection vehicles, etc. are close to the patrol line, production personnel, production vehicles, driving vehicles, etc. are close to the road, high-speed rail, trains, rail robots, etc. are close to track.

Case3: The moving entity returns to the established route. Specifically, production objects, production personnel, production equipment, etc. return to the production line, inspection personnel, inspection vehicles, etc. return to the patrol line, production personnel, production vehicles, driving vehicles, etc. return to the road, high-speed rail, trains, rail robots, etc. return track.

Further, for the first-class line and the second-class line, when the abnormal condition of the moving entity is that the moving entity is close to the predetermined line, then the first-class line matching and the second-class line matching can be performed, so that the moving entity turns into a normal state. For the three types of lines, when the abnormal situation of the mobile entity is that the mobile entity returns to the predetermined line, then the three types of line matching can be performed, so that the mobile entity turns into a normal state.

Optionally, determine an abnormal situation in which the mobile entity is located, and the abnormal situation includes one or more of the following situations: the mobile entity leaves a predetermined line, the mobile entity approaches a predetermined line, the mobile entity Returns a given line, including:

It is determined that the mobile entity leaves a predetermined line according to a matching condition consisting of one or more of a distance threshold value, a time threshold value, and a count threshold value; and/or,

It is determined that the mobile entity is close to a predetermined line according to a matching condition consisting of one or more of a distance threshold value, a time threshold value, and a count threshold value; and/or,

It is determined that the mobile entity returns to the predetermined line according to a matching condition consisting of one or more of a distance threshold value, a time threshold value, a count threshold value, and a line direction.

In the specific implementation, there are three ways to determine the abnormal situation of the mobile entity.

Mode 1: It is determined that the mobile entity leaves the predetermined line. If the projected distance of the mobile entity's current ultra-wideband high-precision positioning result on the line exceeds the distance threshold value, and the duration exceeds the time threshold value or the number of continuous times exceeds the count threshold value, it is determined that the mobile entity leaves the predetermined line. The projection distance refers to the distance between the current ultra-wideband high-precision positioning result of the mobile entity and its projection on the line.

Method 2: It is determined that the mobile entity is close to the established line. If the projection distance of the current UWB high-precision positioning result of the mobile entity on any line on the map is less than the distance threshold value, and the duration exceeds the time threshold value or the number of continuous times exceeds the count threshold value, then it is determined that the mobile entity is close to the predetermined line.

Mode 3: It is determined that the mobile entity returns to the established line. For the lines that are close to the moving entity on the map, they are sorted by priority, and the direction is estimated at the same time, and the line with high priority and the correct direction is selected as the line returned by the moving entity. Specifically, it is sorted in descending order according to the total number of times that the projection distance of the ultra-wideband high-precision positioning result of the mobile entity on the line meets the distance threshold within the time window, and the line with more total number of times has a higher priority. At the same time, select the mobile entity ultra-wideband high-precision positioning results of the start time period and the mobile entity ultra-wideband high-precision positioning results of the end time period within the time window, remove singular points (location results with large differences in coordinates), and calculate the average of the starting set. Coordinates and the average coordinate of the end set, so as to obtain the movement direction of the moving entity, compare it with the line direction, and select the line with the correct direction.

Optionally, also include:

The mobile entities are production objects, production personnel, production vehicles, production equipment, etc.;

The precise positioning result of the mobile entity is used for production management and application of the mobile entity;

The precise positioning result of the mobile entity includes one or more of the following information: production object information, production personnel information, production vehicle information, production equipment information, positioning terminal information, coordinate information, status information, and process information;

The production management and application of the mobile entity includes one or more of the following functions: production track management, production time management, production video management, beat analysis application, and energy efficiency analysis application.

In a specific implementation, the mobile entity may be a production object on the factory production line, production personnel, production vehicles, production equipment, etc. in the factory area. Specifically, for auto parts companies, the production objects can be engines, gearboxes, axles, commercial vehicles, parts, etc., production personnel can be front-line assemblers, workshop directors, process quality personnel, etc., production vehicles can be forklifts, Trucks, lift trucks, etc., production equipment can be assembly machines, transfer machines, hoisting machines, etc.

In the specific implementation, the production object information includes the serial number, model, order number, customer information, etc. of the production object, and the production personnel information includes the production personnel's name, job number, gender, ID number, age, job category, position, and mobile phone number. etc., production vehicle information includes the name, serial number, brand, model, driver, group, etc. of the production vehicle, production equipment information includes the production equipment name, serial number, brand, model, operation and maintenance personnel, grouping, etc., and the positioning terminal information includes positioning Terminal number, type, binding time, binding status, positioning frequency, etc. The coordinate information includes the coordinates of the mobile entity, map number, map name, etc., the status information includes the alarm status, power level, etc. Number, name, start time, end time, dwell time, production time, process beat, process area, etc.

In specific implementation, production track management includes real-time positioning tracking, historical track playback, etc., production time management includes production object resume query, production personnel resume query, production beat query, abnormal beat query, etc. Production video management includes production video real-time streaming playback , production object process video playback, production personnel process video playback, etc. The beat analysis application includes beat status query and playback, and the energy efficiency analysis application includes production thermogram query and playback.

Referring to FIG. 2, a schematic flowchart of a line matching precise positioning method provided by an embodiment of the present invention, as shown in FIG. 2, includes the following steps:

201: Obtain the ultra-wideband high-precision positioning result of the mobile entity;

202: Acquire a line corresponding to a predetermined line on the map, and the information of the line includes one or more of the following information: line type, line number, line name, line direction, line segment set, endpoint set, and distance threshold value , time threshold value, count threshold value, map number, map name, the line type includes one or more of the following types: first-class line, second-class line, third-class line, the second-class line includes Distance attributes, the three types of lines include distance attributes, time attributes, and direction attributes;

203: Execute a line matching rule according to the ultra-wideband high-precision positioning result of the mobile entity and the line corresponding to the predetermined line on the map to obtain the precise positioning result of the mobile entity on the predetermined line, where the line matching rule includes the following: One or more of the rules: Line 1 Match, Line 2 Match, Line 3 Match, Line Enable, Line Disable, Line Segment Toggle, Map Toggle.

In this embodiment, the line matching precise positioning method of a mobile entity on a predetermined line is described, and reference may be made to the implementation of a flow of a precise positioning method for a mobile entity, and repeated details will not be repeated.

Referring to FIG. 3 , a schematic flowchart of a method for accurate positioning by region matching provided by an embodiment of the present invention, as shown in FIG. 3 , includes the following steps:

301: Obtain the ultra-wideband high-precision positioning result of the mobile entity;

302: Acquire an area corresponding to a predetermined area on the map, the information of the area includes one or more of the following information: area type, area number, area name, boundary line set, vertex set, entry and exit point set, distance gate Limit value, time threshold value, count threshold value, map number, map name, the area type includes one or more of the following types: a first-class area, a second-class area, the second-class area includes boundary attributes ;

303: Execute an area matching rule according to the ultra-wideband high-precision positioning result of the mobile entity and the area corresponding to the predetermined area on the map, and obtain the precise positioning result of the mobile entity in the predetermined area, where the area matching rule includes the following: One or more of the rules: first-class area matching, second-class area matching, entrance and exit matching, and map matching.

In this embodiment, an area matching precise positioning method of a mobile entity on a predetermined area is described, and reference may be made to the implementation of a flow of a precise positioning method for a mobile entity, and repeated details will not be repeated.

Referring to FIG. 4 , a schematic flowchart of a method for precise positioning in a normal state provided by an embodiment of the present invention, as shown in FIG. 4 , includes the following steps:

401: Determine that the mobile entity is in a normal state;

402: Obtain the ultra-wideband high-precision positioning result of the mobile entity;

403: Acquire a line corresponding to a predetermined route on the map; and/or, acquire an area corresponding to a predetermined area on the map;

404: Execute a line matching rule according to the ultra-wideband high-precision positioning result of the mobile entity and the line corresponding to the predetermined line on the map, to obtain the precise positioning result of the mobile entity on the predetermined line; and/or, according to the The ultra-wideband high-precision positioning result of the mobile entity and the area corresponding to the predetermined area on the map execute area matching rules to obtain the precise positioning result of the mobile entity in the predetermined area.

In this embodiment, a precise positioning method of a mobile entity in a normal state is described, and reference may be made to the implementation of a flow of a precise positioning method for a mobile entity, and repeated details will not be repeated.

Referring to FIG. 5 , a schematic flowchart of a method for precise positioning in an abnormal state provided by an embodiment of the present invention, as shown in FIG. 5 , includes the following steps:

501: Determine that the mobile entity is in an abnormal state;

502: Obtain the ultra-wideband high-precision positioning result of the mobile entity;

503: Determine an abnormal situation of the mobile entity, where the abnormal situation includes one or more of the following situations: the mobile entity leaves a predetermined line, the mobile entity approaches a predetermined line, and the mobile entity returns to a predetermined line; It is determined that the mobile entity leaves the predetermined line according to a matching condition consisting of one or more of a distance threshold, a time threshold, and a count threshold; and/or, according to the distance threshold, time threshold, A matching condition consisting of one or more of the counting thresholds determines that the mobile entity is close to a given line; and/or, according to one of a distance threshold, a time threshold, a counting threshold, and a line direction or multiple matching conditions to determine that the mobile entity returns to the established line;

504 : Execute a line matching rule according to the line corresponding to the predetermined line and the abnormal condition of the mobile entity, and the mobile entity transitions to a normal state.

In this embodiment, a precise positioning method for a mobile entity in an abnormal state is described, and reference may be made to the implementation of a flow of a precise positioning method for a mobile entity, and repeated details will not be repeated.

Referring to FIG. 6 , a schematic flowchart of a method for precise positioning of a production object provided by an embodiment of the present invention, as shown in FIG. 6 , includes the following steps:

601: The production object and the positioning terminal are bound during the online process;

602: The production object goes through various processes on the production line, and the state of the production object is determined; when the production object is in a normal state, go to step 603; when the production object is in an abnormal state, go to step 608;

603: Obtain an ultra-wideband high-precision positioning result of the production object;

604: Acquire a line corresponding to a predetermined route on the map; and/or, acquire an area corresponding to a predetermined area on the map;

605: Execute a line matching rule according to the ultra-wideband high-precision positioning result of the production object and the line corresponding to the predetermined line on the map, and obtain the precise positioning result of the production object on the predetermined line; and/or, according to the The ultra-wideband high-precision positioning result of the production object and the area matching rule corresponding to the predetermined area on the map are executed to obtain the precise positioning result of the production object in the predetermined area;

606: Perform production management and application of the production object according to the precise positioning result of the production object;

607: The production object and the positioning terminal are automatically unbound when the process goes offline.

608: Determine the abnormal condition of the production object, and determine that the production object leaves a predetermined line according to a matching condition consisting of one or more of a distance threshold value, a time threshold value, and a count threshold value; and/or, According to a matching condition consisting of one or more of a distance threshold value, a time threshold value, and a count threshold value, it is determined that the production object is close to a predetermined line; and/or, according to the distance threshold value, time threshold value, A matching condition consisting of one or more of a count threshold value and a line direction determines that the production object returns to a given line;

609 : Execute a line matching rule according to the line corresponding to the predetermined line and the abnormal condition of the production object, and the production object is converted into a normal state; skip to step 603 .

In this embodiment, the processes on the production line include an on-line process, an off-line process, a normal process, an empty process, a circulation process, a repair process, and the like. Specifically, the on-line process is the first process that the production object goes through, and it can bind the production object and the positioning terminal; the offline process is the last process that the production object goes through, and it can unbind the production object and the positioning terminal; normal The process is the production process that the production object goes through on the production line, and video recording of the video equipment can be performed; the empty process is the production process that the production object goes through on the production line, and video recording of the video device is not required; the circulation process is the production object in the production line. It is not necessary to carry out video shooting of video equipment for the processes experienced during the transfer between different times; the repair process is a process of temporary storage and maintenance when the production object is abnormal. After repairing, it can continue to return to the production line for production, and video equipment can be carried out or not according to needs. video shooting.

In the specific implementation, for the process of the method for precise positioning of the production object, reference may be made to the implementation of the process of a precise positioning method for a mobile entity, and the repetition will not be repeated.

Referring to FIG. 7 , a schematic flowchart of a method for precise positioning of production personnel provided by an embodiment of the present invention, as shown in FIG. 7 , includes the following steps:

701: The production personnel and the positioning terminal are bound in the employee management;

702: Obtain the ultra-wideband high-precision positioning result of the production personnel;

703: Acquire a line corresponding to a predetermined route on the map; and/or, acquire an area corresponding to a predetermined area on the map;

704: Obtain the precise positioning result of the production personnel on the predetermined route according to the ultra-wideband high-precision positioning result of the production personnel and the line matching rule corresponding to the predetermined route on the map; and/or, according to the The ultra-broadband high-precision positioning results of the production personnel and the region matching rules corresponding to the predetermined area on the map are executed to obtain the precise positioning results of the production personnel in the predetermined area;

705: Perform production management and application of the production personnel according to the precise positioning result of the production personnel.

In this embodiment, the precise positioning method for the production personnel is described, and reference may be made to the implementation of a flow of a precise positioning method for a mobile entity, and repeated descriptions will not be repeated.

In the specific implementation, the precise positioning method flow of production vehicles and production equipment can be referred to the implementation of the precise positioning method flow of production objects and production personnel, and repeated details will not be repeated.

The above is the preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made. These improvements and modifications It should also be regarded as the protection scope of the present invention.

Claims (8)

1. A method of fine positioning, comprising:

obtaining an ultra-wideband high-precision positioning result of a mobile entity;

according to the ultra-wideband high-precision positioning result of the mobile entity, obtaining the precision positioning result of the mobile entity on a set line by a line matching method; and/or the presence of a gas in the gas,

and obtaining the accurate positioning result of the mobile entity in the set area by an area matching method according to the ultra-wideband high-accuracy positioning result of the mobile entity.

2. The method of claim 1, wherein obtaining the accurate positioning result of the mobile entity on a given route by a line matching method according to the ultra-wideband high-accuracy positioning result of the mobile entity comprises:

the line matching method comprises a line and a line matching rule;

the information of the line comprises one or more of the following information: line type, line number, line name, line direction, line segment set, end point set, distance threshold value, time threshold value, counting threshold value, map number and map name;

the line types include one or more of the following types: the method comprises the following steps of a first-type line, a second-type line and a third-type line, wherein the second-type line comprises a distance attribute, and the third-type line comprises a distance attribute, a time attribute and a direction attribute;

the line matching rules include one or more of the following rules: first-class line matching, second-class line matching, third-class line matching, line starting, line stopping, line segment switching and map switching.

3. The method of claim 2, wherein the line matching rules include one or more of the following rules: first-class line matching, second-class line matching, third-class line matching, line starting, line stopping, line segment switching and map switching, comprising the following steps:

when one line is matched, projecting the current ultra-wideband high-precision positioning result on the one line; or,

when performing the second-class line matching, executing a second-class line matching operation according to a matching condition of a distance threshold value, wherein the second-class line matching operation comprises one or more of the following operations: projecting the current ultra-wideband high-precision positioning result on the second line, and using the current ultra-wideband high-precision positioning result; or,

when three types of line matching are carried out, three types of line matching operation are executed according to a matching condition formed by one or more of a distance threshold value, a time threshold value and a counting threshold value, wherein the three types of line matching operation comprise one or more of the following operations: projecting the current ultra-wideband high-precision positioning result on the three lines, using the last precision positioning result, and adding a compensation value to the last precision positioning result in the advancing direction of the line; or,

when the line matching rule is satisfied, executing line starting; or,

when the serial number of the established line where the current ultra-wideband high-precision positioning result is located is consistent with the line serial number, starting the line; or,

when the name of the established line where the current ultra-wideband high-precision positioning result is located is consistent with the line name, starting the line; or,

when the line matching rule is not satisfied, executing line deactivation; or,

when all lines on the map are matched, line deactivation is executed; or,

projecting the current ultra-wideband high-precision positioning result on the line to reach a second end point of the line segment, and executing line segment switching; or,

projecting the current ultra-wideband high-precision positioning result on the line, and executing line segment switching when the current ultra-wideband high-precision positioning result is close to a second end point of the line segment; or,

when the number of the map where the current ultra-wideband high-precision positioning result is not consistent with the map number, map switching is executed; or,

and when the name of the map where the current ultra-wideband high-precision positioning result is located is inconsistent with the map name, performing map switching.

4. The method of claim 1, wherein obtaining the accurate positioning result of the mobile entity in a given area by an area matching method according to the ultra-wideband high-accuracy positioning result of the mobile entity comprises:

the region matching method comprises a region and a region matching rule;

the information of the region includes one or more of the following information: the method comprises the following steps of (1) region type, region number, region name, boundary line set, vertex set, access point set, distance threshold value, time threshold value, counting threshold value, map number and map name;

the region types include one or more of the following types: the method comprises the following steps of A, a first-class area and a second-class area, wherein the second-class area comprises boundary attributes;

the region matching rules include one or more of the following rules: first-class area matching, second-class area matching, entrance and exit matching and map matching.

5. The method of claim 4, wherein the region matching rules include one or more of the following rules: the first-class area matching, the second-class area matching, the entrance matching and the exit matching and the map matching comprise:

when one type of area matching is carried out, the current ultra-wideband high-precision positioning result is used; or,

when the second type of area is matched, if the current ultra-wideband high-precision positioning result is in the second type of area, the current ultra-wideband high-precision positioning result is used, and if the current ultra-wideband high-precision positioning result is outside the second type of area, the current ultra-wideband high-precision positioning result is projected on a nearest boundary line of the second type of area; or,

when the entrance and exit are matched, if the current ultra-wideband high-precision positioning result is in the area, the nearest entry point is used, and if the current ultra-wideband high-precision positioning result is out of the area, the nearest exit point is used; or,

when the number of the map where the current ultra-wideband high-precision positioning result is not consistent with the map number, map switching is executed; or,

and when the name of the map where the current ultra-wideband high-precision positioning result is located is inconsistent with the map name, performing map switching.

6. The method of claims 1-5, further comprising:

determining a state of the mobile entity, wherein the state of the mobile entity comprises a normal state and/or an abnormal state;

when the mobile entity is in a normal state, performing line matching according to a set line of the mobile entity; and/or the presence of a gas in the gas,

when the mobile entity is in a normal state, carrying out area matching according to a set area of the mobile entity; and/or the presence of a gas in the gas,

when the mobile entity is in an abnormal state, determining an abnormal condition of the mobile entity, wherein the abnormal condition comprises one or more of the following conditions: the mobile entity leaves the intended line, the mobile entity is close to the intended line, and the mobile entity returns to the intended line.

7. The method of claim 6, wherein an abnormal situation in which the mobile entity is located is determined, the abnormal situation comprising one or more of: the method for the mobile entity leaving the predetermined route, the mobile entity approaching the predetermined route, and the mobile entity returning to the predetermined route includes:

determining that the mobile entity leaves the established line according to a matching condition consisting of one or more of a distance threshold value, a time threshold value and a counting threshold value; and/or the presence of a gas in the gas,

determining that the mobile entity is close to the established line according to a matching condition formed by one or more of a distance threshold value, a time threshold value and a counting threshold value; and/or the presence of a gas in the gas,

and determining that the mobile entity returns to the established line according to a matching condition formed by one or more of a distance threshold value, a time threshold value, a counting threshold value and a line direction.

8. The method of claims 1-7, further comprising:

the mobile entities are production objects, production personnel, production vehicles, production equipment and the like;

the accurate positioning result of the mobile entity is used for production management and application of the mobile entity;

the precise positioning result of the mobile entity comprises one or more of the following information: production object information, production personnel information, production vehicle information, production equipment information, positioning terminal information, coordinate information, state information and process information;

the production management and application of the mobile entity includes one or more of the following functions: production track management, production time management, production video management, beat analysis application and energy efficiency analysis application.

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