TWI808821B - Portable positioning terminal, mobile terminal, position transmission and positioning method - Google Patents

Abstract

The present invention provides a portable positioning terminal, a mobile terminal, a location transmission and positioning method and a medium. The portable positioning terminal includes a first online positioning module, a first offline positioning module, a first wireless network communication module, a first point-to-point wireless communication module and a first processing module; in a specific scenario, the first online positioning module and the first wireless network communication module may not be able to obtain and transmit positioning data normally, and can obtain positioning results locally and point-to-point transmission by switching to the first offline positioning module and the first point-to-point wireless communication module. Solved the problem that the poor signal made it impossible to continue to locate the portable positioning terminal.

Description

Portable positioning terminal, mobile terminal, position transmission and positioning method

The invention relates to the field of wireless technology, in particular to a portable positioning terminal, a mobile terminal, a position transmission and positioning method and a medium.

Nowadays, pets have become the life companions of some people in society, but because pets move around, the director needs to find them. Although the current way of finding pets is to locate pets through methods such as GPS, in some specific environments with poor wireless signal quality, such as remote areas, basements, caves, etc., there may be problems with timely positioning, and there is no way to accurately locate pets. Moreover, not only pets, but also lively and active children have similar search needs.

Therefore, the above methods cannot locate active objects such as pets and children in time, which may cause certain safety problems.

How to find a better solution for locating active objects such as pets and children so as to be easy to find has become a technical problem to be solved urgently in the industry.

In view of the above shortcomings of related technologies, the purpose of the present invention is to provide a portable positioning terminal, mobile terminal, location transmission and positioning method and medium, so as to solve the problem of poor positioning in a specific environment with poor signal quality in related technologies.

The first aspect of the present invention provides a portable positioning terminal, comprising: a first online positioning module, used to obtain a first positioning result of the portable positioning terminal through interaction with external wireless signals; a first offline positioning module, used to detect motion data and combine it with a reference position to obtain a second positioning result of the portable positioning terminal; wherein, the reference position is obtained from the first positioning result before the motion data; a first wireless network communication module, used for wireless network communication with a wireless wide area network; Instructions to establish point-to-point wireless communication with the communication peer; and a first processing module, coupled to the first online positioning module, the first offline positioning module, the wireless network communication module and the first point-to-point wireless communication module, for running program instructions to execute: based on the signal quality of the first online positioning module and the first offline positioning module, switch to one of the smooth signals to obtain the first positioning result or the second positioning result; and, based on the signal quality of the first wireless network communication module and the first point-to-point wireless communication module, switch to one of the signals The unblocked one is used to transmit the obtained first positioning result or the second positioning result; wherein, the first online positioning module and the first wireless network communication module are preset to be used preferentially.

In some embodiments of the first aspect, the signal quality of the first online positioning module and the first offline positioning module is switched to the one with smooth signal to obtain the first positioning result or the second positioning result, and the signal quality of the first wireless network communication module and the first point-to-point wireless communication module is switched to the one of which the signal is smooth to transmit the obtained first positioning result or second positioning result, including any one of the following: in response to the smooth signal of the online positioning module and the wireless network communication module, through the wireless network communication module Transmitting the first positioning result; or, in response to the smooth signal of the online positioning module and the blocked signal of the wireless network communication module, switch to enable the first point-to-point wireless communication module to transmit the first positioning result after establishing the point-to-point wireless communication; or, in response to the blocked signal of the online positioning module and the smooth signal of the wireless network communication module, switch to enable the first offline positioning module, and transmit the second positioning result through the wireless network communication module; or, in response to the online positioning module and the wireless network The communication module signal is blocked, switch to The first point-to-point wireless communication module and the first offline positioning module are activated to transmit the second positioning result to the communication peer after the point-to-point wireless communication is established.

In some embodiments of the first aspect, the first online positioning module, the first offline positioning module, the first wireless network communication module, and the first point-to-point wireless communication module work periodically according to their respective working time intervals; and/or the first online positioning module and the first wireless network communication module try to resume work periodically according to their respective recovery time intervals when the signal is blocked.

In some embodiments of the first aspect, the portable positioning terminal further includes: a battery module; the processing module is configured to adjust the working time interval and/or recovery time interval of at least one of the first online positioning module, the first offline positioning module, the first wireless network communication module, and the first point-to-point wireless communication module according to the remaining power of the battery module.

In some embodiments of the first aspect, the first online positioning module includes at least one of the following: a GPS module; a wireless mobile network communication module.

In some embodiments of the first aspect, the first offline positioning module includes: an electronic compass module; the electronic compass module includes a 3D acceleration sensor, a 3D magnetic sensor, and a computing unit; wherein the 3D acceleration sensor is used to acquire acceleration data; the 3D magnetic sensor is used to acquire motion direction data; the computing unit is used to calculate the motion distance based on the acceleration data and motion time, and determine each corresponding end position according to each starting point position, the motion distance, and motion direction, and form a record set according to each end point position and motion direction record.

In some embodiments of the first aspect, the second positioning result includes: a motion trajectory and a motion direction generated according to the record set.

In some embodiments of the first aspect, the calculation unit is further configured to calculate motion state information according to the acceleration data; the second positioning result further includes the motion state information.

In some embodiments of the first aspect, the first point-to-point wireless communication module includes a LORA module.

In some embodiments of the first aspect, the reference position is the final positioning position before the first online positioning module is switched to the first offline positioning module.

In some embodiments of the first aspect, the portable positioning terminal is a wearable device.

The second aspect of the present invention provides a method for transmitting the location of a moving object, which is applied to the portable positioning terminal described in any one of the first aspect, and the portable positioning terminal is carried by the moving object; the method includes: obtaining the first positioning result of the moving object through the first online positioning module, and transmitting the first positioning result through the first wireless network communication module; in response to the signal blocking of the first online positioning module, switching to enable the first offline positioning module to obtain the second positioning result; in response to the smooth signal of the first wireless network communication module, communicating through the first wireless network The module transmits the second positioning result; or, in response to the signal of the first wireless network communication module being blocked, switching and enabling the point-to-point communication module to transmit the second positioning result after the point-to-point wireless communication is established.

The third aspect of the present invention provides a mobile terminal for communicating with the portable positioning terminal as described in any one of the first aspect; the mobile terminal includes: a second wireless network communication module for performing wireless network communication with a wireless wide area network to obtain a first positioning result or a second positioning result of the location of the portable positioning terminal; a second point-to-point wireless communication module for sending positioning commands to the portable positioning terminal to establish mutual point-to-point wireless communication to obtain the first positioning result or second positioning result of the location of the portable positioning terminal; a display module, For displaying the first positioning result and/or the second positioning result on the electronic map; the second processing module is coupled to the second wireless network communication module, the second point-to-point wireless communication module, and the display module, and is used to switch to enable the second point-to-point wireless communication module in response to satisfying the trigger condition, establish point-to-point wireless communication with the portable positioning terminal, obtain the first positioning result or the second positioning result and display it on the electronic map through the display module.

In some embodiments of the third party, the mobile terminal includes: a second online positioning module and a second offline positioning module; the second online positioning module is used to obtain the third positioning result of the mobile terminal through interaction with external wireless signals; the second offline positioning module is used to obtain the fourth positioning result of the mobile terminal based on the reference position and the detected motion data; the second processing module is coupled to the second online positioning module and the second offline positioning module, and is used to switch to the signal based on the signal quality of the second online positioning module and the second offline positioning module. The one whose number is unblocked obtains the third positioning result or the fourth positioning result, and displays the currently obtained third positioning result and/or fourth positioning result together with the currently obtained first positioning result and/or second positioning result on the electronic map through the display module.

The fourth aspect of the present invention provides a positioning method, which is applied to the mobile terminal described in any one of the aspects of the third party to locate the portable positioning terminal; the method includes: obtaining the first positioning result through the second wireless network communication module, displaying the first positioning result; obtaining the second positioning result through the second wireless network communication module, and displaying the second positioning result on the electronic map; in response to satisfying the trigger condition, switching to enable the second point-to-point wireless communication module to establish communication with the portable positioning terminal, so as to obtain the second positioning result and display it on the electronic map.

In some embodiments of the fourth aspect, the trigger condition includes at least one of the following: 1) the mobile terminal arrives at the reference location; 2) the first positioning result or the second positioning result cannot be obtained through the second wireless network communication module.

A fifth aspect of the present invention provides a computer-readable storage medium, storing program instructions, the program instructions are executed to execute the position transmission method according to any one of the second aspect, or the positioning method according to any one of the fourth aspect.

As mentioned above, the embodiments of the present invention provide a portable positioning terminal, a mobile terminal, location transmission and positioning methods and media, and the portable positioning terminal includes a first online positioning module, a first offline positioning module, a first wireless network communication module, a first point-to-point wireless communication module, and a first processing module; In a specific scenario, the first online positioning module and the first wireless network communication module may not be able to obtain and transmit positioning data normally. You can switch to the first offline positioning module, the first point-to-point wireless communication module, etc. to obtain positioning results and point-to-point transmission locally, thereby making up for the problem that the poor signal cannot continue to locate the portable positioning terminal. By carrying the portable positioning terminal such as pets and children, the portable positioning terminal can be tracked and searched through the mobile terminal, and the communication with the mobile object can be stably maintained even in a specific scene with poor signal quality, thereby solving the problem of inconvenient search for the mobile object caused by poor signal quality.

101: Smart Collar

102:Mobile terminal

103:Mobile communication network

201: Portable positioning terminal

202: mobile terminal

203:Mobile communication network

300: Portable positioning terminal

301: The first online positioning module

302: The first offline positioning module

303: The first wireless network communication module

304: The first point-to-point wireless communication module

305: The first processing module

306: Power management module

400:Electronic compass module

401: 3D acceleration sensor

402: 3D magnetic sensor

403: computing unit

500: The first processing module

510: processing unit

520: storage unit

530: busbar

540: Input/Output (I/O) interface

5201: Random Access Memory Unit (RAM)

5202: Cache memory storage unit

5203: Read-only storage unit

5204: Programs/Utilities

5205: program module

800: mobile terminal

801: The second wireless network communication module

802: The second point-to-point wireless communication module

803: display module

804: Second processing module

805: The second online positioning module

806: The second offline positioning module

S901-S904: Steps

S1001-S1003: Steps

1 shows a schematic diagram of the lost positioning of an active object in a scene example of the related art; FIG. 2 shows a schematic diagram of continuous positioning of an active object in an application example of the present invention; FIG. 3 shows a schematic diagram of a circuit module structure of a portable positioning terminal in an embodiment of the present invention; FIG. In the example, a schematic diagram of the combination of multiple positioning methods and communication methods for state switching; FIG. 7B shows a schematic diagram of the format of the data frame sent by the portable positioning terminal when the state switching occurs in chronological order in an application example of the present invention; FIG. 8 shows a schematic diagram of the circuit module structure of the mobile terminal in an embodiment of the present invention; FIG. 9 shows a schematic flow chart of a method for transmitting a location of a moving object in an embodiment of the present invention; and FIG. 10 shows a schematic flow chart of a positioning method in an embodiment of the present invention.

The implementation of the present invention is described below through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the information disclosed in the present invention. The present invention can also be implemented or applied through other different specific implementation modes, and various details in the present invention can also be modified or changed according to different viewpoints and application systems without departing from the spirit of the present invention. It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that those skilled in the art of the present invention can easily implement them. The present invention can be embodied in various forms and is not limited to the embodiments described here.

Active subjects, such as pets and children, are more active and have a larger range of activities. In order to track the movement of the active object, the active object can carry a wireless positioning terminal, which includes a GPS module, a WWAN module, etc., obtain the geographic location data through the GPS module, and communicate with the wireless wide area network through the WWAN module to send the geographic location data, which is used to indicate the location of the active object. Guardians can receive the geographic location information through their mobile terminals, and display it on an electronic map to present the location of the active object, which is convenient for guardians to find.

However, if the active object enters some areas with poor wireless signal quality, such as basements, remote areas, etc., the GPS and WWAN modules can no longer obtain the geographic location information and transmit it to the outside, which will cause great difficulties for the guardian to further find the active object. GPS refers to satellite positioning System; WWAN refers to wireless wide area networks, such as mobile communication networks and Bluetooth networks set up by mobile operators.

For an intuitive description, reference may be made to FIG. 1 , which shows a schematic diagram of loss of active object positioning in a scene example of the related art. The pet cat M moves on the ground and wears a smart collar 101 to obtain the location data of the pet cat M in real time and transmit it to the mobile terminal 102 of the user N through the mobile communication network 103 (such as 2G/3G/4G/5G). The current location 1 of the pet cat is displayed on the mobile terminal of the user N. After that, the pet cat M enters the basement from the ground and is located at position 2. The smart collar 101 cannot obtain the current location data due to the weak GPS signal (the signal of the mobile communication network may also be weak). The final tracking point for the user N to find the pet cat M can only be outside the basement. After entering the basement, the user N cannot locate the specific location of the pet cat M, so he can only search for it by himself, which makes the search inconvenient and inefficient.

In view of this, a corresponding solution is provided in the embodiments of the present invention. By enabling the portable positioning terminal carried by the moving object to switch between the positioning method and the communication transmission method according to the situation, it is possible to obtain and transmit the positioning results of the moving object continuously even in an environment where the signal quality deteriorates, so as to facilitate the search for the moving object. In some embodiments, the portable positioning terminal can be implemented as a wearable device, corresponding to pets such as pet collars, pet clothing, and pet accessories, and corresponding to humans such as hats, clothing, wristbands, watches, accessories, etc.

For intuitive description, reference may be made to FIG. 2 , which shows a schematic diagram of continuous positioning of active objects in an application example of the present invention.

Also taking the above-mentioned pet cat M as an example, it moves on the ground and wears a portable positioning terminal 201, which can be realized in the form of a collar as an example. When the pet cat M is active on the ground, the user N also displays the current location 1 of the pet cat through his mobile terminal 202 . When the pet cat M enters the location 2 in the basement and there is no GPS signal, the portable positioning terminal can switch to the mode of obtaining the current location of the pet cat M offline, so as to obtain, for example, the movement track of the pet cat from the location entering the basement to the location 2. if in place When it is set to 2, the mobile communication network 203 cannot log in, and point-to-point wireless communication can be established between the mobile terminal of the user N and the portable positioning terminal to transmit the trajectory, and then reach the location 2 of the cat according to the trajectory to find the cat.

Certainly, if the mobile communication network 203 signal of the portable positioning terminal 201 is still unblocked when M is at position 2, then the information of the movement trajectory can be transmitted to the mobile terminal 202 of the user N through the mobile communication network 203, then the user N can go to the last point position indicated by the GPS signal, and then obtain the movement trajectory through the communication between the mobile terminal 202 and the portable positioning terminal 201 through the mobile communication network 203, and then arrive at the location 2 of the pet cat according to the movement trajectory.

It can be understood that the user N can find the pet M conveniently by switching between different positioning and communication mode combinations suitable for different signal quality scenarios.

The specific implementation of the technical solution is described below through multiple embodiments. As shown in FIG. 3 , it shows a schematic structural diagram of the circuit module of the portable positioning terminal in the embodiment of the present invention. In the example of FIG. 3 , the portable positioning terminal 300 includes: a first online positioning module 301 , a first offline positioning module 302 , a first wireless network communication module 303 , a first point-to-point wireless communication module 304 and a first processing module 305 . The portable positioning terminal 300 may further include a power management module 306, and the power management module 306 includes a battery module for power supply.

The first online positioning module 301 is configured to obtain a first positioning result of the portable positioning terminal 300 through interaction with external wireless signals. In some embodiments, the first online positioning module 301 includes at least one of the following: GPS module; wireless mobile network communication module. That is, the GPS module is used to obtain position information through satellite positioning technology; or, the wireless mobile network communication module can also be used to access the mobile communication network, and the positioning is realized based on the wireless signal between the base station and the wireless mobile network communication module in the mobile communication network. Specifically, since the location of the base station is known in advance, based on the signal strength between the base station and the wireless mobile network communication module, the distance and distance between the portable positioning terminal 300 and the base station Correlation between ranges, so that the position of the portable positioning terminal 300 relative to the base station can be calculated, that is, the position of the portable positioning terminal 300 can be obtained.

The first offline positioning module 302 is used for detecting the relative movement data of the portable positioning terminal 300 . In some embodiments, the exercise data may include, for example, multi-directional (eg, three-axis or six-axis, etc.) acceleration data, and the distance traveled can be calculated according to the exercise time and the acceleration data on each axis. Further, the movement data may also include movement direction data of the portable positioning terminal 300 , and the location of the portable positioning terminal 300 can be located according to the movement direction and movement distance.

Compared with the first offline positioning module 302 , the first online positioning module 301 locates a larger range of areas, and can be used in preference to the first offline positioning module 302 by default. That is, the first offline positioning module 302 can be used as an alternative when the signal quality of the first online positioning module 301 is poor.

In some specific implementation examples, the first offline positioning module may include an electronic compass module (Ecompass). As shown in FIG. 4 , it shows a schematic structural diagram of the circuit module of the electronic compass module in an embodiment of the present invention. The electronic compass module 400 may include a 3D acceleration sensor 401 , a 3D magnetic sensor 402 and a computing unit 403 .

Wherein, the 3D acceleration sensor 401 is used to acquire acceleration data. The 3D magnetic sensor 402 is used to acquire motion direction data. The calculation unit 403 is configured to calculate the movement distance based on the acceleration data and the movement time, and determine each corresponding end position according to each start position, the movement distance and the movement direction, and form a record in the record set according to each end position and movement direction; wherein, the first start position is the origin position. To explain the principle in detail, the velocity can be obtained based on the integration of the acceleration, and the displacement can be obtained by the integration based on the velocity, that is, the moving distance can be obtained through two integrations based on the acceleration data. Each pre-exercise position is known, and the corresponding post-exercise position can be obtained by combining the movement direction and the movement distance.

It can be understood that each record actually corresponds to the location and direction of the moving object, and the moving track of the electronic compass module 400 , that is, the moving track of the moving object, can be obtained according to the record set. Optionally, the motion trajectory and motion direction may be output as the second positioning result, or the current position and motion direction may also be output as the second positioning result. Since the active object has lost the first positioning result after entering a specific scene (such as a basement, a remote area, etc.), the continuous second positioning result is that the motion track can continue the first positioning result to more intuitively guide the guardian to the position of the active object.

In an implementation example, the specific calculation process of the motion trajectory can be as follows, taking step counting as an example: read the acceleration data of the three axes of the 3D acceleration sensor: Ax\Ay\Az (Z axis can correspond to the vertical direction, XY corresponds to the horizontal plane), and judge the start and end of the step according to the characteristic pattern of Az. Calculate the step distance of this step.

Read the motion direction data in the 3D magnetic sensor; fill the step distance and motion direction of this step into the data buffer; judge whether the track record timing expires; if it expires, perform accumulative calculations on the X and Y axis directions according to each piece of data in the track record timing T, and generate position and motion direction information relative to the previous calculation; form a record of the position and motion direction information calculated this time, and put it into a record set, which is stored in a storage medium (such as a flash memory).

Wherein, each record actually corresponds to a motion trajectory segment composed of steps in T, and the record set corresponds to a motion trajectory composed of at least one motion trajectory segment.

Resetting the data buffer and returning to step A for recording the data of each step in the next cycle T.

The first wireless network communication module 303 is used for wireless network communication with the wireless wide area network. In some embodiments, the wireless wide area network can be, for example, 2G/3G/4G/5G mode of mobile communication network, or the Internet of Things based on protocols such as Lora, ZigBee, NB-IOT, etc., then the first wireless network communication module 303 is a communication module of the corresponding communication standard.

The first point-to-point wireless communication module 304 is configured to establish point-to-point wireless communication with the communication peer in response to a communication command from the communication peer. In some embodiments, the point-to-point wireless communication can be based on, for example, LORA, etc. The distance of LORA point-to-point communication is relatively long, which can reach several kilometers; or, in some short-distance scenarios, such as the scene of searching for moving objects at a distance of up to 8-10 meters, a point-to-point communication method such as Bluetooth can also be used, or it is also possible to use communication methods such as sound waves and ultrasonic waves.

The first wireless network communication module 303 is preset to be used prior to the first point-to-point wireless communication module 304, so as to be able to meet the communication requirements of most scenarios. That is, the first point-to-point wireless communication module 304 is used as an alternative when the signal quality of the first wireless network communication module 303 is poor.

The first processing module 305 is coupled to the first online positioning module 301, the first offline positioning module 302, the wireless network communication module and the first point-to-point wireless communication module 304, and is used to switch to one of the first online positioning module 301 and the first offline positioning module 302 based on the signal quality of the first offline positioning module 301 and the first offline positioning module 302 to obtain the first positioning result or relative motion data, and in response to switching to the first offline positioning module 302, calculate the second based on the existing first positioning result and the relative motion data of the position. positioning results; and, based on the signal quality of the first wireless network communication module 303 and the first point-to-point wireless communication module 304, switch to one of them with smooth signal to transmit the obtained first positioning result or second positioning result.

Specifically, the first positioning result obtained by the first online positioning module 301 (such as the GPS module) is an absolute position corresponding to a unique latitude and longitude, while the movement data obtained by the first offline positioning module 302 (such as an electronic compass module) corresponds to a certain displacement. Therefore, by using the last absolute position before the signal of the first online positioning module 301 is blocked as the reference origin position, combined with the relative displacement of the second positioning result, the obtained position after displacement is also a phase position that can be uniquely positioned. The "location "Continuation" refers to starting from the origin position and combining each relative motion data to determine the successive positions in turn.

In addition, when the online positioning signal is unblocked, the first online positioning module 301 can be preset to obtain the first positioning result; when the wireless communication network signal is unblocked, the first wireless network communication module 303 can be preset to transmit the first positioning result; when the online positioning signal is blocked, switch to the first offline positioning module 302 to replace the first prior positioning module to obtain the second positioning result; when the wireless communication network signal is blocked, switch to the first point-to-point wireless communication module 304 Instead of the first wireless network communication module 303 transmitting the second positioning result. It should be noted that the first point-to-point wireless communication module 304 needs to establish a communication connection when the mobile terminal moves within the communication range for maintaining point-to-point wireless communication with it.

Optionally, when the user leaves a specific area and the signal state of the first online positioning module 301 recovers from being blocked, the first offline positioning module 302 can be switched back to the first online positioning module 301 to obtain the positioning result;

Optionally, when the first online positioning module 301 is working, the first offline positioning module 302 can be dormant or closed; when the first wireless network communication module 303 is working, the first point-to-point wireless communication module 304 can be dormant or closed.

Give an example to illustrate the combination of various positioning methods and communication methods. The signal quality based on the first online positioning module 301 and the first offline positioning module 302 is switched to the one with smooth signal to obtain the first positioning result or relative motion data, and in response to switching to the first offline positioning module 302, the second positioning result is calculated based on the existing first positioning result and the relative motion data of the position; and, based on the signal quality of the first wireless network communication module 303 and the first point-to-point wireless communication module 304, the signal is switched to the one with smooth signal to transmit the obtained first positioning results or secondary positioning results, which can be Including any one of the following: in response to the smooth signal of the first online positioning module 301 and the first wireless network communication module 303, transmitting the first positioning result through the first wireless network communication module 303; The signal of the first online positioning module 301 is blocked and the signal of the first wireless network communication module 303 is unblocked, switch to start the first offline positioning module 302, and use the end position indicated by the first positioning result as the origin position, combine relative motion data relative to the origin position to obtain the second positioning result, and transmit the second positioning result through the first wireless network communication module 303; Start the first point-to-point wireless communication module 304 and the first offline positioning module 302, and use the end position indicated by the first positioning result as the origin position, and combine relative motion data relative to the origin position to obtain a second positioning result, so as to transmit the second positioning result to the communication peer after the point-to-point wireless communication is established. Wherein, the communication counterparty can be the mobile terminal in the above embodiment.

Through the acceleration data, the motion state of the moving object can be judged, such as standing still, walking slowly, running, etc. The motion state information may also include posture information, such as standing up, crawling, falling down and so on. Therefore, in some embodiments, the calculating unit is further configured to calculate motion state information according to the acceleration data. The motion state information may be included in the second positioning result for sending out.

As shown in FIG. 5 , it shows a schematic diagram of the circuit structure realized by the first processing module in an embodiment of the present invention. The first processing module may include but not limited to: at least one processing unit 510 , at least one storage unit 520 , and a bus 530 connecting different system components (including the storage unit 520 and the processing unit 510 ). Wherein, the storage unit stores program codes, and the program codes can be executed by the processing unit 510 to perform the above switching process. In some embodiments, the processing unit 510 may include MCU, SoC, FPGA or other ASIC, and the storage unit 520 may include a volatile storage unit, such as The random access storage unit (RAM) 5201 and/or the cache storage unit 5202 may further include a read-only storage unit (ROM) 5203 . In some embodiments, the storage unit 520 may further include a program/utility tool 5204 having a set (at least one) of a program module 5205 . In some embodiments, the bus 530 may include a data bus, an address bus and a control bus. In some embodiments, the first processing module 500 can also communicate with one or more external modules (such as modules 301 - 304 , etc.), and such communication can be performed through an input/output (I/O) interface 540 . It should be understood that although not shown in the figure, other hardware and/or software modules may be used in conjunction with the first processing module 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

According to the possible implementation of each circuit module of the above-mentioned portable positioning terminal, please refer to FIG. 6 together, which shows a schematic structural diagram of the circuit module of the portable positioning terminal in an application example of the present invention. The portable positioning terminal includes: GPS module, electronic compass module, WWAN module, LORA module, MCU, battery module, etc. The MCU is coupled to the GPS module, the electronic compass module, the WWAN module, and the LORA module, and the battery module is coupled to the MCU for power supply.

In some embodiments, the first online positioning module 301, the first offline positioning module 302, the first wireless network communication module 303, and the first point-to-point wireless communication module 304 in FIG. 3 work periodically according to their respective working time intervals; and/or, the first online positioning module 301 and the first wireless network communication module 303 try to resume work periodically according to their respective recovery time intervals when the signal is blocked. In a possible example, the first processing module 305 may also adjust the working time interval and/or recovery time interval of at least one of the first online positioning module 301, the first offline positioning module 302, the first wireless network communication module 303, and the first point-to-point wireless communication module 304 according to the remaining power of the battery module. For example, there is a negative correlation between the working time interval and/or the recovery time interval and the battery power. The less the remaining battery power is, the longer the time interval is, so as to save power consumption, delay the battery exhaustion time as much as possible, and improve the success rate of finding active objects.

In order to intuitively illustrate various state switching of the portable positioning terminal as the signal changes, reference may be made to FIG. 7A , which shows a schematic diagram of state switching of multiple positioning methods and communication method combinations in an embodiment of the present invention. Wherein, timing 0 to timing 5 correspond to the working time interval and the recovery time interval.

As shown in the figure, state 0 is the initialization state of the portable positioning terminal. The initialization process includes: 0.1 Try to use the first wireless network communication module, that is, the WWAN module, to log in to the wireless wide area network; 0.2 Try to use the first online positioning module, such as the GPS module, to search for satellite signals.

State 1: If the WWAN module signal is normal and the GPS signal is normally positioned, enter state 1, and the execution includes: 1.1 The GPS module periodically obtains and records the first positioning result at a timing of 0, that is, the position of GPS positioning; it can also obtain movement direction data according to the position change; 1.2 The GPS module periodically reports the position and movement direction through the WWAN module at a timing of 1. Optionally, in order to distinguish it from the second positioning result, the reported data frame may contain a flag bit whose value corresponds to absolute positioning (that is, to identify the uniqueness of the GPS latitude and longitude).

State 2: If the WWAN module signal is normal and the GPS signal cannot be positioned, enter state 2, and the execution includes: 2.1 Start the first offline positioning module, such as the electronic compass module, and periodically calculate the movement distance and movement direction of each group according to the timing 2; the electronic compass module obtains the last position of the GPS module as the origin position; locates each relative movement position according to the origin position and each group of movement distances and movement directions. 2.2 Through the WWAN module, periodically send the relative motion position and motion direction according to timing 1; the reported data frame can contain flag bits, and its value corresponds to relative positioning; 2.3 Periodically start the GPS module according to timing 3 to try to search for satellite signals.

State 3: If the WWAN module cannot connect to the network and the GPS signal is normally positioned, enter state 3, and the execution includes: 3.1 The GPS module periodically obtains and records the first positioning result according to the timing 0, that is, the position of the GPS positioning; it can also obtain the movement direction data according to the position change; The material frame contains flag bits, whose values correspond to GPS positioning. 3.3 Start the WWAN module periodically according to the timing 5 and try to log in to the wireless wide area network.

State 4: If the WWAN module cannot be connected to the network and the GPS signal cannot be positioned, enter state 4, and the execution includes: 4.1 Start the first offline positioning module, such as the electronic compass module, and periodically calculate the movement distance and movement direction of each group according to the timing 2; the electronic compass module obtains the last position of the GPS module as the origin position; locates each relative movement position according to the origin position and each group of movement distances and movement directions. 4.2 Turn on the first point-to-point wireless communication module, and detect the positioning bit command according to the timing 4 (it can indicate that the moving object needs to be located); if the positioning command is received, the first point-to-point wireless communication module responds to the first positioning result of the GPS module, and the sent data frame contains flag bits, and its value corresponds to GPS positioning. 4.3 Start the GPS module periodically according to timing 3 to try to search for satellite signals. 4.4 Start the WWAN module periodically according to the timing 5 and try to log in to the wireless wide area network.

In addition, in the case of state 1, if the GPS signal becomes unable to locate, then switch to state 2; or, in the case of state 2, if the GPS signal changes to normal positioning, enable GPS module positioning, turn off the electronic compass module, and switch to state 1.

In the case of state 1, if the WWAN module becomes unable to connect to the network, then switch to state 3; or, in the case of state 3, if the signal of the WWAN module becomes normal and can connect to the network, then switch to state 1.

In the case of state 2, if the WWAN module becomes unable to connect to the network, then switch to state 4; or, in the case of state 4, if the WWAN module becomes normal and can connect to the network, then switch to state 2.

In the case of state 3, if the GPS signal becomes unable to locate, then switch to state 4; or, in the case of state 4, if the GPS signal changes to normal positioning, enable GPS module positioning, turn off the electronic compass module, and switch to state 3.

As shown in FIG. 7B , a schematic diagram of the format of the data frame sent by the portable positioning terminal in an application example of the present invention when the state switching occurs in time sequence is shown. In FIG. 7B , the data frames in state 1, state 2 and state 4 switched according to the time axis are respectively shown from left to right. The data frames in state 1 and state 2 are sent to the WWAN, while the data frames in state 3 are sent to the communication peer (such as a mobile terminal). The data items included in the data frame include, for example: name, recording time, location (or origin position), motion direction, and motion track output by the electronic compass.

In state 1, it belongs to "signal strong field", the WWAN module communication is normal and the GPS positioning is normal. The content of the data frame is displayed as follows: the location of the active object "Kitty" at the time "2028/8/8 8:18" is "aaa east longitude, bbb north latitude", and the movement direction is 0°. At this time, the electronic compass is not activated, and no movement trajectory is generated.

When switching to state 2, it belongs to "weak signal field", WWAN module communication is normal and GPS cannot be positioned. The final GPS position (ie origin position) of the moving object "Kitty" is "east longitude ccc, north latitude ddd". It also corresponds to each relative position point)/deltaX (movement change in X direction)/deltaY (movement change in Y direction)/Angle (motion azimuth angle)".

When switching to state 4, it belongs to the "signal blind zone", the WWAN module cannot communicate and the GPS cannot locate. The final GPS position (origin position) of the moving object "Kitty" is "east longitude ccc, north latitude ddd". ", "4/1/2/0°".......

As shown in FIG. 8 , it shows a schematic structural diagram of a circuit module of a mobile terminal in an embodiment of the present invention. The mobile terminal 800 is used to communicate with the portable positioning terminal in the previous embodiment, so as to be used by the guardian to locate and find the moving object carrying the portable positioning terminal. In some implementation examples, the shift The mobile terminal 800 can be realized as, for example, a smart phone, a tablet computer, a PDA, a smart watch, a smart wristband, smart glasses/helmet or other smart devices.

It can be seen from the previous embodiments that the portable positioning terminal has the ability to switch between the wireless wide area network communication and the point-to-point wireless communication, and the corresponding portable positioning terminal also has the corresponding communication capability. In addition, the mobile terminal 800 needs to be able to indicate the location of the active object to the user, and thus also needs display capabilities.

Thus, the portable positioning terminal 800 may include: a second wireless network communication module 801 for performing wireless network communication with a wireless wide area network to obtain a first positioning result or a second positioning result of the location of the portable positioning terminal; a second point-to-point wireless communication module 802 for sending positioning instructions to the portable positioning terminal to establish mutual point-to-point wireless communication to obtain the first positioning result or second positioning result of the location of the portable positioning terminal. When the portable positioning terminal switches to the first point-to-point wireless communication module to work, and the mobile terminal moves into the signal coverage of the point-to-point wireless communication (such as the signal coverage of LORA), the positioning command of the second point-to-point wireless communication module 802 is used to trigger the first point-to-point wireless communication module to establish point-to-point wireless communication with it.

The display module 803 is configured to display the first positioning result and/or the second positioning result on an electronic map. In some embodiments, the electronic map can be offline data pre-installed in the mobile terminal, because the mobile terminal may be offline from the wireless wide area network and cannot obtain the electronic map through the LBS because the mobile terminal arrives at a specific scene with poor signal quality. If the mobile terminal only receives the first positioning result, which corresponds to the state 1 or state 3 of the portable positioning terminal in FIG. 8A , then only the first positioning result can be displayed; if the mobile terminal receives the second positioning result after receiving the first positioning result, which means that the portable positioning terminal switches to state 2 or state 4, then after displaying the obtained first positioning result, it can display the second positioning result following the position, thus presenting the effect of a continuous motion trajectory such as shown in FIG. 2 .

The second processing module 804 is coupled to the second wireless network communication module 801, the second point-to-point wireless communication module 802, and the display module 803, and is used to switch to the activation mode in response to the trigger condition being met. Use the second point-to-point wireless communication module 802 to establish point-to-point wireless communication with the portable positioning terminal to obtain the first positioning result or the second positioning result and display it on the electronic map through the display module.

In some embodiments, the trigger condition includes at least one of the following: 1) The mobile terminal 800 arrives at the reference location. Specifically, the reference position is the final positioning position of the GPS positioning of the portable positioning terminal, and the mobile terminal can periodically compare its current position with it; if the comparison is consistent, then it is judged that it has reached the reference position;

2) The first positioning result or the second positioning result cannot be obtained through the second wireless network communication module. Specifically, when the user tracks the moving object according to the displayed GPS positioning result, the user should be able to reach the reference position or its vicinity even if the positioning accuracy is relatively coarse. When continuing to enter a specific scene, the second wireless network communication module will also be blocked and unable to continue positioning. Therefore, it can also be used as a trigger to switch from the second wireless network communication module to the activation of the second point-to-point wireless communication module.

Based on the consideration of tracking convenience, preferably, the mobile terminal can display its own positioning result and the positioning result of the active object together for the user's reference to clarify the current relative position between itself and the active object, which is more conducive to navigation efficiency. Therefore, the mobile terminal may need to be capable of positioning itself both inside and outside a specific scene.

Therefore, optionally, the mobile terminal may further include a second online positioning module and/or a second offline positioning module. The second online positioning module 805 is configured to obtain a third positioning result of the mobile terminal through interaction with external wireless signals. The realization principle of the second online positioning module 805 and the first online positioning module may be the same or similar, such as GPS module, mobile communication network module and so on. The second offline positioning module 806 is configured to obtain a fourth positioning result of the mobile terminal based on the reference position and the detected movement data. The realization principle of the second offline positioning module 806 and the first offline positioning module may be the same or similar, such as the LORA module and the like.

The second processing module 804 is coupled to the second online positioning module 805 and/or the second offline positioning module 806, and is used to switch to the one with a smooth signal based on the signal quality of the second online positioning module 805 and the second offline positioning module 806 to obtain a third positioning result or a fourth positioning result, and display the currently obtained third positioning result and/or fourth positioning result together with the currently obtained first positioning result and/or second positioning result on the electronic map through the display module. For example, the positions of users and active objects can be simultaneously displayed on the electronic map in real time.

As shown in FIG. 9 , it shows a schematic flowchart of a method for transmitting a location of an active object in an embodiment of the present invention. The method for transmitting the position of an active object can be applied to the portable positioning terminal in the previous embodiments. Since the specific principle of the portable positioning terminal is introduced in the above embodiment, it will not be repeated in this embodiment. Although this embodiment only shows some possible branches of the method in specific applications, it can be understood that other branches can be obtained according to the principle description of the portable positioning terminal in the previous embodiments.

The position transmission method includes: Step S901: Obtain the first positioning result of the active object through the first online positioning module, and transmit the first positioning result through the first wireless network communication module; Step S902: In response to the signal of the first online positioning module being blocked, switch to enable the first offline positioning module to obtain the second positioning result; Step S903: In response to the smooth signal of the first wireless network communication module, transmit the second positioning result through the first wireless network communication module; The signal of the wireless network communication module is blocked, and the point-to-point communication module is switched to be enabled, so as to transmit the second positioning result after the point-to-point wireless communication is established.

As shown in FIG. 10 , it shows a schematic flowchart of a positioning method in an embodiment of the present invention. The positioning method can be applied to the mobile terminal in the previous embodiments. Since the specific principles of the mobile terminal are introduced in the foregoing embodiments, they will not be repeated in this embodiment. Although this embodiment only shows some possible branches of the method in specific applications, it can be understood that other branches can be obtained according to the description of the principle of the mobile terminal in the previous embodiments.

The positioning method includes: Step S1001: Obtain the first positioning result through the second wireless network communication module, and display the first positioning result; Step S1002: Obtain the second positioning result through the second wireless network communication module, and display the second positioning result on the electronic map; Step S1003: In response to satisfying the trigger condition, switch to enabling the second point-to-point wireless communication module to establish communication with the portable positioning terminal to obtain the second positioning result and display it on the electronic map.

Another example is given to intuitively illustrate the specific application process in the scene of finding pets.

The pet cat Kitty enters the basement, the GPS signal disappears, and the WWAN communication is normal. Using the electronic compass, the final position A of GPS positioning can be obtained and the movement direction can be obtained; the pet cat Kitty goes deep into the no-signal area, the GPS signal disappears and WWAN cannot communicate, and the electronic compass can record Kitty’s movement track and direction from A to B; because the point-to-point communication connection has not been established, it will not be sent at the moment; The module sends a positioning command; optionally, the owner can continue to search along the direction of movement at position A in the GPS signal positioning record; the portable positioning terminal recognizes the positioning command, activates the first point-to-point wireless communication module, and establishes a point-to-point wireless communication connection with the mobile terminal; the portable positioning terminal returns the movement trajectory and movement direction of positions A to B to the mobile terminal; the owner comes to position B, calls Kitty or continues to search according to the instantly updated movement trajectory, and finds Kitty.

Optionally, the owner's mobile terminal can also locate its own position through GPS before arriving at position A, and enable offline positioning after arriving at position A without GPS signal to obtain real-time own position X, and refer to the relative position of X and position B to correct the direction of motion to travel along the motion track or to travel to position B by itself.

An embodiment of the present invention may further provide a computer-readable storage medium storing program instructions, and when the program instructions are executed, the method steps in the previous embodiment shown in FIG. 9 or FIG. 10 are executed.

The method steps in the above-mentioned embodiments are implemented as software or computer codes that can be stored in a recording medium (such as CD ROM, RAM, floppy disk, hard disk, or magneto-optical disk), or implemented through a network Downloaded computer code that is originally stored in a remote recording medium or a non-transitory machine-readable medium and will be stored in a local recording medium so that the methods presented herein can be processed by such software stored on a recording medium using a general purpose computer, a dedicated processor, or programmable or dedicated hardware such as an ASIC or FPGA.

It should be noted that the process or method representation represented by the flowchart of the above-mentioned embodiments of the present invention can be understood as representing a module, segment or part of code including one or more executable instructions for implementing specific logical functions or steps of the process. Also, the scope of the preferred embodiment of the present invention includes additional implementations in which functions may be performed out of the order shown or discussed, including substantially concurrent or in reverse order depending upon the functions involved.

For example, the sequence of the steps in the embodiments shown in FIG. 9 and FIG. 10 may be changed in specific scenarios, and is not limited to the above representations.

To sum up, the embodiments of the present invention provide a portable positioning terminal, a mobile terminal, a location transmission and positioning method, and a medium. The portable positioning terminal includes a first online positioning module, a first offline positioning module, a first wireless network communication module, a first point-to-point wireless communication module, and a first processing module. Point-to-point transmission, which makes up for the problem that the poor signal makes it impossible to continue to locate the portable positioning terminal. By carrying the portable positioning terminal such as pets and children, the portable positioning terminal can be tracked and searched through the mobile terminal, and the communication with the mobile object can be stably maintained even in a specific scene with poor signal quality, thereby solving the problem of inconvenient search for the mobile object caused by poor signal quality.

The above-mentioned embodiments only illustrate the principles and effects of the present invention, but are not intended to limit the present invention. Anyone skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Therefore, those who have ordinary knowledge in the technical field without departing from All equivalent modifications or changes accomplished under the spirit and technical ideas disclosed in the present invention should still be covered by the claims of the present invention.

201: Portable positioning terminal

202: mobile terminal

203:Mobile communication network

Claims (12)

A portable positioning terminal, comprising: a first online positioning module, used to interact with an external wireless signal to obtain a first positioning result of the portable positioning terminal; a first offline positioning module, used to detect a motion data and combine a reference position to obtain a second positioning result of the portable positioning terminal; wherein, the reference position is obtained from the first positioning result before the motion data; a first wireless network communication module, used for wireless network communication between a wireless wide area network; a first point-to-point wireless communication module, used to respond to The positioning command of the communication peer is to establish point-to-point wireless communication with the communication peer; and a first processing module, coupled to the first online positioning module, the first offline positioning module, the first wireless network communication module and the first point-to-point wireless communication module, is used to run program instructions to execute: based on the signal quality of the first online positioning module and the first offline positioning module, switch to one of the smooth signals to obtain the first positioning result or the second positioning result; wherein, based on the first wireless network communication module and the first The signal quality of the point-to-point wireless communication module is switched to the one with smooth signal to transmit the obtained first positioning result or the second positioning result; wherein, the first online positioning module and the first wireless network communication module are used by default; wherein, based on the signal quality of the first online positioning module and the first offline positioning module, the signal quality is switched to the one with smooth signal to obtain the first positioning result or the second positioning result and based on the The signal quality of the first wireless network communication module and the first point-to-point wireless communication module is switched to one of which the signal is unblocked to transmit the obtained first positioning result or the second positioning result, including any one of the following: in response to the smooth signal of the first online positioning module and the first wireless network communication module, the first positioning result is transmitted through the first wireless network communication module; in response to the smooth signal of the first online positioning module and the blocked signal of the first wireless network communication module, switching to enable the first point-to-point wireless The communication module is used to transmit the first positioning result after establishing the point-to-point wireless communication; in response to the signal of the first online positioning module being blocked and the signal of the first wireless network communication module being unblocked, switching to enable the first offline positioning module and transmitting the second positioning result through the first wireless network communication module; in response to the blocking of the signals of the first online positioning module and the first wireless network communication module, switching to enable the first point-to-point wireless communication module and the first offline positioning module to establish the point-to-point wireless communication Then transmit the second positioning result to the communication peer. The portable positioning terminal as described in Claim 1, wherein, the first online positioning module, the first offline positioning module, the first wireless network communication module, and the first point-to-point wireless communication module work periodically according to their respective working time intervals; the first online positioning module and the first wireless network communication module try to resume work periodically according to their respective recovery time intervals when the signal is blocked. The portable positioning terminal as described in claim 2 further includes: a battery module; the processing module is used to adjust the first online positioning module, the first The working time interval and/or the recovery time interval of at least one of the offline positioning module, the first wireless network communication module, and the first point-to-point wireless communication module. The portable positioning terminal according to claim 1, wherein the first online positioning module includes at least one of the following: a GPS module; a wireless mobile network communication module. The portable positioning terminal as described in claim 1, wherein the first offline positioning module includes: an electronic compass module, the electronic compass module includes: a 3D acceleration sensor for obtaining acceleration data; a 3D magnetic sensor for obtaining movement direction data; and a calculation unit for calculating the movement distance based on the acceleration data and movement time, and determining each corresponding end position according to each starting point position, the movement distance and movement direction, and forming a record in the record set according to each end position and movement direction; wherein, the second positioning result includes The motion trajectory and motion direction generated according to the record set; the calculation unit calculates motion state information according to the acceleration data; the second positioning result also includes the motion state information. The portable positioning terminal as described in claim 1, wherein the first point-to-point wireless communication module includes a LORA module; the portable positioning terminal is a wearable device; and the reference position is the final positioning position before the first online positioning module switches to the first offline positioning module. A method for transmitting the position of an active object, applied to the portable positioning terminal described in any one of claims 1 to 6, the portable positioning terminal being carried by the active object, the method comprising: Obtaining the first positioning result of the active object through the first online positioning module, and transmitting the first positioning result through the first wireless network communication module; in response to the signal blocking of the first online positioning module, switching to enable the first offline positioning module to obtain the second positioning result; and in response to the smooth signal of the first wireless network communication module, transmitting the second positioning result through the first wireless network communication module; to transmit the second positioning result after establishing the point-to-point wireless communication. A mobile terminal communicating with the portable positioning terminal as described in any one of claims 1 to 6, the mobile terminal comprising: a second wireless network communication module for performing wireless network communication with a wireless wide area network to obtain the first positioning result or the second positioning result of the position of the portable positioning terminal; a second point-to-point wireless communication module for sending positioning instructions to the portable positioning terminal to establish mutual point-to-point wireless communication to obtain the first positioning result or the second positioning result of the position of the portable positioning terminal; A display module, used to display the first positioning result or the second positioning result on an electronic map; and a second processing module, coupled to the second wireless network communication module, the second point-to-point wireless communication module, and the display module, used to switch to enable the second point-to-point wireless communication module in response to satisfying the trigger condition, establish point-to-point wireless communication with the portable positioning terminal, obtain the first positioning result or the second positioning result and display it on the electronic map through the display module. The mobile terminal as described in claim 8, further comprising: A second online positioning module, for obtaining a third positioning result of the mobile terminal through interaction with the external wireless signal; and a second offline positioning module, for obtaining a fourth positioning result of the mobile terminal based on the reference position and the detected motion data; wherein, the second processing module, coupled to the second online positioning module and the second offline positioning module, is used to switch to one of the second online positioning module and the second offline positioning module based on the signal quality of the second online positioning module and the second offline positioning module to obtain the third positioning result or the fourth positioning result, and The currently obtained third positioning result or the fourth positioning result is displayed on the electronic map together with the currently obtained first positioning result and/or the second positioning result through the display module. A positioning method, applied to a mobile terminal as in claim 8, to locate a portable positioning terminal, the method comprising: obtaining the first positioning result through the second wireless network communication module, displaying the first positioning result; obtaining the second positioning result through the second wireless network communication module, displaying the second positioning result on the electronic map; and in response to satisfying a trigger condition, switching to enabling the second point-to-point wireless communication module to establish communication with the portable positioning terminal, obtaining the second positioning result and displaying it on the electronic map. The positioning method according to claim 10, wherein the trigger condition includes at least one of the following: the mobile terminal arrives at the reference position; the first positioning result or the second positioning result cannot be obtained through the second wireless network communication module. The positioning method as described in claim 10 further includes: obtaining the current third positioning result or the fourth positioning result of the mobile terminal; and displaying the currently obtained third positioning result or the fourth positioning result together with the first positioning result or the second positioning result corresponding to the time on the electronic map.