CN-122027991-A - Target positioning and motion amount determining method and system

CN122027991ACN 122027991 ACN122027991 ACN 122027991ACN-122027991-A

Abstract

The disclosure provides a target positioning and motion quantity determining method, and relates to the field of individual perception monitoring. The method comprises the steps of obtaining movement information of an individual to be positioned by utilizing a target node, sending the movement information to a plurality of target gateways, wherein the target node is arranged on the individual to be positioned, determining first position information of the individual to be positioned according to the sending power of the target node and the receiving power of the plurality of target gateways, determining second position information of the individual to be positioned according to the time difference of the plurality of target gateways receiving the movement information, and determining target position and movement quantity of the individual to be positioned according to the first position information, the second position information and the movement information. The present disclosure also provides a target positioning and motion amount determination system.

Inventors

FANG ZHEN
HE GUANGQIANG
LI ZHENFENG
WANG PENG
WU PANG
ZHAO RONGJIAN
DU LIDONG
CHEN XIANXIANG

Assignees

中国科学院空天信息创新研究院

Dates

Publication Date: 20260512
Application Date: 20260323

Claims (10)

1. A method for determining a target location and a motion amount, comprising: acquiring motion information of an individual to be positioned by using a target node, and sending the motion information to a plurality of target gateways, wherein the target node is arranged on the individual to be positioned; determining first position information of the individual to be positioned according to the transmitting power of the target node and the receiving powers of the target gateways; determining second position information of the individual to be positioned according to the time difference of the movement information received by the target gateways; And determining the target position and the movement amount of the individual to be positioned according to the first position information, the second position information and the movement information.
2. The method of claim 1, wherein the movement information includes acceleration data and angular velocity data, and wherein the obtaining movement information of the individual to be located using the target node includes: And respectively acquiring the acceleration data and the angular velocity data of the individual to be positioned by utilizing the acceleration sensor and the gyroscope which are arranged in the target node.
3. The method of claim 1, wherein said transmitting the motion information to a plurality of target gateways comprises: The motion information is transmitted in broadcast form to the plurality of target gateways via wireless communication.
4. The method of claim 1, wherein the determining the first location information of the individual to be located based on the transmit power of the target node and the receive powers of the plurality of target gateways comprises: Respectively calculating the target distance from the target node to each target gateway according to the transmitting power of the target node and the receiving powers of the target gateways; Determining a fuzzy position according to the target distances from the target node to P target gateways, wherein P is more than or equal to 3, and P is a positive integer; and repeatedly determining a plurality of fuzzy positions, and determining the first position information according to the plurality of fuzzy positions.
5. The method of claim 4, wherein the calculating the target distance from the target node to each target gateway based on the transmit power of the target node and the receive powers of the plurality of target gateways, respectively, comprises: establishing a signal space propagation attenuation model, wherein the signal space propagation attenuation model is used for describing the logarithmic attenuation relation of the receiving power of the target gateway along with the change of the distance; And inputting the sending power of the target node and the receiving power of each target gateway into the signal space propagation attenuation model to obtain the target distance from the target node to each target gateway.
6. The method of claim 1, wherein the determining the second location information of the individual to be located based on the time difference in receipt of the movement information by the plurality of target gateways comprises: acquiring target time difference of any two target gateways receiving the motion information; and establishing a position relation between the target node and the plurality of target gateways based on the target time difference, and determining second position information of the individual to be positioned according to the position relation.
7. The method of claim 6, wherein the establishing a positional relationship between the target node and the plurality of target gateways based on the target time difference and determining the second positional information of the individual to be located according to the positional relationship comprises: Constructing a plurality of position relation equations by using a plurality of target time differences; And obtaining second position information of the individual to be positioned by carrying out joint solution on the plurality of position relation equations.
8. The method of claim 1, wherein the determining the target position and the amount of movement of the individual to be positioned based on the first position information, the second position information, and the movement information comprises: Determining movement change information of the individual to be positioned according to the movement information; and determining the target position according to the first position, the second position information and the motion change information.
9. The method of claim 8, wherein after determining the target position based on the first position, the second position information, and the motion change information, further comprising: Determining a movement track of the individual to be positioned based on the target position; determining the number of exercise steps of the individual to be positioned according to the movement track and the exercise information; determining the activity type of the individual to be positioned according to the movement track and the movement step number; And determining the total movement quantity of the individual to be positioned according to the activity type and the movement step number.
10. A target positioning and motion amount determination system, comprising: The target node is used for acquiring the motion information of the individual to be positioned, and the target node is arranged on the individual to be positioned; A plurality of target gateways for receiving the motion information; The processing module is used for determining first position information of the individual to be positioned according to the transmitting power of the target node and the receiving power of the target gateways, determining second position information of the individual to be positioned according to the time difference of the motion information received by the target gateways, and determining target position and motion quantity of the individual to be positioned according to the first position information, the second position information and the motion information.

Description

Target positioning and motion amount determining method and system Technical Field The disclosure relates to the technical field, and in particular relates to a target positioning and motion quantity determining method and system. Background In the field of indoor cultivation, accurate positioning and motion quantity evaluation of animal individuals are key technical means for realizing fine cultivation management. The animal position information can reflect the activity range, the perching preference and the group interaction behavior, and the motion quantity is an important physiological index for evaluating the animal health state, the estrus cycle and the abnormal behavior. Therefore, continuous and accurate position monitoring and motion quantity calculation of animal individuals are realized, and the method has important significance for improving the cultivation benefit. Currently, the mainstream animal monitoring means in indoor farming scenes rely on visual monitoring systems. Video streams of the cultivation area are acquired in real time through a deployment camera, and target detection, tracking and behavior analysis are carried out on animal individuals by utilizing an image recognition algorithm. However, the visual scheme has many limitations in practical applications. Firstly, the camera is extremely sensitive to ambient light, the image quality is obviously reduced in a night scene with dim light or a corner area with uneven illumination, so that animal individuals are difficult to effectively identify, secondly, obstacles such as upright posts, food slots, barriers and the like are commonly existing in a breeding environment, animals are extremely easy to be shielded during activities, target tracking is lost or identity switching is wrong, furthermore, when a plurality of animals gather or move rapidly, false detection and omission detection are easy to occur in a visual algorithm, and the stability and instantaneity of multi-target tracking are difficult to be compatible. Disclosure of Invention In view of the foregoing, embodiments of the present disclosure provide a target positioning and motion amount determination method and system. One aspect of the disclosure provides a target positioning and motion amount determining method, which comprises the steps of obtaining motion information of an individual to be positioned by using a target node, sending the motion information to a plurality of target gateways, wherein the target node is arranged on the individual to be positioned, determining first position information of the individual to be positioned according to sending power of the target node and receiving power of the plurality of target gateways, determining second position information of the individual to be positioned according to time difference of the motion information received by the plurality of target gateways, and determining target position and motion amount of the individual to be positioned according to the first position information, the second position information and the motion information. According to the embodiment of the disclosure, the motion information comprises acceleration data and angular velocity data, and the motion information of the individual to be positioned is acquired by utilizing the target node, wherein the acceleration data and the angular velocity data of the individual to be positioned are respectively acquired by utilizing an acceleration sensor and a gyroscope which are arranged in the target node. According to an embodiment of the present disclosure, transmitting the movement information to the plurality of target gateways includes transmitting the movement information to the plurality of target gateways in a broadcast form through wireless communication. According to the embodiment of the disclosure, first position information of an individual to be positioned is determined according to the sending power of a target node and the receiving powers of a plurality of target gateways, wherein the first position information comprises the steps of respectively calculating the target distance from the target node to each target gateway according to the sending power of the target node and the receiving powers of the plurality of target gateways, determining a fuzzy position according to the target distances from the target node to P target gateways, wherein P is more than or equal to 3, P is a positive integer, repeatedly determining a plurality of fuzzy positions, and determining the first position information according to the plurality of fuzzy positions. According to the embodiment of the disclosure, the target distance from the target node to each target gateway is calculated according to the sending power of the target node and the receiving powers of a plurality of target gateways respectively, and the method comprises the steps of establishing a signal space propagation attenuation model which is used for describing the logarithmic attenua