CN106842267A - Outside fix seamless handover method and system in a kind of low-power consumption room - Google Patents
Outside fix seamless handover method and system in a kind of low-power consumption room Download PDFInfo
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- CN106842267A CN106842267A CN201710037606.6A CN201710037606A CN106842267A CN 106842267 A CN106842267 A CN 106842267A CN 201710037606 A CN201710037606 A CN 201710037606A CN 106842267 A CN106842267 A CN 106842267A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
- G01S19/44—Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W52/00—Power management, e.g. TPC [Transmission Power Control], power saving or power classes
- H04W52/02—Power saving arrangements
- H04W52/0209—Power saving arrangements in terminal devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention discloses outside fix seamless handover method in a kind of low-power consumption room, judge self poisoning state according to position history data and the positioning signal data for receiving including positioning terminal, and self poisoning is carried out according to the pure indoor orientation method of judged result selection, pure outdoor positioning method or indoor and outdoor seamless switching localization method.Present invention also offers the system of outside fix seamless handover method in the application low-power consumption room.Module, indoor positioning module focus and data interactive link are resolved the invention also discloses the system of application methods described, including positioning terminal, outdoor positioning.The present invention resolves the mode that module cooperative is positioned using outdoor positioning, the power consumption of positioning terminal can dramatically be reduced, increase the service life of positioning terminal, and be capable of the indoor and outdoor state of tracing and positioning terminal in time, be highly suitable for the large-scale application that indoor and outdoor seamless switching is positioned.
Description
Technical field
Present invention relates particularly to outside fix seamless handover method and system in a kind of low-power consumption room.
Background technology
Satellite navigation receiver is the key technology of outdoor positioning, but the power consumption of satellite navigation receiver is always restriction
The key factor of its extensive application for a long time.For example, current smart mobile phone is in use, if opening GPS location function,
Then power consumption can be increased dramatically, the use time of high degree reduction battery.It is therefore proposed that the satellite navigation receiver of low-power consumption is non-
Chang Guanjian.At the same time, due to the presence of city high rise building environment, caused by multipath effect so that satellite navigation signals receive
In the presence of very big difficulty, it has to using more satellite-signal systems and the DVB mode of multifrequency point, however, satellite is believed
Power consumption requirements of the increase of number system and frequency undoubtedly to satellite navigation receiver are higher.Therefore, design towards city high rise building ring
Low-power consumption satellite navigation receiver under border is highly desirable to.During especially toggling outward indoors, easily cause and defend
The frequent losing lock of star signal, makes what it cannot effectively provide satellite navigation receiver to be accurately positioned result.
The content of the invention
An object of the present invention is to provide one kind can greatly reduce positioning power consumption and being capable of tracing and positioning in time
Outside fix seamless handover method in the indoor and outdoor state of terminal, the low-power consumption room of the indoor outside fix seamless switching of realization.
The second object of the present invention be provide it is a kind of apply outside fix seamless handover method in the low-power consumption room be
System.
Outside fix seamless handover method in this low-power consumption room that the present invention is provided, comprises the following steps：
S1. positioning terminal judges self poisoning state according to position history data and the positioning signal data for receiving；
S2. the judged result that positioning terminal is obtained according to step S1, is positioned using following rule：
If positioning terminal is in interior, self poisoning is carried out using pure indoor orientation method；
If positioning terminal is in outdoor, self poisoning is carried out using pure outdoor positioning method；
If positioning terminal is not at indoor or outdoor, itself is carried out using indoor and outdoor seamless switching localization method and is determined
Position.
Described pure indoor orientation method, specially adopts and is positioned with the following method：
A. the short distance wireless communication technology is utilized, indoor positioning module focus is arranged indoors；
B. indoor positioning module focus receives the indoor positioning signal that positioning terminal sends, and utilizes the intensity for receiving signal
The positioning of positioning terminal is carried out, and positioning result is sent into positioning terminal.
Described pure outdoor positioning method, specially positioning terminal carry out satellite navigation reception and resolving, realize positioning eventually
The outdoor One-Point Location at end.
Described indoor and outdoor seamless switching localization method, specially adopts and is positioned with the following method：
(1) lay outdoor positioning with outdoor import and export indoors and resolve module, the outdoor positioning resolves module energy
Enough and indoor module focus carries out wireless near field communication；
(2) outdoor positioning resolves module capture and tracking satellite signal, obtains the pseudo-code information of different satellite different frequent points
And carrier phase information；
(3) positioning terminal receives satellite navigation signals, and sends the satellite navigation signals of reception to outdoor positioning resolving
Module；
(4) outdoor positioning resolves module and is sweared according to the data of the positioning terminal for receiving and the pseudo-code information for itself receiving
Amount is received and resolved, and obtains the coarse positioning result and carrier phase information of positioning terminal；
(5) outdoor positioning resolves the coarse positioning result and carrier phase of the positioning terminal that module is obtained further according to step (4)
Information, with reference to itself carrier phase information and positioning terminal carrier phase information, using RTK fast ambiguity calculation methods
Positioning terminal is accurately positioned, and positioning result is sent to positioning terminal.
If described positioning terminal is not at indoor or outdoor, carried out using indoor and outdoor seamless switching localization method
Self poisoning, specifically includes state switching and the pure outdoor between pure city localization method and indoor and outdoor seamless switching localization method
State switching between localization method and indoor and outdoor seamless switching localization method.
State switching between described pure city localization method and indoor and outdoor seamless switching localization method, specially uses
Following rule is switched over：
R1. the positioning terminal indoor positioning signal for receiving when indoor positioning module is too weak, so that cannot be to positioning terminal
When carrying out positioning parsing, localization method is switched to indoor and outdoor seamless switching positioning side by positioning terminal from pure city localization method
Method；
R2. when outdoor positioning is resolved, module cannot receive the sampled data of positioning terminal transmission and outdoor positioning module cannot
Positioning calculation is carried out to the sampled data that positioning terminal sends, and positioning terminal judges fixed by the position history data of itself
Position terminal be towards indoor direction move when, localization method is switched to pure room by positioning terminal from indoor and outdoor seamless switching localization method
Interior localization method.
State switching between described pure outdoor positioning method and indoor and outdoor seamless switching localization method, specially uses
Following rule is switched over：
R1. when outdoor positioning resolve module can not timing receive positioning terminal transmission close-range communication signal, then
Localization method is switched to indoor and outdoor seamless switching localization method by positioning terminal from pure outdoor positioning method；
R2. the sampled data and indoor positioning module heat of positioning terminal transmission cannot be received when outdoor positioning resolves module
When point cannot carry out positioning calculation according to positioning terminal transmission data, and positioning terminal is sentenced by the position history data of itself
Disconnected positioning terminal be towards outdoor direction move when, positioning terminal part localization method is switched to from indoor and outdoor seamless switching localization method
Pure outdoor positioning method.
Described outdoor positioning resolves module and carries out vector reception and resolving, specifically includes following steps：
1) outdoor positioning resolves module and captures itself satellite navigation signals, and obtains the frequency of the satellite number of capture, satellite
And pseudo-code information；
2) communication distance resolved according to positioning terminal and outdoor positioning between module limits L, and outdoor positioning resolves module
The pseudo-range information of satellite is captured, the chip of front and rear skew LL distances carries out the guiding tracking of signal to positioning terminal, selectes signal
The maximum chip position of peak value is realized less than chip distance as the input of accurate tracking algorithm to positioning terminal signal
The accurate tracking of pseudo-code and carrier phase, and obtain coarse positioning result, pseudo-code information and the carrier phase information of positioning terminal；Institute
That states is not less than L apart from LL；
3) be by step) the coarse positioning result of the positioning terminal that obtains, pseudo-code information and carrier phase information and outdoor it is fixed
The observation data that position resolves module do difference, obtain the exact position of positioning terminal and are sent to positioning terminal.
Described outdoor positioning resolve the satellite signal reception module that module includes being sequentially connected in series, signal amplification module, under
Frequency-variable module, A/D conversion and acquisition module, controller module and communication module；Wechat navigation signal passes through satellite signal receiving
After module is received, passing sequentially through signal amplification module carries out signal amplification, after down conversion module carries out down coversion, then passes through again
A/D is converted carries out AD conversion and collection with acquisition module, so that input controller；Controller realizes above-mentioned location algorithm, and
Positioning result is externally sent by communication module.
Described positioning terminal equally includes the satellite signal reception module, signal amplification module, the down coversion that are sequentially connected in series
Module, A/D conversion and acquisition module, controller module and communication module；Wechat navigation signal passes through satellite signal reception module
After reception, passing sequentially through signal amplification module carries out signal amplification, after down conversion module carries out down coversion, A/D is then passed through again
Conversion carries out AD conversion and collection with acquisition module, so that input controller；The data that controller will be received pass through communication module
Externally send.
Present invention also offers a kind of system for applying outside fix seamless handover method in the low-power consumption room, including positioning
Terminal, outdoor positioning resolve module and indoor positioning module focus；The positioning terminal is used to receive location information, or obtains
Position the observation data of needs and externally send；It is seamless for carrying out indoor and outdoor to positioning terminal that the outdoor positioning resolves module
Switching positioning；The indoor positioning module focus is used to be accurately positioned positioning terminal indoors.
The present invention resolves module by the outdoor positioning that outer vent indoors lays present invention offer, using satellite navigation end
End resolves the relative position of module with this outdoor positioning, obtains the exact position of required positioning terminal.First, present invention positioning is whole
End only receives satellite navigation signals, and the satellite navigation signals that will be received send the present invention to and carry by short-range communication mode
The outdoor positioning of confession resolves module.Once positioning terminal departs from the scope that module is resolved with outdoor positioning, it is believed that positioning terminal is lost
Connection is gone, positioning terminal does not receive the location information that outdoor positioning resolves module transmission within a certain period of time, open positioning eventually
The indoor positioning function or outdoor positioning at end resolve function, and reporting position information enters so as to outdoor positioning resolving module and system
Row is followed the trail of.Secondly, the present invention resolves the relative position of module and receiver module using outdoor positioning, and outdoor positioning is resolved
The signal capture tracking mode (the pseudo-code information of mainly different satellite different frequent points) of module itself, sends to positioning terminal
Sampled data carry out positioning calculation, and Real-time Feedback gives positioning terminal its positioning result.The present invention uses outdoor positioning solution
The mode of module cooperative positioning is calculated, the power consumption of positioning terminal can be dramatically reduced, increases the service life of positioning terminal,
And it is capable of the indoor and outdoor state of tracing and positioning terminal in time, is highly suitable on a large scale should for indoor and outdoor seamless switching positioning
With.
Brief description of the drawings
Fig. 1 is the operating diagram of system of the invention.
Fig. 2 is flow chart of the method for the present invention.
Specific embodiment
It is as shown in Figure 1 the operating diagram of system of the invention：This application low-power consumption room that the present invention is provided
The system of interior outside fix seamless handover method, including positioning terminal, outdoor positioning resolve module and indoor positioning module focus；Institute
Stating positioning terminal is used to receive location information, or obtains the observation data of positioning needs and externally send；The outdoor positioning
Resolving module is used to carry out positioning terminal indoor and outdoor seamless switching positioning；The indoor positioning module focus is used for positioning eventually
End is accurately positioned indoors.
Described outdoor positioning resolves module has satellite navigation position receiver function, and catching in satellite-signal all the time
Tracking mode is obtained, the pseudo-code information and carrier phase information of the different satellite different frequent points of itself reception can be provided；Receive positioning
The sampled data that terminal is sent, and its positioning calculation is assisted, and positioning calculation result is sent to accordingly by short-range communication
Positioning terminal.Outdoor positioning resolves module can specifically include that the satellite signal reception module being sequentially connected in series, signal amplify mould
Block, down conversion module, A/D conversion and acquisition module, controller module and communication module；Wechat navigation signal passes through satellite-signal
After receiver module is received, passing sequentially through signal amplification module carries out signal amplification, after down conversion module carries out down coversion, Ran Houzai
Converted by A/D carries out AD conversion and collection with acquisition module, so that input controller；Controller realizes that above-mentioned positioning is calculated
Method, and positioning result is externally sent by communication module.
Described positioning terminal possesses satellite navigation and receives and resolve function, possesses the short distance wireless communication technology；In nothing
Seaming and cutting are changed in position fixing process, only receive the amplification of satellite navigation signals, down coversion, A/D conversion and collection, and by defending for collecting
Star navigation signal sends outdoor positioning to and resolves module by the short-range communication mode of super low-power consumption.Positioning terminal specifically can be with
Including the satellite signal reception module, signal amplification module, down conversion module, A/D conversion and acquisition module, the control that are sequentially connected in series
Device module and communication module；Wechat navigation signal passes sequentially through signal amplification module after satellite signal reception module is received
Signal amplification is carried out, after down conversion module carries out down coversion, is then converted by A/D again and carry out AD conversion with acquisition module and adopt
Collection, so that input controller；Controller externally sends the data of reception by communication module.
Fig. 2 is flow chart of the method for the present invention：Outside fix seamless handover method in this low-power consumption room that the present invention is provided,
Comprise the following steps：
S1. positioning terminal judges self poisoning state according to position history data and the positioning signal data for receiving；
S2. the judged result that positioning terminal is obtained according to step S1, is positioned using following rule：
If R1. positioning terminal is in interior, self poisoning is carried out using pure indoor orientation method：
A. the short distance wireless communication technology is utilized, indoor positioning module focus is arranged indoors；
B. indoor positioning module focus receives the indoor positioning signal that positioning terminal sends, and utilizes the intensity for receiving signal
The positioning of positioning terminal is carried out, and positioning result is sent into positioning terminal；
If R2. positioning terminal is in outdoor, self poisoning is carried out using pure outdoor positioning method：Positioning terminal is defended
Star navigation is received and resolved, and realizes the outdoor One-Point Location of positioning terminal；
If R3. positioning terminal is not at indoor or outdoor, carried out certainly using indoor and outdoor seamless switching localization method
Body is positioned：
(1) lay outdoor positioning with outdoor import and export indoors and resolve module, the outdoor positioning resolves module energy
Enough and indoor module focus carries out wireless near field communication；
(2) outdoor positioning resolves module capture and tracking satellite signal, obtains the pseudo-code information of different satellite different frequent points
And carrier phase information；
(3) positioning terminal receives satellite navigation signals, and sends the satellite navigation signals of reception to outdoor positioning resolving
Module；
(4) outdoor positioning resolves module and is sweared according to the data of the positioning terminal for receiving and the pseudo-code information for itself receiving
Amount is received and resolved, and obtains the coarse positioning result and carrier phase information of positioning terminal；
Outdoor positioning resolves module and carries out vector reception and resolve then to specifically include following steps：
1) outdoor positioning resolves module and captures itself satellite navigation signals, and obtains the frequency of the satellite number of capture, satellite
And pseudo-code information；
2) communication distance resolved according to positioning terminal and outdoor positioning between module limits L, and outdoor positioning resolves module
Capture the pseudo-range information of satellite, the chip of front and rear skew LL distances positioning terminal is carried out signal guiding tracking (it is described away from
It is not less than L from LL), for example in actual applications, it is contemplated that positioning terminal resolves closely leading to for module presence with outdoor positioning
Letter limitation causes its communication distance generally not over 500 meters, and the pseudo-range information that module captures satellite is resolved using outdoor positioning,
(for example, Big Dipper B1 frequencies, a chip distance is 150 meters to front and rear 500 meters of chips of distance of skew, then 3 codes of front and rear skew
Piece) positioning terminal is carried out signal guiding tracking；The maximum chip position of selected signal peak is used as accurate tracking algorithm
Input, the accurate tracking of the pseudo-code and carrier phase less than a chip distance is realized to positioning terminal signal, and is positioned
The coarse positioning result of terminal, pseudo-code information and carrier phase information；
3) be by step) the coarse positioning result of the positioning terminal that obtains, pseudo-code information and carrier phase information and outdoor it is fixed
The observation data that position resolves module do difference, obtain the exact position of positioning terminal and are sent to positioning terminal；
(5) outdoor positioning resolves the coarse positioning result and carrier phase of the positioning terminal that module is obtained further according to step (4)
Information, with reference to itself carrier phase information and positioning terminal carrier phase information, using RTK fast ambiguity calculation methods
Positioning terminal is accurately positioned, and positioning result is sent to positioning terminal.
If described positioning terminal is not at indoor or outdoor, carried out using indoor and outdoor seamless switching localization method
Self poisoning, specifically includes state switching and the pure outdoor between pure city localization method and indoor and outdoor seamless switching localization method
State switching between localization method and indoor and outdoor seamless switching localization method：
State switching between described pure city localization method and indoor and outdoor seamless switching localization method, specially uses
Following rule is switched over：
R1. the positioning terminal indoor positioning signal for receiving when indoor positioning module is too weak, so that cannot be to positioning terminal
When carrying out positioning parsing, localization method is switched to indoor and outdoor seamless switching positioning side by positioning terminal from pure city localization method
Method；
R2. when outdoor positioning is resolved, module cannot receive the sampled data of positioning terminal transmission and outdoor positioning module cannot
Positioning calculation is carried out to the sampled data that positioning terminal sends, and positioning terminal judges fixed by the position history data of itself
Position terminal be towards indoor direction move when, localization method is switched to pure room by positioning terminal from indoor and outdoor seamless switching localization method
Interior localization method.
State switching between described pure outdoor positioning method and indoor and outdoor seamless switching localization method, specially uses
Following rule is switched over：
R1. when outdoor positioning resolve module can not timing receive positioning terminal transmission close-range communication signal, then
Localization method is switched to indoor and outdoor seamless switching localization method by positioning terminal from pure outdoor positioning method；
R2. the sampled data and indoor positioning module heat of positioning terminal transmission cannot be received when outdoor positioning resolves module
When point cannot carry out positioning calculation according to positioning terminal transmission data, and positioning terminal is sentenced by the position history data of itself
Disconnected positioning terminal be towards outdoor direction move when, positioning terminal part localization method is switched to from indoor and outdoor seamless switching localization method
Pure outdoor positioning method.
Claims (9)
1. outside fix seamless handover method in a kind of low-power consumption room, comprises the following steps：
S1. positioning terminal judges self poisoning state according to position history data and the positioning signal data for receiving；
S2. the judged result that positioning terminal is obtained according to step S1, is positioned using following rule：
If positioning terminal is in interior, self poisoning is carried out using pure indoor orientation method；
If positioning terminal is in outdoor, self poisoning is carried out using pure outdoor positioning method；
If positioning terminal is not at indoor or outdoor, self poisoning is carried out using indoor and outdoor seamless switching localization method.
2. outside fix seamless handover method in low-power consumption room according to claim 1, it is characterised in that described pure interior
Localization method, specially adopts and is positioned with the following method：
A. the short distance wireless communication technology is utilized, indoor positioning module focus is arranged indoors；
B. indoor positioning module focus receives the indoor positioning signal that positioning terminal sends, and is carried out using the intensity for receiving signal
The positioning of positioning terminal, and positioning result is sent into positioning terminal.
3. outside fix seamless handover method in low-power consumption room according to claim 1, it is characterised in that described pure outdoor
Localization method, specially positioning terminal carry out satellite navigation reception and resolving, realize the outdoor One-Point Location of positioning terminal.
4. according to outside fix seamless handover method in the described low-power consumption room of one of claims 1 to 3, it is characterised in that described
Indoor and outdoor seamless switching localization method, specially adopts and is positioned with the following method：
(1) outdoor positioning being laid with outdoor import and export indoors and resolving module, the outdoor positioning resolves module can be with
Indoor module focus carries out wireless near field communication；
(2) outdoor positioning resolves module capture and tracking satellite signal, obtains the pseudo-code information and load of different satellite different frequent points
Wave phase information；
(3) positioning terminal receives satellite navigation signals, and sends the satellite navigation signals of reception to outdoor positioning resolving module；
(4) outdoor positioning resolves module and carries out vector and connect according to the data of the positioning terminal for receiving and the pseudo-code information for itself receiving
Receive and resolve, obtain the coarse positioning result and carrier phase information of positioning terminal；
(5) outdoor positioning resolves the coarse positioning result and carrier phase information of the positioning terminal that module is obtained further according to step (4),
With reference to itself carrier phase information and positioning terminal carrier phase information, using RTK fast ambiguities calculation method to fixed
Position terminal is accurately positioned, and positioning result is sent into positioning terminal.
5. outside fix seamless handover method in low-power consumption room according to claim 4, it is characterised in that if the positioning
Terminal is not at indoor or outdoor, then carry out self poisoning using indoor and outdoor seamless switching localization method, specifically includes pure
State switching and pure outdoor positioning method and indoor and outdoor between city localization method and indoor and outdoor seamless switching localization method without
The state switching that seaming and cutting are changed between localization method.
6. outside fix seamless handover method in low-power consumption room according to claim 5, it is characterised in that described pure city
State switching between localization method and indoor and outdoor seamless switching localization method, is specially switched over using following rule：
R1. the positioning terminal indoor positioning signal for receiving when indoor positioning module is too weak, so that cannot be carried out to positioning terminal
During positioning parsing, localization method is switched to indoor and outdoor seamless switching localization method by positioning terminal from pure city localization method；
R2. when sampled data and outdoor positioning module that outdoor positioning resolving module cannot receive positioning terminal transmission cannot be to fixed
The sampled data that position terminal sends carries out positioning calculation, and positioning terminal judges positioning eventually by the position history data of itself
End be towards indoor direction move when, from indoor and outdoor seamless switching localization method be switched to localization method pure indoor fixed by positioning terminal
Position method.
7. outside fix seamless handover method in low-power consumption room according to claim 6, it is characterised in that described pure outdoor
State switching between localization method and indoor and outdoor seamless switching localization method, is specially switched over using following rule：
R1. when outdoor positioning resolve module can not timing receive positioning terminal transmission close-range communication signal, then position
Localization method is switched to indoor and outdoor seamless switching localization method by terminal from pure outdoor positioning method；
R2. when outdoor positioning resolve module cannot receive positioning terminal transmission sampled data and indoor positioning module focus without
When method carries out positioning calculation according to positioning terminal transmission data, and positioning terminal judges fixed by the position history data of itself
Position terminal be towards outdoor direction move when, positioning terminal part localization method is switched to pure room from indoor and outdoor seamless switching localization method
Outside fix method.
8. outside fix seamless handover method in low-power consumption room according to claim 6, it is characterised in that determine described outdoor
Position resolves module and carries out vector reception and resolving, specifically includes following steps：
1) outdoor positioning resolves module and captures itself satellite navigation signals, and obtain the satellite number of capture, the frequency of satellite and
Pseudo-code information；
2) communication distance between module is resolved according to positioning terminal and outdoor positioning and limits L, outdoor positioning resolves module capture
The pseudo-range information of satellite, the chip of front and rear skew LL distances carries out the guiding tracking of signal to positioning terminal, selectes signal peak
Maximum chip position realizes the pseudo-code less than a chip distance as the input of accurate tracking algorithm to positioning terminal signal
With the accurate tracking of carrier phase, and coarse positioning result, pseudo-code information and the carrier phase information of positioning terminal are obtained；Described
It is not less than L apart from LL；
3) be by step) the coarse positioning result of the positioning terminal that obtains, pseudo-code information and carrier phase information and outdoor positioning solution
The observation data for calculating module do difference, obtain the exact position of positioning terminal and are sent to positioning terminal.
9. in low-power consumption room described in a kind of application claim 1~8 outside fix seamless handover method system, it is characterised in that bag
Include positioning terminal, outdoor positioning resolve module, indoor positioning module focus and the positioning terminal, outdoor positioning resolve module and
The link of data interaction is carried out between indoor positioning module focus；The positioning terminal is used to receive location information, or obtains
Position the observation data of needs and externally send；It is seamless for carrying out indoor and outdoor to positioning terminal that the outdoor positioning resolves module
Switching positioning；The indoor positioning module focus is used to be accurately positioned positioning terminal indoors.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106646574A (en) * | 2017-02-16 | 2017-05-10 | 南京大学 | Indoor and outdoor ubiquitous positioning method and indoor and outdoor ubiquitous positioning system |
| CN109932686A (en) * | 2019-03-29 | 2019-06-25 | 维沃移动通信有限公司 | A kind of localization method, mobile terminal and indoor locating system |
| CN110121150A (en) * | 2019-05-24 | 2019-08-13 | 上海物联网有限公司 | A kind of trans-regional seamless positioning system in interior based on UWB technology |
| CN110996258A (en) * | 2019-11-18 | 2020-04-10 | 贵州彩数网络技术有限公司 | Seamless switching indoor and outdoor combined positioning method and system |
| CN111399013A (en) * | 2020-03-20 | 2020-07-10 | Oppo广东移动通信有限公司 | Positioning method, positioning device, terminal and storage medium |
| CN114323014A (en) * | 2021-09-16 | 2022-04-12 | 国网思极神往位置服务（北京）有限公司 | Indoor and outdoor integrated navigation method, electronic equipment, storage medium, program product and system |
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| CN111399013A (en) * | 2020-03-20 | 2020-07-10 | Oppo广东移动通信有限公司 | Positioning method, positioning device, terminal and storage medium |
| CN114323014A (en) * | 2021-09-16 | 2022-04-12 | 国网思极神往位置服务（北京）有限公司 | Indoor and outdoor integrated navigation method, electronic equipment, storage medium, program product and system |
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