CN109699007A - A kind of seamless gradual change navigation transition method of indoor and outdoor - Google Patents
A kind of seamless gradual change navigation transition method of indoor and outdoor Download PDFInfo
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- CN109699007A CN109699007A CN201811644756.4A CN201811644756A CN109699007A CN 109699007 A CN109699007 A CN 109699007A CN 201811644756 A CN201811644756 A CN 201811644756A CN 109699007 A CN109699007 A CN 109699007A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W36/00—Hand-off or reselection arrangements
- H04W36/16—Performing reselection for specific purposes
- H04W36/18—Performing reselection for specific purposes for allowing seamless reselection, e.g. soft reselection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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Abstract
The present invention relates to navigator fix fields, and in particular to a kind of seamless gradual change navigation transition method of indoor and outdoor, comprising: step 1, construct coordinate basis frame；Step 2, the seamless gradual change navigation transition of indoor and outdoor.The seamless gradual change navigation transition method of indoor and outdoor of the present invention, does not use and switches on some point, but in one section of region, it gradually converts, the indoor smooth transition with outdoor navigator fix is able to achieve, so location track is continuous and derivable without breakpoint；Using same calculation method, the resolving problem that the outdoor seamless navigation for resolving with indoor positioning, and being able to achieve indoor external signal covering overlapping area positions not only can solve.
Description
Technical field
The present invention relates to navigator fix fields, and in particular to a kind of seamless gradual change navigation transition method of indoor and outdoor.
Background technique
The processing method of outdoor navigator fix and indoor navigation bit transitions and a kind of classics when connecting is the side of switching
Method.American Apple Inc in 2012 has applied for a patent, is exactly that outdoor navigator fix and indoor navigation positioning seamless switching are special
Benefit refers to and reaches seamless transitions continuous navigation using the method for switching when being switched to another navigation system from a navigation system
Purpose.This patent was ratified to authorize by U.S. Patent Office later.This patent is tried to be the first publication, and the purpose is to can be widely applied
Indoor and outdoor continuous navigation switching method is closed down.But it is considered that switching method described in patent is not a kind of best seamless
Convert continuous navigation method.Because of the switching of so-called navigation system, the transformation of the navigation signal substantially mainly utilized, two
Or the mutual covering boundary line of signal of multiple navigation system is indenting, and it is very fuzzy, do not demarcate clearly usually, institute
Can be difficult to find a suitable switching point, and the way switched can generate time delay, often have the position of positioning solution
Jump, be easy to cause interrupted at switching, it is difficult to be seamlessly connected, the location track for eventually causing navigator fix is discontinuous, it is discontinuous,
There is phenomena such as kick.
Such as Chinese Patent Application No. are as follows: a kind of interior based on cost function of the patent disclosure of CN201210290358.3
The seamless handover method of wireless location and outdoor wireless location, it is related to a kind of indoor wireless positioning and outdoor wireless location is seamless
Switching method, and in particular to a kind of indoor wireless positioning and the seamless handover method of outdoor wireless location based on cost function,
To solve the problems, such as that existing indoor wireless positioning and outdoor wireless location are unable to seamless switching, the specific steps of method are as follows: step
One, crossover region is set；Step 2: selection parameter: choosing different parameters according to different positioning systems and participate in cost function operation；
Step 3: setting weight；Step 4: the determination of thresholding or residence time；Step 5: the comparison of cost function.
The patent place different from apple patent is to be provided with an overlapping space, and different positioning systems is selected
Different parameter and weight are selected to constitute cost function, the parameter for participating in operation is definite value, and weight coefficient is variable, makes cost
Corresponding relationship is established between function and spatial position, is changed weight coefficient, is made cost function at the edge of each orientation factor service area
Place has preferable separating capacity.When the difference of the cost function value of the cost function and current system of goal systems is higher than a certain door
In limited time, it switches over.The essence for studying carefully its patent is still the switching problem between a variety of isomery positioning systems, divided chamber's inner and outer ring
The physical quantity in border refers mainly to GNSS satellite signal strength, the visible star number amount of GNSS, indoor locating nodes signal strength, test vector
With the Euclidean distance of fingerprint image etc..Patent judges positioning service to which positioning system by the comparison of each systematic cost functional value
System switching.So still having used switch means, and need to select weight, and with ping-pong.
A kind of for another example Chinese Patent Application No. are as follows: integrated satellite navigation of the patent disclosure of CN201510273112.9 and blue
The indoor and outdoor seamless positioning system and method for tooth technology, application terminal equipment used in the patent is by outdoor satellite positioning mould
Block, indoor bluetooth locating module and indoor and outdoor positioning fusion switching module and electronic map display module composition.Navigation
Localization region is divided into three classes region: outdoor signal workspace, indoor signal workspace and two kinds of signal coexistence regions.Only exist
In two kinds of signal coexistence regions, it just uses kalman filter method to carry out data processing.It is this to be isolated into doing for three classes region
Method is more idealistic segmentation way.The terminal of patent meaning can only receive two kinds of signals, i.e., outdoor reception satellite navigation letter
Number, interior only has Bluetooth signal, and the operational version of actually present tendency is multi-source fusion navigator fix, with real not phase
Symbol.
For another example Chinese Patent Application No.: the invention of CN201810813783.3 proposes a kind of indoor and outdoor navigation seamless switching
Method and control system, application terminal equipment used in the invention include scene perception module, scene change analysis module and
Analysis and judgement will be repeated in the process of running in method switching module, and the processing of a less complex is done troublesome
It is complicated.
Summary of the invention
It navigates transition method in view of the deficiencies of the prior art, it is an object of the present invention to provide a kind of seamless gradual change of indoor and outdoor,
Adapt to the demand of indoor and outdoor seamless navigation positioning.
The seamless gradual change navigation transition method of indoor and outdoor, includes the following steps:
Step 1, coordinate basis frame is constructed:
On the basis of using ECEF coordinate system frame, while using building local coordinate system and topocentric coordinate system frame
Frame, and positioned using terminal device, and be modified by neighbouring base station；
Step 2, the seamless gradual change navigation transition of indoor and outdoor:
1) indoors at diplomatic circles, the overlapped signal area of coverage is arranged, overlapping range is 20~50m；
2) two-dimensional map of the overlapped signal area of coverage of indoor and outdoor intersection is drawn, and connects indoor map and outdoor ground
Figure；
3) location information is acquired, into indoor transition navigation, is gradually abandoning satellite navigation signals, while gradually from outdoor
Increase indoor navigation signal；, into outdoor transition navigation, indoor navigation signal is gradually being abandoned, while gradually increasing and defending from interior
Star navigation signal；List the indoor and outdoor navigator fix measurement model for resolving and using；
4) broad sense data anastomosing algorithm is used, the information in the overlapped signal area of coverage is handled, obtains optimization navigation path.
Further, in step 1, the specific steps using building local coordinate system include:
1) coordinate origin O is set in building；
2) it using the point vertical line direction O as Z axis, is directed toward zenith and is positive；Meridian direction is X-axis, is northwards positive；Y-axis and X, Z
Axis is vertical, is positive eastwards；Constitute left hand rectangular coordinate system；
3) by the terrestrial coordinates of coordinate origin O, it is established that indoor building coordinate system and outdoor ECEF coordinate system it
Between transformational relation it is as follows:
The geocentric coordinates of known coordinate origin O is (X0,Y0,Z0), geodetic coordinates longitude and latitude isIf any in space
Geocentric coordinates (the X of point PP,YP,ZP), then point P is indicated by the space coordinate under the building local coordinate system of origin of point O
It is as follows:
On the contrary, if known spatial point P, using point O as the coordinate under the building local coordinate system of originThen point P
Geocentric coordinates are as follows:
Further, in step 1, barometric leveling chip is set in terminal device, is mentioned by barometric leveling chip with base station
The air pressure basic point update information of confession obtains absolute elevation value through Difference Calculation.
Further, in step 1, topocentric coordinate system set-up mode is that setting area is sat at down town, grouped commercial
Mark system, Z axis is overlapped with plumb line direction is directed toward zenith, and X-axis is directed toward due north, and Y-axis is directed toward due east perpendicular to X, Z axis, constitutes left hand
Coordinate system.
Further, the 2 of step 2) in, draw the three-dimensional map of the overlapped signal area of coverage of indoor and outdoor intersection.
Further, the 3 of step 2) in, the measurement model for establishing the positioning of indoor and outdoor seamless navigation is as follows:
xi=f (yi,zj,ρl,rk,δm) (3)
I=1,2 ... ..n1
J=1,2 ... ..n1
L=1,2 ... ..n1
K=1,2 ... ..n1
M=1,2 ... ..n1
Ω:yi∩zj> 0
In formula, xiIndicate terminal position coordinate value to be asked；yiFor the measured value in outdoor signal source；zjFor indoor signal source
Measured value；rkFor indoor other measurement amounts；ρlFor outdoor other measurement amounts；δmFor the other measurement amounts of universe；F () is measurement functions
Expression formula；Ω: the indoor intersection area with outdoor signal is indicated.
Further, the 4 of step 2) in, the specific step of optimization navigation path is calculated using broad sense data anastomosing algorithm
Suddenly include:
S1, building Solve problems model:
Foundation asks track to solve (xi,yi,zi), i=1,2,3 ... neModel:
Model (4) consists of two parts, and upper part is direct solution part, wherein ρj, ηlIt is absolute measured value or observation
Value, f1(xi,yi,zi,xsj,ysj,zsj) it is that quantity of state solves functional relation, g1(xi,yi,zi) it is constraint function relational expression, ne
For final epoch number, m is number of sources, and k is constraint equation quantity；Here combining the purpose of constraint equation is by a group combined pressure
Contracting solution room improves the precision of solution；
Lower part is recursion part, wherein Δ Xi,ΔYi,ΔZiFor low state amount, the opposite of state variable can be
Variable quantity is also possible to the derivative value or differential value of state variable, f2(Δxi),f3(Δyi),f4(Δzi) it is respectively that recursion is closed
It is formula, g2(Δxi,Δyi,Δzi) related constraint functional expression between low state amount, αiIndicate the constraint between each component
Relationship；It can reinforce the coupling matching between different components between each component value after increase related constraint, help to obtain related solution,
It is actually also beneficial to become real vector solution；
S2, coordinate transform:
If two parts in model (4) are established respectively under different coordinate systems, coordinate conversion is carried out, two parts are united
One to being resolved under the same coordinate system；It can also first be respectively completed resolving under different coordinates, then data are transformed into
Under the same coordinate system, integrated combination is carried out；
S3, the state for solving absolute status amount resolve equation, directly obtain state magnitude (xi,yi,zi)；
If equation is non-thread form, following nonlinear state is solved using non-linear direct solution algorithm and resolves equation:
f(xi)=ρi+νi, i=1,2 ..., ne (5)
In formula (5), f (xi) it is that quantity of state solves relational expression, generally nonlinear function, xiFor function status variable,
ρiFor measurement amount, viFor random noise, i is epoch serial number, neFor equation number；
Firstly, establishing following residual error minimization Optimized model, it may be assumed that
X is sought, is made
If Prescribed Properties seek x, make
S.T.g(xn)=c+ υ
In formula (7), g (xn) it is constraint function relational expression, c is constraint equation right-hand vector, and υ is random noise；Formula (7) can be with
It is solved using the non-linear direct solution algorithm such as single forming process, random replica, by searching for, comparing, makes mesh
Offer of tender numerical value approaches optimum point step by step；
S4, quantity of state recurrence equation is established, obtains the optimal predictor value of quantity of state after recursion
Establish the recurrence equation of low state amount, obtain the new value of high state amount, and with directly from resolving equation solution
The state resolving value of acquisition combines, and improves the precision of state value solution and the relevance of solution；Low state amount can be and quantity of state
Relevant derivative value or differential value, are also possible to difference information；When estimating next epoch state estimations amount, the present embodiment is used
On the basis of current optimal State Estimation value, in addition the first derivative values of observable quantity of state or higher derivative value and time
The product at interval, the high state for obtaining next epoch are estimated in advance；The quantity of state recurrence formula used during this indicates such as
Under:
In formula, Z () indicates recurrence Relation；
When recurrence relation meets kinematics, indicated with following relational expression:
In formula (8) and formula (9),For tnThe first derivative values of state variable when epoch,For tnState becomes when epoch
The second derivative values of amount, υnFor tnRandom noise when epoch,For tnQuantity of state recursion discreet value when epoch,For tn-1It goes through
The optimal estimation value of quantity of state when first, interval time of the Δ t between epoch；
When merging initial phase, Initial state estimation amountIt has not known, the measured value of state of preceding several epoch can be used
Instead of, or with after approximation process approach value substitution；
S5, combination tnDirect solution state value and optimal predictor state value when epoch obtain optimal State Estimation value
The state value that above-mentioned two class is obtained carries out integrated fusion solution, tnState estimations amount when epochAnd tnIt goes through
Direct solution state value x when firstnIt is fuzzy to combine, to acquire tnState optimization interval estimation amount when epoch
Factor alpha in formula (10) is solved using generalized extended Interpolation method1, α2, α3, that is, it asks:
In formula (11), ω0、ω1、ω2For weight coefficient,It is amount α to be asked1, α2, α3Constraint interval number,Above-mentioned formula (11) is solved with optimization algorithm, generalized extended can be obtained
The factor alpha of approximating polynomial1, α2, α3And the minimization value of objective function；
Similarly, it can solve to obtain
S6, it repeats to obtain one group of optimization solution with iterative solution:
I+1 is assigned to i, replaces n with n+1；Use tn+1Instead of tn, step S3~S6 is repeated, it can be in the hope of in tn+1Epoch
When optimal State Estimation value
Above-mentioned iterative process repeats, Recursive Solution, until i=neWhen terminate, just can obtain one group of optimization navigation rail
Mark solution
The beneficial effects of the present invention are:
The transition method 1. the seamless gradual change of indoor and outdoor of the present invention is navigated, does not use and switches on some point, but
It in one section of region, gradually converts, the indoor smooth transition with outdoor navigator fix is able to achieve, so location track is without breakpoint
Continuous and derivable.
2. the seamless gradual change navigation transition method of indoor and outdoor of the present invention uses same calculation method, room not only can solve
It is resolved outside with indoor positioning, and is able to achieve the resolving problem of the seamless navigation positioning of indoor external signal covering overlapping area.
Specific embodiment
Embodiment 1
The seamless gradual change navigation transition method of indoor and outdoor, includes the following steps:
Step 1, coordinate basis frame is constructed:
On the basis of using ECEF coordinate system frame, while using building local coordinate system and topocentric coordinate system frame
Frame, and positioned using terminal device, and be modified by neighbouring base station；Barometric leveling chip is set in terminal device,
The air pressure basic point update information provided by barometric leveling chip and base station obtains absolute elevation value through Difference Calculation.
Specific steps using building local coordinate system include:
1) coordinate origin O is set in building；
2) it using the point vertical line direction O as Z axis, is directed toward zenith and is positive；Meridian direction is X-axis, is northwards positive；Y-axis and X, Z
Axis is vertical, is positive eastwards；Constitute left hand rectangular coordinate system；
3) by the terrestrial coordinates of coordinate origin O, it is established that indoor building coordinate system and outdoor ECEF coordinate system it
Between transformational relation it is as follows:
The geocentric coordinates of known coordinate origin O is (X0,Y0,Z0), geodetic coordinates longitude and latitude isIf any in space
Geocentric coordinates (the X of point PP,YP,ZP), then point P is indicated by the space coordinate under the building local coordinate system of origin of point O
It is as follows:
On the contrary, if known spatial point P, using point O as the coordinate under the building local coordinate system of originThen point P
Geocentric coordinates are as follows:
Topocentric coordinate system set-up mode is the setting area coordinate system at down town, grouped commercial, Z axis and plumb line side
It is directed toward zenith to being overlapped, X-axis is directed toward due north, and Y-axis is directed toward due east perpendicular to X, Z axis, constitutes left-handed coordinate system
Step 2, the seamless gradual change navigation transition of indoor and outdoor:
1) indoors at diplomatic circles, the overlapped signal area of coverage is arranged, overlapping range is 20~50m；
2) two-dimensional map or three-dimensional map of the overlapped signal area of coverage of indoor and outdoor intersection are drawn, and connects indoor map
With outdoor map；Two-dimensional map or three-dimensional map the connection indoor map of the overlapped signal area of coverage and outdoor map, can make outdoor
Navigator fix track is transitioned on overlapped signal covering chorography, and navigator fix track can also be made to cover chorography from overlapped signal
On transit in indoor map；Equally, indoor navigation positioning track can be made to be transitioned on overlapped signal covering chorography, then make to lead
Boat positioning track transits on outdoor map from overlapped signal covering chorography.
3) location information is acquired, into indoor transition navigation, is gradually abandoning satellite navigation signals, while gradually from outdoor
Increase indoor navigation signal；, into outdoor transition navigation, indoor navigation signal is gradually being abandoned, while gradually increasing and defending from interior
Star navigation signal；It is as follows to list the indoor and outdoor navigator fix measurement model for resolving and using:
xi=f (yi,zj,ρl,rk,δm) (3)
I=1,2 ... ..n1
J=1,2 ... ..n1
L=1,2 ... ..n1
K=1,2 ... ..n1
M=1,2 ... ..n1
Ω:yi∩zj> 0
In formula, xiIndicate terminal position coordinate value to be asked；yiFor the measured value in outdoor signal source；zjFor indoor signal source
Measured value；rkFor indoor other measurement amounts；ρlFor outdoor other measurement amounts；δmFor the other measurement amounts of universe；F () is measurement functions
Expression formula；Ω: the indoor intersection area with outdoor signal is indicated.
4) broad sense data anastomosing algorithm is used, the information in the overlapped signal area of coverage is handled, obtains optimization navigation path；
Specifically includes the following steps:
S1, building Solve problems model.
Foundation asks track to solve (xi,yi,zi), i=1,2,3 ... neModel:
Model (4) consists of two parts, and upper part is direct solution part, wherein ρj, ηlIt is absolute measured value or observation
Value, f1(xi,yi,zi,xsj,ysj,zsj) it is that quantity of state solves functional relation, g1(xi,yi,zi) it is constraint function relational expression, ne
For final epoch number, m is number of sources, and k is constraint equation quantity.Here combining the purpose of constraint equation is by a group combined pressure
Contracting solution room improves the precision of solution.
Lower part is recursion part, wherein Δ Xi,ΔYi,ΔZiFor low state amount, the opposite of state variable can be
Variable quantity is also possible to the derivative value or differential value of state variable, f2(Δxi),f3(Δyi),f4(Δzi) it is respectively that recursion is closed
It is formula, g2(Δxi,Δyi,Δzi) related constraint functional expression between low state amount, αiIndicate the constraint between each component
Relationship.It can reinforce the coupling matching between different components between each component value after increase related constraint, help to obtain related solution,
It is actually also beneficial to become real vector solution.
S2, coordinate transform.
If two parts in model (4) are established respectively under different coordinate systems, coordinate conversion is carried out, two parts are united
One to being resolved under the same coordinate system；It can also first be respectively completed resolving under different coordinates, then data are transformed into
Under the same coordinate system, integrated combination is carried out.
S3, the state for solving absolute status amount resolve equation, directly obtain state magnitude (xi,yi,zi)。
If equation is non-thread form, following nonlinear state is solved using non-linear direct solution algorithm and resolves equation:
f(xi)=ρi+νi, i=1,2 ..., ne (5)
In formula (5), f (xi) it is that quantity of state solves relational expression, generally nonlinear function, xiFor function status variable,
ρiFor measurement amount, viFor random noise, i is epoch serial number, neFor equation number.
Firstly, establishing following residual error minimization Optimized model, it may be assumed that
X is sought, is made
If Prescribed Properties seek x, make
S.T.g(xn)=c+ υ
In formula (7), g (xn) it is constraint function relational expression, c is constraint equation right-hand vector, and υ is random noise.Formula (7) can be with
It is solved using the non-linear direct solution algorithm such as single forming process, random replica, by searching for, comparing, makes mesh
Offer of tender numerical value approaches optimum point step by step.
S4, quantity of state recurrence equation is established, obtains the optimal predictor value of quantity of state after recursion
Establish the recurrence equation of low state amount, obtain the new value of high state amount, and with directly from resolving equation solution
The state resolving value of acquisition combines, and improves the precision of state value solution and the relevance of solution.Low state amount can be and quantity of state
Relevant derivative value or differential value, are also possible to difference information.When estimating next epoch state estimations amount, the present embodiment is used
On the basis of current optimal State Estimation value, in addition the first derivative values of observable quantity of state or higher derivative value and time
The product at interval, the high state for obtaining next epoch are estimated in advance.The quantity of state recurrence formula used during this indicates such as
Under:
In formula, Z () indicates recurrence Relation；
When recurrence relation meets kinematics, indicated with following relational expression:
In formula (8) and formula (9),For tnThe first derivative values of state variable when epoch,For tnState becomes when epoch
The second derivative values of amount, υnFor tnRandom noise when epoch,For tnQuantity of state recursion discreet value when epoch,For tn-1It goes through
The optimal estimation value of quantity of state when first, interval time of the Δ t between epoch.
When merging initial phase, Initial state estimation amountIt has not known, the measured value of state of preceding several epoch can be used
Instead of, or with after approximation process approach value substitution.
S5, combination tnDirect solution state value and optimal predictor state value when epoch obtain optimal State Estimation value
The state value that above-mentioned two class is obtained carries out integrated fusion solution, tnState estimations amount when epochAnd tnIt goes through
Direct solution state value x when firstnIt is fuzzy to combine, to acquire tnState optimization interval estimation amount when epoch
Factor alpha in formula (10) is solved using generalized extended Interpolation method1, α2, α3, that is, it asks:
In formula (11), ω0、ω1、ω2For weight coefficient,It is amount α to be asked1, α2, α3Constraint interval number,Above-mentioned formula (11) is solved with optimization algorithm, generalized extended can be obtained
The factor alpha of approximating polynomial1, α2, α3And the minimization value of objective function.
Similarly, it can solve to obtain
S6, it repeats to obtain one group of optimization solution with iterative solution.
I+1 is assigned to i, replaces n with n+1；Use tn+1Instead of tn, step S3~S6 is repeated, it can be in the hope of in tn+1Epoch
When optimal State Estimation value
Above-mentioned iterative process repeats, Recursive Solution, until i=neWhen terminate, just can obtain one group of optimization navigation rail
Mark solution
The specific embodiment of the indenting seamless gradual transition method of indoor and outdoor navigation proposed by the present invention, to of the invention
Purpose, technical scheme and beneficial effects have been further described, it should be understood that the foregoing is merely of the invention
Specific embodiment is not intended to restrict the invention, all within the spirits and principles of the present invention, any modification for being made,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (7)
- The transition method 1. a kind of seamless gradual change of indoor and outdoor is navigated, which comprises the steps of:Step 1, coordinate basis frame is constructed:On the basis of using ECEF coordinate system frame, while building local coordinate system and topocentric coordinate system frame are used, And it is positioned using terminal device, and be modified by neighbouring base station；Step 2, the seamless gradual change navigation transition of indoor and outdoor:1) indoors at diplomatic circles, the overlapped signal area of coverage is arranged, overlapping range is 20~50m；2) two-dimensional map of the overlapped signal area of coverage of indoor and outdoor intersection is drawn, and connects indoor map and outdoor map；3) location information is acquired, into indoor transition navigation, satellite navigation signals is gradually abandoned from outdoor, gradually increases simultaneously Indoor navigation signal；, into outdoor transition navigation, indoor navigation signal is gradually being abandoned, while gradually increasing satellite and leading from interior Navigate signal；List the indoor and outdoor navigator fix measurement model for resolving and using；4) broad sense data anastomosing algorithm is used, the information in the overlapped signal area of coverage is handled, obtains optimization navigation path.
- The transition method 2. the seamless gradual change of a kind of indoor and outdoor according to claim 1 is navigated, which is characterized in that the step 1 In, the specific steps using building local coordinate system include:1) coordinate origin O is set in building；2) it using the point vertical line direction O as Z axis, is directed toward zenith and is positive；Meridian direction is X-axis, is northwards positive；Y-axis and X, Z axis hang down Directly, it is positive eastwards；Constitute left hand rectangular coordinate system；3) pass through the terrestrial coordinates of coordinate origin O, it is established that between indoor building coordinate system and outdoor ECEF coordinate system Transformational relation is as follows:The geocentric coordinates of known coordinate origin O is (X0,Y0,Z0), geodetic coordinates longitude and latitude isIf any point P in space Geocentric coordinates (XP,YP,ZP), then point P is expressed as follows by the space coordinate under the building local coordinate system of origin of point O:On the contrary, if known spatial point P, using point O as the coordinate under the building local coordinate system of originThen the earth's core of point P Coordinate are as follows:
- The transition method 3. the seamless gradual change of a kind of indoor and outdoor according to claim 2 is navigated, which is characterized in that the step 1 In, barometric leveling chip is set in terminal device, the air pressure basic point update information provided by barometric leveling chip and base station, warp Difference Calculation obtains absolute elevation value.
- The transition method 4. the seamless gradual change of a kind of indoor and outdoor according to claim 1 is navigated, which is characterized in that the step 1 In, topocentric coordinate system set-up mode is the setting area coordinate system at down town, grouped commercial, Z axis and plumb line direction weight It closes and is directed toward zenith, X-axis is directed toward due north, and Y-axis is directed toward due east perpendicular to X, Z axis, constitutes left-handed coordinate system.
- The transition method 5. the seamless gradual change of a kind of indoor and outdoor according to claim 1 is navigated, which is characterized in that the step 2 2) in, draw indoor and outdoor intersection the overlapped signal area of coverage three-dimensional map.
- The transition method 6. the seamless gradual change of a kind of indoor and outdoor according to claim 1 is navigated, which is characterized in that the step 2 3) in, establish indoor and outdoor seamless navigation positioning measurement model it is as follows:I=1,2 ... ..n1J=1,2 ... ..n1L=1,2 ... ..n1K=1,2 ... ..n1M=1,2 ... ..n1Ω:yi∩zj> 0In formula, xiIndicate terminal position coordinate value to be asked；yiFor the measured value in outdoor signal source；zjFor the measurement in indoor signal source Value；rkFor indoor other measurement amounts；ρlFor outdoor other measurement amounts；δmFor the other measurement amounts of universe；F () is measurement functions expression Formula；Ω: the indoor intersection area with outdoor signal is indicated.
- The transition method 7. the seamless gradual change of a kind of indoor and outdoor according to claim 1 is navigated, which is characterized in that the step 2 4) in, using broad sense data anastomosing algorithm be calculated optimization navigation path specific steps include:S1, building Solve problems model:Foundation asks track to solve (xi,yi,zi), i=1,2,3 ... neModel:Model (4) consists of two parts, and upper part is direct solution part, wherein ρj, ηlIt is absolute measured value or observation, f1(xi,yi,zi,xsj,ysj,zsj) it is that quantity of state solves functional relation, g1(xi,yi,zi) it is constraint function relational expression, neFor most Whole epoch number, m are number of sources, and k is constraint equation quantity；Here the purpose for combining constraint equation is asked by combining compression Solution space improves the precision of solution；Lower part is recursion part, wherein Δ Xi,ΔYi,ΔZiFor low state amount, the opposite variation of state variable can be Amount, is also possible to the derivative value or differential value of state variable, f2(Δxi),f3(Δyi),f4(Δzi) it is respectively recurrence Relation, g2(Δxi,Δyi,Δzi) related constraint functional expression between low state amount, αiIndicate the constraint relationship between each component； It can reinforce the coupling matching between different components between each component value after increase related constraint, help to obtain related solution, it is practical On be also beneficial to become real vector solution；S2, coordinate transform:If two parts in model (4) are established respectively under different coordinate systems, coordinate conversion is carried out, two parts are uniformly arrived It is resolved under the same coordinate system；It can also first be respectively completed resolving under different coordinates, then data are transformed into same Under a coordinate system, integrated combination is carried out；S3, the state for solving absolute status amount resolve equation, directly obtain state magnitude (xi,yi,zi)；If equation is non-thread form, following nonlinear state is solved using non-linear direct solution algorithm and resolves equation:f(xi)=ρi+νi, i=1,2 ..., ne (5)In formula (5), f (xi) it is that quantity of state solves relational expression, generally nonlinear function, xiFor function status variable, ρiFor Measurement amount, viFor random noise, i is epoch serial number, neFor equation number；Firstly, establishing following residual error minimization Optimized model, it may be assumed thatX is sought, is madeIf Prescribed Properties seek x, makeIn formula (7), g (xn) it is constraint function relational expression, c is constraint equation right-hand vector, and υ is random noise；Formula (7) can use The non-linear direct solution algorithm such as single forming process, random replica solved, and by searching for, comparing, makes target letter Numerical value approaches optimum point step by step；S4, quantity of state recurrence equation is established, obtains the optimal predictor value of quantity of state after recursionEstablish the recurrence equation of low state amount, obtain the new value of high state amount, and with directly obtain from resolving equation solution State resolving value combination, improve state value solution precision and solution relevance；Low state amount can be related to quantity of state Derivative value or differential value, be also possible to difference information；When estimating next epoch state estimations amount, the present embodiment, which uses, is working as On the basis of preceding optimal State Estimation value, in addition the first derivative values of observable quantity of state or higher derivative value and time interval Product, the high state for obtaining next epoch estimates in advance；The quantity of state recurrence formula used during this is expressed as follows:In formula, Z () indicates recurrence Relation；When recurrence relation meets kinematics, indicated with following relational expression:In formula (8) and formula (9),For tnThe first derivative values of state variable when epoch,For tnThe two of state variable when epoch Order derivative value, υnFor tnRandom noise when epoch,For tnQuantity of state recursion discreet value when epoch,For tn-1Shape when epoch The optimal estimation value of state amount, interval time of the Δ t between epoch；When merging initial phase, Initial state estimation amountIt has not known, can be replaced with the measured value of state of preceding several epoch, Or value substitution is approached with after approximation process；S5, combination tnDirect solution state value and optimal predictor state value when epoch obtain optimal State Estimation valueThe state value that above-mentioned two class is obtained carries out integrated fusion solution, tnState estimations amount when epochAnd tnWhen epoch Direct solution state value xnIt is fuzzy to combine, to acquire tnState optimization interval estimation amount when epochFactor alpha in formula (10) is solved using generalized extended Interpolation method1, α2, α3, that is, it asks:In formula (11), ω0、ω1、ω2For weight coefficient,It is amount α to be asked1, α2, α3Constraint interval number,Above-mentioned formula (11) is solved with optimization algorithm, generalized extended can be obtained The factor alpha of approximating polynomial1, α2, α3And the minimization value of objective function；Similarly, it can solve to obtainS6, it repeats to obtain one group of optimization solution with iterative solution:I+1 is assigned to i, replaces n with n+1；Use tn+1Instead of tn, step S3~S6 is repeated, it can be in the hope of in tn+1When epoch most Excellent state estimationAbove-mentioned iterative process repeats, Recursive Solution, until i=neWhen terminate, just can obtain one group of optimization navigation path solution
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