CN110174640A - A kind of indoor and outdoor seamless positioning system intelligently switched - Google Patents
A kind of indoor and outdoor seamless positioning system intelligently switched Download PDFInfo
- Publication number
- CN110174640A CN110174640A CN201910440170.4A CN201910440170A CN110174640A CN 110174640 A CN110174640 A CN 110174640A CN 201910440170 A CN201910440170 A CN 201910440170A CN 110174640 A CN110174640 A CN 110174640A
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- positioning
- terminal device
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- satellite
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- 230000010365 information processing Effects 0.000 claims abstract description 22
- 238000000034 method Methods 0.000 claims abstract description 11
- 238000005516 engineering process Methods 0.000 claims description 12
- 230000000694 effects Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- 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
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to a kind of indoor and outdoor seamless positioning systems intelligently switched, including terminal device, positioning system and information processing system, the terminal device includes satellite signal receiving apparatus and UWB signal emitter, the satellite signal receiving apparatus realizes that outdoor positioning, the UWB signal emitter realize indoor positioning for emitting UWB signal for receiving satellite-signal；The positioning signal selective positioning mode that the positioning system is issued according to the terminal device received；The information processing system parses positioning signal according to selected positioning method, obtains the location information of terminal device.The present invention can be realized the precise positioning of indoor and outdoors, and can realize effectively seamless intelligence switching by outdoor intersection indoors, improve positioning accuracy.
Description
Technical field
The present invention relates to indoor and outdoor seamless positioning technical fields, seamless fixed more particularly to a kind of indoor and outdoor intelligently switched
Position system.
Background technique
The a part of indoor and outdoor location technology as Internet of Things, plays increasingly important role, GPS positioning in life
Technology plays good locating effect in outdoor, but indoors due to the influence of various shelters, GPS positioning effect is not
It is fine, therefore produces indoor positioning, it is contemplated that positioning accuracy positions the influence of the various factors such as cost, and one kind being based on UWB
Indoor positioning technologies come into being, UWB location technology can be realized the positioning accuracy of Centimeter Level indoors.
Currently, most of positioning system, can only realize single outdoor positioning or indoor positioning, can not accomplish this two
The combination of person.Although some positioning systems can be realized the combination of the two, can not accomplish effectively to cut between positioning system
It changes, and switches the not high bad effect of the waste that will cause operand and user experience repeatedly.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of indoor and outdoor seamless positioning system intelligently switched, Neng Goushi
The precise positioning of existing indoor and outdoors, and can realize effectively seamless intelligence switching by outdoor intersection indoors, it improves
Positioning accuracy.
The technical solution adopted by the present invention to solve the technical problems is: it is seamless fixed to provide a kind of indoor and outdoor intelligently switched
Position system, including terminal device, positioning system and information processing system, the terminal device include satellite signal receiving apparatus and
UWB signal emitter, the satellite signal receiving apparatus realize outdoor positioning, the UWB signal for receiving satellite-signal
Emitter realizes indoor positioning for emitting UWB signal；The positioning that the positioning system is issued according to the terminal device received
Signal behavior positioning method；The information processing system parses positioning signal according to selected positioning method, obtains end
The location information of end equipment.
The positioning system determines that terminal is set according to the number of satellite received and the locating base station number for receiving UWB signal
The standby state being presently in.
When the terminal device current state is outdoor, the positioning system Selection utilization satellite positioning tech is determined
Position, and the satellite-signal received is sent to the information processing system；When the terminal device current state is indoor, institute
It states positioning system Selection utilization UWB positioning method to be positioned, and UWB positioning signal is sent to the information processing system；
When the terminal device is indoor and outdoor intersection, the positioning system selection is by the way of satellite positioning and UWB positioning combination
It is positioned, and satellite-signal and UWB positioning signal is sent to the information processing system.
When the terminal device current state is outdoor, the information processing system according toIt establishes solving equations and obtains the location information of terminal device,
In, x, y, z are the coordinate of terminal device, xi,yi,ziFor the space coordinate of i-th satellite,For the clock deviation of i-th satellite, Vt
For the clock deviation of terminal device, diFor the distance of i-th satellite to terminal device, c is the light velocity.
When the terminal device current state is indoor, the information processing system obtains terminal device using TDOA technology
The location information of terminal device is obtained to the range difference of each locating base station, and according to range difference.
When the terminal device current state is indoor and outdoor intersection, the information processing system is according to P=wPG+(1-w)
PWObtain the location information of terminal device, wherein PGFor the terminal positional information obtained using satellite positioning mode, PWTo use
The terminal positional information that UWB is positioned, w are weight factor.
Beneficial effect
Due to the adoption of the above technical solution, compared with prior art, the present invention having the following advantages that and actively imitating
Fruit: the present invention is mounted with GPS module and UWB module on the terminal device, when terminal device is in different scenes, can select
One appropriate location algorithm, GPS positioning when outdoor, UWB is positioned when indoor, and when indoor and outdoor intersection can select GPS+UWB to melt
Positioning is closed, realizes a kind of effective seamless switching technique of intelligence, precisely obtains the location information of terminal device.Practice have shown that phase
It is positioned than simple indoor or outdoors, which has many advantages, such as that whole process locating and tracking, good positioning effect, cost performance are high.
Detailed description of the invention
Fig. 1 is system diagram of the invention；
Fig. 2 is outdoor positioning schematic diagram in the present invention；
Fig. 3 is indoor positioning schematic diagram in the present invention.
Specific embodiment
Present invention will be further explained below with reference to specific examples.It should be understood that these embodiments are merely to illustrate the present invention
Rather than it limits the scope of the invention.In addition, it should also be understood that, after reading the content taught by the present invention, those skilled in the art
Member can make various changes or modifications the present invention, and such equivalent forms equally fall within the application the appended claims and limited
Range.
Embodiments of the present invention are related to a kind of indoor and outdoor seamless positioning system intelligently switched, as shown in Figure 1, including eventually
End equipment, positioning system and information processing system, the terminal device include satellite signal receiving apparatus and UWB signal transmitting dress
It sets, the satellite signal receiving apparatus is used to emit the satellite-signal received and realizes outdoor positioning, the UWB signal emitter
Indoor positioning is realized for emitting UWB signal；The positioning system is selected according to the positioning signal that the terminal device received issues
Positioning method；The information processing system parses positioning signal according to selected positioning method, obtains terminal device
Location information.
Wherein, satellite signal receiving apparatus is used to receive GPS signal, realizes outdoor positioning.Indoor positioning will be used
Locating base station receives UWB signal, and UWB signal emitter periodical launch UWB signal sends frequency NHz.Present embodiment
In terminal device in modules by itself carry lithium battery be powered, voltage is 5V.
The time synchronization of each base station is completed between UWB locating base station by sending synchronizing information, each locating base station is received
The UWB signal that UWB signal emitter is issued on collection intelligent terminal, using TDOA mode, and the time that will be received
Stamp is packaged, and is sent to information processing system by information transmission equipment.
Positioning system can will use different location technologies, including GPS positioning according to different situations after receiving signal
Technology, UWB location technology, GPS+UWB location technology.Information processing system is sent to after determining location technology to be handled.
Wherein GPS positioning mode is as shown in Fig. 2, terminal device obtains the space coordinate of itself under the satellite of known coordinate.UWB positioning
Mode is as shown in figure 3, using TDOA technological orientation terminal device.GPS+UWB fusion positioning principle is that positioning system will be according to connecing
It receives GPS satellite number and receives the locating base station number of UWB signal to adjust weight factor to realize under current state
Preferred orientation.
Assuming that terminal device is entered the room by outdoor, then positioning flow the following steps are included:
Step 1: the outer GPS positioning of terminal room
GPS positioning such as Fig. 2 is used when personnel or article are in outdoor environment.P (x, y, z) is the sky of user terminal
Between coordinate；Si(xi,yi,zi) (i=1,2,3,4) be 4 satellites space coordinate.User terminal is obtained by quaternary equation group
Space coordinateIn formulaFor the clock of satellite i (i=1,2,3,4)
Difference；VtFor the clock deviation of user terminal；diFor the distance between satellite i and terminal device；C is the light velocity.
Step 2: GPS merges positioning with UWB's
When personnel or article are in the intersection of indoor and outdoor, system will automatically according to receive GPS satellite number and
The locating base station number for receiving UWB signal determines weight factor under current state, is positioned in the best way, works as use
Weighted Average Algorithm is used when GPS+UWB fusion positioning.Assign a positioning result to weight w, then the weight of another system is
(1-w), fusion results P=wPG+(1-w)PW, in formula, PGFor the result of GPS positioning；PWFor UWB positioning result.
Step 3: indoor UWB positioning
UWB positioning such as Fig. 3 are used when personnel or article are in indoor environment.Terminal is obtained using TDOA technology to set
The standby range difference for arriving UWB locating base station, finally obtains the precise position information (X, Y coordinates system) of terminal.
In these three steps, at the time of using terminal equipment, the GPS signal reception device and UWB signal of terminal device
Emitter can be all waken up, and then GPS signal reception device will periodically receive GPS signal, UWB signal emitter week
Phase property emits UWB positioning signal, sends frequency NHz, regardless of terminal device is in the intersection of interior, outdoor or indoor and outdoor,
There will be corresponding location algorithm to solve the location information of terminal device, form the comprehensive fixed in real time of a kind of personnel or article
Position system.
It can be seen that the present invention can be realized the seamless fixed intelligence switching of indoor and outdoor, which can be realized indoor and outdoors
Precise positioning, and can realize effectively seamless intelligence switching and judgement by outdoor intersection indoors, improve positioning accurate
Degree.It solves the problems, such as GPS not precise positioning indoors and the invalid switching orientation problem of indoor and outdoor, is the essence of personnel and article
Certainly position lays a good foundation.
Claims (6)
1. a kind of indoor and outdoor seamless positioning system intelligently switched, including terminal device, positioning system and information processing system,
It is characterized in that, the terminal device includes satellite signal receiving apparatus and UWB signal emitter, the satellite signal receiving dress
It sets and realizes that outdoor positioning, the UWB signal emitter realize that interior is fixed for emitting UWB signal for receiving satellite-signal
Position；The positioning signal selective positioning mode that the positioning system is issued according to the terminal device received；The information processing system
Positioning signal is parsed according to selected positioning method, obtains the location information of terminal device.
2. the indoor and outdoor seamless positioning system according to claim 1 intelligently switched, which is characterized in that the positioning system
The state that terminal device is presently in is determined according to the number of satellite received and the locating base station number for receiving UWB signal.
3. the indoor and outdoor seamless positioning system according to claim 2 intelligently switched, which is characterized in that the terminal device
When current state is outdoor, the positioning system Selection utilization satellite positioning tech is positioned, and the satellite received is believed
Number it is sent to the information processing system；When the terminal device current state is indoor, the positioning system Selection utilization UWB
Positioning method is positioned, and UWB positioning signal is sent to the information processing system；The terminal device is indoor diplomacy
When at boundary, positioning system selection is positioned using satellite positioning and UWB positioning combination by the way of, and by satellite-signal with
UWB positioning signal is sent to the information processing system.
4. the indoor and outdoor seamless positioning system according to claim 3 intelligently switched, which is characterized in that the terminal device
When current state is outdoor, the information processing system according toIt builds
Vertical solving equations obtain the location information of terminal device, wherein x, y, z are the coordinate of terminal device, xi,yi,ziIt is i-th
The space coordinate of satellite,For the clock deviation of i-th satellite, VtFor the clock deviation of terminal device, diFor i-th satellite to terminal device
Distance, c is the light velocity.
5. the indoor and outdoor seamless positioning system according to claim 3 intelligently switched, which is characterized in that the terminal device
When current state is indoor, the information processing system using TDOA technology obtain terminal device to each locating base station distance
Difference, and the location information of terminal device is obtained according to range difference.
6. the indoor and outdoor seamless positioning system according to claim 3 intelligently switched, which is characterized in that the terminal device
When current state is indoor and outdoor intersection, the information processing system is according to P=wPG+(1-w)PWObtain the position of terminal device
Information, wherein PGFor the terminal positional information obtained using satellite positioning mode, PWFor the terminal location positioned using UWB
Information, w are weight factor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910440170.4A CN110174640A (en) | 2019-05-24 | 2019-05-24 | A kind of indoor and outdoor seamless positioning system intelligently switched |
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| CN201910440170.4A CN110174640A (en) | 2019-05-24 | 2019-05-24 | A kind of indoor and outdoor seamless positioning system intelligently switched |
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Cited By (6)
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| CN111103611A (en) * | 2020-01-16 | 2020-05-05 | 合肥四相至新科技有限公司 | UWB and GPS integrated positioning method and system |
| CN111669707A (en) * | 2020-06-10 | 2020-09-15 | 中通服咨询设计研究院有限公司 | Method for realizing indoor and outdoor continuous positioning based on 5G active chamber |
| CN111818459A (en) * | 2020-06-04 | 2020-10-23 | 湘潭大学 | Indoor absolute position determination method |
| CN111818637A (en) * | 2020-06-04 | 2020-10-23 | 湘潭大学 | Indoor and outdoor seamless positioning and stable transition positioning method |
| CN113495286A (en) * | 2021-06-29 | 2021-10-12 | 中国船舶重工集团公司第七一九研究所 | Position and attitude calculation method for ship docking process |
| 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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| 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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Application publication date: 20190827 |