CN111818459A - Indoor absolute position determination method - Google Patents
Indoor absolute position determination method Download PDFInfo
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- CN111818459A CN111818459A CN202010500215.5A CN202010500215A CN111818459A CN 111818459 A CN111818459 A CN 111818459A CN 202010500215 A CN202010500215 A CN 202010500215A CN 111818459 A CN111818459 A CN 111818459A
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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
- H04W4/029—Location-based management or tracking services
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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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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The application relates to an indoor absolute position determination method. The method comprises the following steps: receiving a positioning request and roughly positioning the terminal; determining indoor and outdoor conditions of the terminal according to the rough positioning result, wherein the indoor and outdoor conditions comprise that the terminal is located in an indoor area, the terminal is located in a transition area between the indoor and outdoor areas, and the terminal is located in an outdoor area; selecting a positioning mode corresponding to the indoor and outdoor conditions, wherein the positioning mode comprises satellite positioning and positioning through a ranging beacon, the positioning through the ranging beacon is realized through the absolute position of the ranging beacon, and the absolute position of the ranging beacon is obtained by calculating according to the position of an outdoor reference point determined by the satellite positioning in advance; and positioning the terminal by the selected positioning mode. The method can improve the positioning accuracy.
Description
Technical Field
The application relates to the technical field of positioning, in particular to an indoor absolute position determining method.
Background
Indoor and outdoor seamless navigation positioning is a fundamental stone for interconnection of everything, and has wide market prospect and application value. However, many troublesome problems still exist in the current indoor and outdoor seamless integrated navigation problem and need to be solved. UWB or GNSS pseudo-satellite etc. range finding beacon because the precision of finding range, can obtain the indoor location of high accuracy of real-time centimetre level, with GNSS + range finding beacon combination solve one of the effective means of indoor outer seamless location of high accuracy, but still have some main problems at present, show as: (1) the indoor and outdoor positioning principles are not unified, so that seamless and stable switching cannot be realized during indoor and outdoor transition; (2) the indoor and outdoor positioning results do not have a unified coordinate frame, the outdoor is usually used for obtaining absolute coordinates by adopting an earth-centered earth-fixed coordinate system (ECEF), and the indoor is used for obtaining relative positioning by adopting a local relative reference system, so that the indoor positioning is inconvenient to use. (3) Instability in indoor and outdoor transition zone positioning. The number of visible satellites in the indoor and outdoor transition areas is changed dramatically, which causes the GNSS positioning accuracy to change rapidly, thus causing the positioning to be unstable and even generating positioning blind areas.
Disclosure of Invention
In view of the above, it is necessary to provide an indoor absolute position determining method capable of improving positioning accuracy in order to solve the above-mentioned technical problems.
An indoor absolute position determination method, the method comprising:
receiving a positioning request and roughly positioning the terminal;
determining indoor and outdoor conditions of the terminal according to the rough positioning result, wherein the indoor and outdoor conditions comprise that the terminal is located in an indoor area, the terminal is located in a transition area between the indoor and outdoor areas, and the terminal is located in an outdoor area;
selecting a positioning mode corresponding to the indoor and outdoor conditions, wherein the positioning mode comprises satellite positioning and positioning through a ranging beacon, the positioning through the ranging beacon is realized through the absolute position of the ranging beacon, and the absolute position of the ranging beacon is obtained by calculating according to the position of an outdoor reference point determined by the satellite positioning in advance;
and positioning the terminal by the selected positioning mode.
In one embodiment, the positioning the terminal by the selected positioning method includes:
when the terminal is located in an indoor and outdoor transition area, acquiring the absolute position of a pre-calculated ranging beacon;
positioning the terminal through the ranging beacons to obtain the corresponding relative position of each ranging beacon;
acquiring an absolute position obtained by positioning the terminal by each satellite;
and acquiring a preset weight matrix, and calculating the absolute position of the terminal according to the weight matrix, the relative position corresponding to each ranging beacon, the absolute position of each ranging beacon and the absolute position obtained by positioning the terminal by each satellite.
In one embodiment, the positioning the terminal by the selected positioning method includes:
when the terminal is located in an indoor area, acquiring the absolute position of a pre-calculated ranging beacon;
positioning the terminal through the ranging beacon to obtain a relative position;
and calculating to obtain the absolute position of the terminal according to the relative position and the absolute position of the ranging beacon.
In one embodiment, the positioning the terminal by the selected positioning method includes:
and when the terminal is located in an outdoor area, positioning the terminal through a satellite.
In one embodiment, the absolute position of the ranging beacon is calculated by an inner-lead method and an outer-lead method.
In one embodiment, the internal introduction method comprises:
precisely positioning the positions of at least two reference points in an outdoor area through a satellite;
forming a first spatial straight line from the at least two reference points, and introducing the formed spatial straight line into the indoor and outdoor transition region inlets and the indoor;
acquiring first distances between the at least two reference points and corresponding first ranging beacons through laser ranging;
constructing a first space linear equation according to the positions of the two reference points;
and determining the absolute position of the first ranging beacon according to the first space straight line equation and the first distance.
In one embodiment, the external introduction method comprises:
acquiring a second spatial straight line formed by connecting indoor ranging beacons;
constructing a third spatial straight line parallel to the second spatial straight line outdoors;
acquiring absolute positions of all points on an outdoor third space straight line through satellite precision positioning;
acquiring distance information between second ranging beacons through laser ranging;
and calculating to obtain the absolute position of the indoor second ranging beacon according to the parallel relation between the second space straight line and the third space straight line, the distance information, the absolute positions of all points on the third space straight line and the absolute position of the first ranging beacon.
An indoor absolute position determination method, the apparatus comprising:
the receiving module is used for receiving a positioning request and carrying out rough positioning on the terminal;
an indoor and outdoor situation determining module, configured to determine indoor and outdoor situations of the terminal according to the rough positioning result, where the indoor and outdoor situations include an indoor area where the terminal is located, a transition area where the terminal is located indoors and outdoors, and an outdoor area where the terminal is located outdoors;
a positioning mode determining module, configured to select a positioning mode corresponding to the indoor and outdoor situations, where the positioning mode includes satellite positioning and positioning by a ranging beacon, and the positioning by the ranging beacon is performed by an absolute position of the ranging beacon, where the absolute position of the ranging beacon is calculated in advance according to a position of an outdoor reference point determined by the satellite positioning;
and the positioning module is used for positioning the terminal through the selected positioning mode.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method described above when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
According to the indoor absolute position determining method, when the terminal is positioned, the indoor and outdoor conditions of the terminal are determined according to the rough positioning position of the terminal, the corresponding positioning mode is selected according to the indoor and outdoor conditions of the terminal, and the terminal is positioned in a targeted manner, so that the positioning accuracy of the terminal can be improved.
Drawings
FIG. 1 is a diagram of an exemplary indoor absolute position determination method;
FIG. 2 is a schematic flow chart of a method for determining an indoor absolute position according to one embodiment;
fig. 3 is a schematic diagram of a ranging beacon deployment scheme and an internal and external guiding method in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The indoor absolute position determining method provided by the application can be applied to the application environment shown in fig. 1. Specifically, the terminal 102 may receive a positioning request to position the terminal 102, and the terminal 102 may perform a coarse positioning first to determine indoor and outdoor situations of the terminal 102, such as a location of the terminal 102 in an indoor area, a transition area of the terminal 102 in an indoor and outdoor area, and a location of the terminal in an outdoor area, and select a corresponding location mode according to the indoor and outdoor situations of the terminal 102, including a satellite location mode and a location by a ranging beacon, where an absolute position of the ranging beacon is calculated in advance according to a position of an outdoor reference point determined by the satellite location, so that the absolute position may be converted into an absolute position when the location is performed by the ranging beacon, and consistency of indoor and outdoor coordinates is ensured. The terminal 102 may be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, and portable wearable devices.
In one embodiment, as shown in fig. 2, an indoor absolute position determining method is provided, which is described by taking the method as an example applied to the terminal in fig. 1, and includes the following steps:
s100: and receiving a positioning request and roughly positioning the terminal.
Specifically, the location request may be determined by the terminal based on user input or based on an application of an application installed in the terminal. The rough positioning of the terminal is mainly to determine the indoor and outdoor conditions of the terminal, and the rough positioning may be generated according to signals of satellites and/or ranging beacons that can be received by the terminal, or obtained by positioning according to a global satellite navigation system GNSS or an inertial navigation system INS, and the rough positioning is not high in position requirement, and is only to determine the indoor and outdoor conditions of the terminal.
S200: and determining the indoor and outdoor conditions of the terminal according to the rough positioning result, wherein the indoor and outdoor conditions comprise that the terminal is located in an indoor area, the terminal is located in a transition area between the indoor and outdoor areas, and the terminal is located in an outdoor area.
Specifically, the indoor and outdoor situations of the terminal include that the terminal is located in an indoor area, the terminal is located in a transition area between the indoor and outdoor areas, and the terminal is located in an outdoor area, where the transition area refers to the transition area between the indoor and outdoor areas, and may refer to an area within a preset range at each channel position from the outdoor to the indoor. Therefore, the terminal can roughly determine the area where the terminal is located according to the rough positioning condition.
S300: and selecting a positioning mode corresponding to indoor and outdoor conditions, wherein the positioning mode comprises satellite positioning and positioning through a ranging beacon, the positioning through the ranging beacon is realized through the absolute position of the ranging beacon, and the absolute position of the ranging beacon is obtained by calculating according to the position of an outdoor reference point determined by the satellite positioning in advance.
Specifically, the positioning mode includes satellite positioning and positioning by the ranging beacon, and in order to ensure the unification of the coordinate frames of the satellite positioning and the ranging beacon positioning, the absolute coordinates of the indoor beacon are obtained based on an internal leading method and an external leading method in the embodiment, and the positioning user obtains the same absolute position indoors and outdoors, so that the convenience of the user in use and the accuracy and effectiveness of positioning are remarkably improved.
Specifically, the absolute position of the ranging beacon may be calculated in advance by an internal guiding method and an external guiding method according to the position of the outdoor reference point determined by satellite positioning, so that the position of the terminal is relocated according to the absolute position of the ranging beacon, thereby obtaining the absolute coordinates in the ECEF also obtained by positioning by the ranging beacon.
Wherein selecting a corresponding positioning mode according to indoor and outdoor conditions comprises: when the terminal is indoors, positioning can be carried out through the ranging beacon, and the absolute position of the terminal is obtained according to the absolute position of the ranging beacon positioned by the satellite; when the terminal is outdoors, the terminal is directly positioned through a satellite; when the terminal is in an indoor and outdoor transition area, the positioning accuracy can be improved by integrating the satellite positioning and the ranging beacon positioning. Namely, the corresponding positioning mode is selected according to the number of paths of the signals of the satellite and the ranging beacon which can be received.
S400: and positioning the terminal by the selected positioning mode.
Specifically, the terminal locates the terminal according to the selected locating mode, including locating through a satellite outdoors, locating through a ranging beacon indoors, obtaining the absolute position of the terminal according to the absolute position of the ranging beacon of the satellite locating, and integrating the satellite locating and the ranging beacon locating in a transition area to improve the locating accuracy.
According to the indoor absolute position determining method, when the terminal is positioned, the indoor and outdoor conditions of the terminal are determined according to the rough positioning position of the terminal, the corresponding positioning mode is selected according to the indoor and outdoor conditions of the terminal, and the terminal is positioned in a targeted manner, so that the positioning accuracy of the terminal can be improved.
In one embodiment, the positioning the terminal by the selected positioning method includes: when the terminal is located in an indoor and outdoor transition area, acquiring the absolute position of a pre-calculated ranging beacon; positioning the terminal through the ranging beacons to obtain the corresponding relative position of each ranging beacon; acquiring an absolute position obtained by positioning a terminal by each satellite; and acquiring a preset weight matrix, and calculating the absolute position of the terminal according to the weight matrix, the relative position corresponding to each ranging beacon, the absolute position of each ranging beacon and the absolute position obtained by positioning the terminal by each satellite.
Specifically, the deployed ranging beacon generally adopts a relative position, which may be converted into an earth-centered earth-fixed coordinate system (ECEF) by a certain method, and it is assumed that the coordinate of the ranging beacon is a coordinate in the ECEF coordinate system, that is, an absolute position of the ranging beacon, which may be determined by an internal reference method and an external reference method described below, so as to locate the terminal by the ranging beacon to obtain a relative position corresponding to each ranging beacon, the relative position measured by the ranging beacon may be converted into an absolute position in the ECEF coordinate system according to the relative position and the absolute position of the ranging beacon, and the terminal may further obtain an absolute position obtained by each satellite to locate the terminal, so as to obtain a ranging result of at least one satellite and a ranging result of at least one beacon, so that a ranging result of at least one satellite and a ranging result of at least one ranging beacon may be synthesized according to a preset weight And calculating to obtain the absolute position of the terminal.
In one embodiment, the positioning the terminal by the selected positioning method includes: when the terminal is located in an indoor area, acquiring the absolute position of a pre-calculated ranging beacon; positioning the terminal through the ranging beacon to obtain a relative position; and calculating the absolute position of the terminal according to the relative position and the absolute position of the ranging beacon.
Specifically, when the terminal is located in the indoor area, the distance measurement performed by the distance measurement beacon is mainly used as the criterion, so that the terminal is located by the distance measurement beacon to obtain the relative position, and then the absolute position of the terminal is calculated according to the absolute position of the distance measurement beacon, that is, the absolute position is converted into the absolute position in the ECEF coordinate system.
In one embodiment, the positioning the terminal by the selected positioning method includes: when the terminal is located in an outdoor area, the terminal is located through a satellite. Specifically, when the terminal is located in an outdoor area, the terminal is directly located by a satellite, which is not described herein again.
For convenience of understanding in practical applications, the positioning principle of combining satellite positioning and ranging beacon positioning will be described in detail below, wherein the satellite positioning is described by taking GNSS positioning as an example:
GNSS, UWB, and pseudolites are all ranging and positioning systems, the satellite position may be resolved by satellite broadcast ephemeris or obtained directly by using ephemeris, and may be considered to be known, the deployed ranging beacon generally employs a relative position, and this relative position may be converted into an earth-centered earth-fixed coordinate system (ECEF) by some method, and in this embodiment, it is assumed that the coordinate of the ranging beacon is a coordinate in the ECEF coordinate system. In this way, GNSS pseudo range point-to-point positioning equation can be adopted for both the satellite and the ranging beacon
ρj＝||sj-u||+ctu(1)
Where rhoiRepresenting pseudoranges, tuIndicating the clock error of the receiver, satellite sj(xj，yj,zj) Terminal u (x)u,yu,zu) Wherein the range of j is 1-n (n is more than or equal to 4), and n represents the visual satellite number and the range finding beaconThe total number of signal sources is considered. Thus, it can be seen that:
positioning error (Δ x) from true positionu,Δyu,Δzu) Timing error Δ tuThe above equation can be linearized using the ranging errors of BDS/GNSS and UWB:
Δρ1＝ax1Δxu+ay1Δyu+az1Δzu-cΔtu(5)
Δρ2＝ax2Δxu+ay2Δyu+az2Δzu-cΔtu(6)
Δρn＝axnΔxu+aynΔyu+aznΔzu-cΔtu(7)
these equations can be written in matrix form using the following definitions:
finally obtaining
Δρ＝HΔx (8)
This is an overdetermined or positive definite equation whose positioning is solved when n is 4:
Δx＝H-1Δρ (9)
when n >4, its solution can be obtained as a least squares solution
Δx＝(HTH)-1HTΔρ (10)
Since the equivalent range error (UERE) between each satellite and each ranging beacon is often not independently and equally distributed. The least squares solution of the position estimate is not optimal, and at this time, Weighted Least Squares (WLS) can be introduced to obtain the optimal solution as
Δx＝(HTR-1H)-1HTR-1Δρ (11)
Wherein, R is a weight matrix, and the weight rule of each visible GNSS satellite and ranging signal source is according to the contribution of the UERE. In the transition region, GNSS satellites and ranging beacon signals coexist. The ranging accuracy of the ranging beacon and the accuracy of the GNSS pseudo-range observation value may be different, so that an adaptive weight factor of the noise variance may be adopted, and the adaptive weight factors of the ranging beacon and the BDS satellite are determined according to the self noise variance and have slight difference respectively.
In one embodiment, the absolute position of the ranging beacon is calculated by an inner-lead method and an outer-lead method.
In one embodiment, the internal introduction method comprises: precisely positioning the positions of at least two reference points in an outdoor area through a satellite; forming a first spatial straight line from at least two reference points, and introducing the formed spatial straight line into the indoor and outdoor transition region inlets and the indoor; acquiring first distances between at least two reference points and corresponding first ranging beacons through laser ranging; constructing a first space linear equation according to the positions of the two reference points; an absolute position of the first ranging beacon is determined based on the first spatial line equation and the first distance.
In one embodiment, the external introduction method comprises: acquiring a second spatial straight line formed by connecting indoor ranging beacons; constructing a third space straight line parallel to the second space straight line outdoors; acquiring absolute positions of all points on an outdoor third space straight line through satellite precision positioning; acquiring distance information between second ranging beacons through laser ranging; and calculating to obtain the absolute position of the indoor second ranging beacon according to the parallel relation between the second space straight line and the third space straight line, the distance information, the absolute positions of all points on the third space straight line and the absolute position of the first ranging beacon.
Specifically, referring to fig. 3, fig. 3 is a schematic diagram of a ranging beacon deployment scheme and an internal guiding method and an external guiding method in an embodiment, in which, for indoor positioning, a local relative coordinate system is currently and commonly used for indoor positioning. Various ranging beacons such as UWB determine their relative positions through a reference point, and the user obtains relative coordinates. For indoor and outdoor integrated universal positioning, the relative positioning result is far less convenient than the application of an outdoor GNSS absolute positioning result. Therefore, the present embodiment proposes the indoor ranging beacon absolute coordinate determination based on the spatial straight-line internal guiding method and the spatial straight-line external guiding method.
The spatial in-line method may specifically include: two points are determined outdoors through a GNSS precision indoor absolute position determination method, the two known points form a space straight line and are led to an indoor transition area inlet and an indoor transition area, meanwhile, the geometric distance between the known points and a point to be measured is obtained through a laser ranging method, and the absolute position of each ranging beacon on the space straight line can be rapidly determined according to a space straight line equation.
Assuming that the ranging beacon is deployed indoors according to fig. 3, the indoor ranging beacon position and the outdoor reference position are associated through a space linear equation based on the laser ranging and laser collimation principles, and the outdoor known reference point position precision determination method can generally pass through a GNSS precision positioning technology, such as network RTK, RTPPP or a thousand-homing national foundation enhancement system.
In FIG. 3, the serial numbers 5-10 are deployment positions of ranging beacons, two points of the ranging beacon 9 and the ranging beacon 5 are on the same straight line, three points of the ranging beacon 8, the ranging beacon 9 and the ranging beacon 10 are on the same straight line, three points of the ranging beacon 5, the ranging beacon 6 and the ranging beacon 7 are on the same straight line, the straight lines where the two points of the ranging beacon 5 and the ranging beacon 9 are located extend to the outdoors, and the accurate indoor absolute position of the GNSS is used for determining the positionThe method obtains the absolute positions (x) of two points of a reference point 1 and a reference point 2 on a straight line on an ECEF coordinate system1,y1,z1) And (x)2,y2,z2) The distance l between the reference point 2 and the ranging beacon 5 is measured by the laser ranging described above1Further, a space linear equation can be determined according to the reference point 1 and the reference point 2
At this point, ranging beacon 5 (x) in the transition region can be obtained5,y5,z5) Position coordinates of
The absolute coordinates (x) of the ranging beacon 9 can be determined by the same principle9,y9,z9)。
A space straight line external leading method: the method comprises the steps of constructing a spatial straight line parallel to ranging beacon points arranged indoors outdoors through the spatial straight line formed by connecting the ranging beacon points arranged indoors, obtaining absolute positions of all points of the outdoor straight line through a GNSS precise indoor absolute position determining method, and obtaining absolute positions of all the ranging beacons indoors according to the parallel relation of the constructed straight line, distance information and known point absolute position information.
The distance between the adjacent beacons in the room is measured by using a laser ranging method, the straight line distance between the reference point 1 and the ranging beacon 5 is known by an internal reference method, and a straight line parallel to the reference point is constructed outdoors, for example: l67//l34//l89Therefore, the absolute position of the indoor UWB beacon is quickly determined according to the parallel relation of the spatial straight lines.
By ranging beacons5. The ranging beacons 6, 7, 8, 9, 10 are two parallel spatial straight lines, and the coordinates (x) of the reference point 3 are measured by the Beidou network RTK3,y3,z3) Coordinate (x) of reference point 44,y4,z4)。
From this,. alpha.34Linear coordinates of (a):
from the unit vector:
knowing the parallel straight line l67And l89The equation of a straight line:
the distance l between two points of the ranging beacon 5 and the ranging beacon 6 is measured by laser ranging2Then the absolute coordinates of the ranging beacon 6 can be directly obtained:
x6＝x5+ml2
y6＝y5+nl2(17)
z6＝z5+rl2
the absolute coordinates of ranging beacon 7, ranging beacon 8 and ranging beacon 10 may be determined similarly. By integrating the internal guiding method and the external guiding method, the absolute coordinates of any indoor ranging beacon in the ECEF can be determined, and thus, a theoretical basis is laid for indoor and outdoor GNSS positioning principles.
In the embodiment, the indoor beacon absolute indoor absolute position determining method based on the internal leading method and the external leading method is utilized, the indoor and outdoor coordinate frames can be unified, the absolute coordinates of the indoor beacon are obtained, and the positioning terminal obtains the same indoor and outdoor absolute positions, so that the convenience of the terminal in use and the accuracy and effectiveness of positioning are obviously improved.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least a portion of the other steps or stages.
In one embodiment, there is provided an indoor absolute position determining apparatus comprising:
the receiving module is used for receiving the positioning request and carrying out rough positioning on the terminal;
the indoor and outdoor situation determining module is used for determining the indoor and outdoor situations of the terminal according to the rough positioning result, wherein the indoor and outdoor situations comprise an indoor area of the terminal, a transition area of the terminal, indoor and outdoor areas of the terminal and an outdoor area of the terminal;
the positioning mode determining module is used for selecting a positioning mode corresponding to indoor and outdoor conditions, the positioning mode comprises satellite positioning and positioning through a ranging beacon, the positioning through the ranging beacon is realized through the absolute position of the ranging beacon, and the absolute position of the ranging beacon is obtained by calculating according to the position of an outdoor reference point determined by the satellite positioning in advance;
and the positioning module is used for positioning the terminal through the selected positioning mode.
In one embodiment, the positioning module includes:
a first ranging beacon position determining unit for acquiring an absolute position of a ranging beacon calculated in advance when the terminal is located in an indoor and outdoor transition area;
the first relative position determining unit is used for positioning the terminal through the ranging beacons to obtain the relative position corresponding to each ranging beacon;
the satellite positioning unit is used for acquiring an absolute position obtained by positioning the terminal by each satellite;
and the first absolute position determining unit is used for acquiring a preset weight matrix and calculating the absolute position of the terminal according to the weight matrix, the relative position corresponding to each ranging beacon, the absolute position of each ranging beacon and the absolute position obtained by positioning the terminal by each satellite.
In one embodiment, the positioning module includes:
a second ranging beacon position determining unit, configured to obtain an absolute position of a ranging beacon calculated in advance when the terminal is located in the indoor area;
the second relative position determining unit is used for positioning the terminal through the ranging beacon to obtain a relative position;
and the second absolute position determining unit is used for calculating the absolute position of the terminal according to the relative position and the absolute position of the ranging beacon.
In one embodiment, the positioning module is further configured to position the terminal through a satellite when the terminal is located in an outdoor area.
In one embodiment, the absolute position of the ranging beacon is calculated by an inner-lead method and an outer-lead method.
In one embodiment, the positioning device further includes:
the reference point positioning module is used for precisely positioning the positions of at least two reference points in an outdoor area through a satellite;
the lead module is used for forming a first space straight line by at least two reference points and leading the formed space straight line to the indoor and outdoor transition area inlets and the indoor;
the first laser ranging module is used for acquiring first distances between at least two reference points and corresponding first ranging beacons through laser ranging;
the first space linear equation building module is used for building a first space linear equation according to the positions of the two reference points;
and the first ranging beacon absolute position determining module is used for determining the absolute position of the first ranging beacon according to the first space linear equation and the first distance.
In one embodiment, the positioning device further includes:
the second space linear equation building module is used for obtaining a second space linear line formed by connecting the indoor ranging beacons;
the third space linear equation building module is used for building a third space straight line parallel to the second space straight line outdoors;
the satellite positioning module is used for acquiring the absolute position of each point on an outdoor third space straight line through satellite precision positioning;
the second laser ranging module is used for acquiring distance information between second ranging beacons through laser ranging;
and the second distance measuring beacon absolute position determining module is used for calculating and acquiring the absolute position of the indoor second distance measuring beacon according to the parallel relation between the second space straight line and the third space straight line, the distance information, the absolute position of each point on the third space straight line and the absolute position of the first distance measuring beacon.
For specific definition of the indoor absolute position determining apparatus, see the above definition of the indoor absolute position determining method, which is not described herein again. The respective modules in the indoor absolute position determining apparatus described above may be implemented in whole or in part by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device, which may be a terminal, is provided that includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement an indoor absolute position determination method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the above-described architecture, which is merely a block diagram of some of the structures associated with the disclosed aspects, is not intended to limit the computing devices to which the disclosed aspects may be applied, and that a particular computing device may include more or less components than those shown, or may have some components combined, or may have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program: receiving a positioning request and roughly positioning a terminal; determining indoor and outdoor conditions of the terminal according to the rough positioning result, wherein the indoor and outdoor conditions comprise that the terminal is located in an indoor area, the terminal is located in a transition area between the indoor and outdoor areas, and the terminal is located in an outdoor area; selecting a positioning mode corresponding to indoor and outdoor conditions, wherein the positioning mode comprises satellite positioning and positioning through a ranging beacon, the positioning through the ranging beacon is realized through the absolute position of the ranging beacon, and the absolute position of the ranging beacon is obtained by calculating according to the position of an outdoor reference point determined by the satellite positioning in advance; and positioning the terminal by the selected positioning mode.
In one embodiment, the processor, when executing the computer program, is involved in locating the terminal by the selected location method, including: when the terminal is located in an indoor and outdoor transition area, acquiring the absolute position of a pre-calculated ranging beacon; positioning the terminal through the ranging beacons to obtain the corresponding relative position of each ranging beacon; acquiring an absolute position obtained by positioning a terminal by each satellite; and acquiring a preset weight matrix, and calculating to obtain the absolute position of the terminal according to the weight matrix, the relative position corresponding to each ranging beacon, the absolute position of each ranging beacon and the absolute position obtained by positioning the terminal by each satellite.
In one embodiment, the processor, when executing the computer program, is involved in locating the terminal by the selected location method, including: when the terminal is located in an indoor area, acquiring the absolute position of a pre-calculated ranging beacon; positioning the terminal through the ranging beacon to obtain a relative position; and calculating the absolute position of the terminal according to the relative position and the absolute position of the ranging beacon.
In one embodiment, the processor, when executing the computer program, is involved in locating the terminal by the selected location method, including: when the terminal is located in an outdoor area, the terminal is located through a satellite.
In one embodiment, the absolute position of the ranging beacon involved in the execution of the computer program by the processor is calculated by an inner-referencing method and an outer-referencing method.
In one embodiment, the internal methods involved in the execution of the computer program by the processor include: precisely positioning the positions of at least two reference points in an outdoor area through a satellite; forming a first spatial straight line from at least two reference points, and introducing the formed spatial straight line into the indoor and outdoor transition region inlets and the indoor; acquiring first distances between at least two reference points and corresponding first ranging beacons through laser ranging; constructing a first space linear equation according to the positions of the two reference points; an absolute position of the first ranging beacon is determined based on the first spatial line equation and the first distance.
In one embodiment, the method of externalizing involved in the execution of the computer program by the processor comprises: acquiring a second spatial straight line formed by connecting indoor ranging beacons; constructing a third space straight line parallel to the second space straight line outdoors; acquiring absolute positions of all points on an outdoor third space straight line through satellite precision positioning; acquiring distance information between second ranging beacons through laser ranging; and calculating to obtain the absolute position of the indoor second ranging beacon according to the parallel relation between the second space straight line and the third space straight line, the distance information, the absolute positions of all points on the third space straight line and the absolute position of the first ranging beacon.
In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: receiving a positioning request and roughly positioning a terminal; determining indoor and outdoor conditions of the terminal according to the rough positioning result, wherein the indoor and outdoor conditions comprise that the terminal is located in an indoor area, the terminal is located in a transition area between the indoor and outdoor areas, and the terminal is located in an outdoor area; selecting a positioning mode corresponding to indoor and outdoor conditions, wherein the positioning mode comprises satellite positioning and positioning through a ranging beacon, the positioning through the ranging beacon is realized through the absolute position of the ranging beacon, and the absolute position of the ranging beacon is obtained by calculating according to the position of an outdoor reference point determined by the satellite positioning in advance; and positioning the terminal by the selected positioning mode.
In one embodiment, the computer program, when executed by the processor, is directed to locating the terminal in a selected location mode, comprising: when the terminal is located in an indoor and outdoor transition area, acquiring the absolute position of a pre-calculated ranging beacon; positioning the terminal through the ranging beacons to obtain the corresponding relative position of each ranging beacon; acquiring an absolute position obtained by positioning a terminal by each satellite; and acquiring a preset weight matrix, and calculating to obtain the absolute position of the terminal according to the weight matrix, the relative position corresponding to each ranging beacon, the absolute position of each ranging beacon and the absolute position obtained by positioning the terminal by each satellite.
In one embodiment, the computer program, when executed by the processor, is directed to locating the terminal in a selected location mode, comprising: when the terminal is located in an indoor area, acquiring the absolute position of a pre-calculated ranging beacon; positioning the terminal through the ranging beacon to obtain a relative position; and calculating the absolute position of the terminal according to the relative position and the absolute position of the ranging beacon.
In one embodiment, the computer program, when executed by the processor, is directed to locating the terminal in a selected location mode, comprising: when the terminal is located in an outdoor area, the terminal is located through a satellite.
In one embodiment, the absolute position of the ranging beacon involved when the computer program is executed by the processor is calculated by an inner and outer method.
In one embodiment, the internal methods involved in execution of the computer program by the processor include: precisely positioning the positions of at least two reference points in an outdoor area through a satellite; forming a first spatial straight line from at least two reference points, and introducing the formed spatial straight line into the indoor and outdoor transition region inlets and the indoor; acquiring first distances between at least two reference points and corresponding first ranging beacons through laser ranging; constructing a first space linear equation according to the positions of the two reference points; an absolute position of the first ranging beacon is determined based on the first spatial line equation and the first distance.
In one embodiment, the method of introductions involved when the computer program is executed by a processor comprises: acquiring a second spatial straight line formed by connecting indoor ranging beacons; constructing a third space straight line parallel to the second space straight line outdoors; acquiring absolute positions of all points on an outdoor third space straight line through satellite precision positioning; acquiring distance information between second ranging beacons through laser ranging; and calculating to obtain the absolute position of the indoor second ranging beacon according to the parallel relation between the second space straight line and the third space straight line, the distance information, the absolute positions of all points on the third space straight line and the absolute position of the first ranging beacon.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of indoor absolute position determination, the method comprising:
receiving a positioning request and roughly positioning the terminal;
determining indoor and outdoor conditions of the terminal according to the rough positioning result, wherein the indoor and outdoor conditions comprise that the terminal is located in an indoor area, the terminal is located in a transition area between the indoor and outdoor areas, and the terminal is located in an outdoor area;
selecting a positioning mode corresponding to the indoor and outdoor conditions, wherein the positioning mode comprises satellite positioning and positioning through a ranging beacon, the positioning through the ranging beacon is realized through the absolute position of the ranging beacon, and the absolute position of the ranging beacon is obtained by calculating according to the position of an outdoor reference point determined by the satellite positioning in advance;
and positioning the terminal by the selected positioning mode.
2. The method according to claim 1, wherein the positioning the terminal by the selected positioning method comprises:
when the terminal is located in an indoor and outdoor transition area, acquiring the absolute position of a pre-calculated ranging beacon;
positioning the terminal through the ranging beacons to obtain the corresponding relative position of each ranging beacon;
acquiring an absolute position obtained by positioning the terminal by each satellite;
and acquiring a preset weight matrix, and calculating the absolute position of the terminal according to the weight matrix, the relative position corresponding to each ranging beacon, the absolute position of each ranging beacon and the absolute position obtained by positioning the terminal by each satellite.
3. The method according to claim 1, wherein the positioning the terminal by the selected positioning method comprises:
when the terminal is located in an indoor area, acquiring the absolute position of a pre-calculated ranging beacon;
positioning the terminal through the ranging beacon to obtain a relative position;
and calculating to obtain the absolute position of the terminal according to the relative position and the absolute position of the ranging beacon.
4. The method according to claim 1, wherein the positioning the terminal by the selected positioning method comprises:
and when the terminal is located in an outdoor area, positioning the terminal through a satellite.
5. The method of any of claims 1 to 4, wherein the absolute position of the ranging beacon is calculated by an inner-lead method and an outer-lead method.
6. The method of claim 5, wherein the internal introduction method comprises:
precisely positioning the positions of at least two reference points in an outdoor area through a satellite;
forming a first spatial straight line from the at least two reference points, and introducing the formed spatial straight line into the indoor and outdoor transition region inlets and the indoor;
acquiring first distances between the at least two reference points and corresponding first ranging beacons through laser ranging;
constructing a first space linear equation according to the positions of the two reference points;
and determining the absolute position of the first ranging beacon according to the first space straight line equation and the first distance.
7. The method of claim 6, wherein the externally introducing method comprises:
acquiring a second spatial straight line formed by connecting indoor ranging beacons;
constructing a third spatial straight line parallel to the second spatial straight line outdoors;
acquiring absolute positions of all points on an outdoor third space straight line through satellite precision positioning;
acquiring distance information between second ranging beacons through laser ranging;
and calculating to obtain the absolute position of the indoor second ranging beacon according to the parallel relation between the second space straight line and the third space straight line, the distance information, the absolute positions of all points on the third space straight line and the absolute position of the first ranging beacon.
8. An indoor absolute position determination method, the apparatus comprising:
the receiving module is used for receiving a positioning request and carrying out rough positioning on the terminal;
an indoor and outdoor situation determining module, configured to determine indoor and outdoor situations of the terminal according to the rough positioning result, where the indoor and outdoor situations include an indoor area where the terminal is located, a transition area where the terminal is located indoors and outdoors, and an outdoor area where the terminal is located outdoors;
a positioning mode determining module, configured to select a positioning mode corresponding to the indoor and outdoor situations, where the positioning mode includes satellite positioning and positioning by a ranging beacon, and the positioning by the ranging beacon is performed by an absolute position of the ranging beacon, where the absolute position of the ranging beacon is calculated in advance according to a position of an outdoor reference point determined by the satellite positioning;
and the positioning module is used for positioning the terminal through the selected positioning mode.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 8.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.
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