CN113064183A - Multi-source fusion positioning terminal and positioning method - Google Patents
Multi-source fusion positioning terminal and positioning method Download PDFInfo
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- CN113064183A CN113064183A CN202110289187.1A CN202110289187A CN113064183A CN 113064183 A CN113064183 A CN 113064183A CN 202110289187 A CN202110289187 A CN 202110289187A CN 113064183 A CN113064183 A CN 113064183A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
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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
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention provides a multi-source fusion positioning terminal and a positioning method, wherein the multi-source fusion positioning terminal comprises: the wireless communication system comprises a memory, a central processing unit, a chip set and a wireless communication unit, wherein the chip set is connected with the central processing unit, and the central processing unit is respectively connected with the wireless communication unit and the memory; the chip set comprises a plurality of positioning chips of different types and is used for acquiring positioning signals of the positioning terminal at set time intervals and storing the positioning signals in the memory, and the central processing unit sends the positioning signals stored in the memory to the positioning platform system through the wireless communication unit; the central processing unit can automatically switch the positioning mode according to the type of the positioning signal received by the positioning terminal and position the positioning terminal through the positioning chip matched with the type of the positioning signal.
Description
Technical Field
The invention relates to the technical field of object positioning, in particular to a multi-source fusion positioning terminal and a multi-source fusion positioning method.
Background
With the progress of society and the development of technology, the information society is developing from the internet age to the internet of things age. In the era of internet of things, all object ends capable of being identified independently, including people, machines and objects, need to be connected together according to agreed protocols and requirements everywhere and everywhere according to requirements through various network technologies and information sensing equipment to perform information transmission and collaborative interaction so as to realize intelligent sensing, identification, positioning, tracking, monitoring and management of the object ends. In the process, most of the applications are associated with location services, and particularly for mobile objects, the positioning requirement is more obvious, so that the positioning technology gradually permeates the aspects of social life and becomes an indispensable important application in daily life and work of people.
Every positioning technology such as Lora, bluetooth AOA, UWB, big dipper, GPS can't become the system by oneself and can't be compatible in the current market, and the different producers of same kind of technique also all adopt the proprietary protocol even, bind the sale, can't be compatible with other products. In addition, the positioning terminal only has a built-in positioning chip, so that when a person wearing the positioning terminal enters a different signal coverage universe, one positioning terminal can only receive a positioning signal, and when an object enters another signal coverage universe, the requirement of universe positioning cannot be met. This brings great difficulty to the implementation, and cannot realize the respective advantages and combined application.
Secondly, the positioning technology can be divided into two categories of indoor positioning and outdoor positioning according to different use scenes, and because the scenes are different and the requirements are different, the positioning technologies adopted respectively are different. At present, outdoor positioning technology is developed and matured, two main technologies, namely satellite positioning and base station positioning, mainly exist, and the satellite and base station positioning technology basically meets the requirement of a user for position service in an outdoor scene. However, because of factors such as house shielding, signal attenuation is obvious and even completely refused in indoor positioning, satellite positioning and base station positioning cannot meet the requirement of navigation positioning in an indoor scene, and outdoor positioning and indoor positioning are not organically combined.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a multi-source fusion positioning terminal, which can realize seamless accurate positioning in different indoor and outdoor scenes, and can meet the global positioning requirement through the same terminal equipment without replacing the terminal equipment when a person and a vehicle wearing the positioning terminal enter different signal coverage ranges.
The multi-source fusion positioning terminal provided by the invention comprises: the wireless communication system comprises a memory, a central processing unit, a chip set and a wireless communication unit, wherein the chip set is connected with the central processing unit, and the central processing unit is respectively connected with the wireless communication unit and the memory;
the chip set comprises a plurality of positioning chips of different types and is used for acquiring positioning signals of the positioning terminal at set time intervals and storing the positioning signals in the memory, and the central processing unit sends the positioning signals stored in the memory to the positioning platform system through the wireless communication unit;
the central processing unit can automatically switch the positioning mode according to the type of the positioning signal received by the positioning terminal and position the positioning terminal through the positioning chip matched with the type of the positioning signal.
Furthermore, the positioning chip comprises a ground base station positioning chip and a satellite positioning chip, and the ground base station positioning chip comprises chips supported by positioning technologies such as Lora, Bluetooth AOA and UWB; the satellite positioning chip comprises chips supported by Beidou positioning, GPS and other positioning technologies.
Further, the memory comprises an indoor and outdoor switching algorithm and a positioning algorithm program.
Furthermore, the positioning platform system comprises a ground base station and a space satellite, the central processing unit carries out frequency conversion on the positioning signals in the storage and then sends the positioning signals to the positioning platform system, and the positioning platform system carries out position coordinate calculation on the position data of the positioning terminal after processing the positioning signals so as to realize positioning and tracking.
Further, the central processing unit processes the positioning signal by adopting multi-signal maximum likelihood estimation, particle filtering and a differential denoising algorithm.
Further, in the positioning process, the positioning target is presented and combined with the AStar algorithm, and is modeled by 3D data.
The invention also provides a positioning method carried out according to the multi-source fusion positioning terminal, which comprises the following steps:
s1: a positioning terminal receives a positioning signal;
s2: the central processing unit selects a positioning scene where the positioning terminal is located through an indoor and outdoor switching algorithm and a positioning algorithm program in the scheduling memory;
s3: the positioning terminal automatically selects a positioning mode corresponding to the coverage positioning signal of the area, acquires the positioning signal through a matched positioning chip and sends the positioning signal to the memory for storage;
s4: the central processing unit carries out frequency conversion on the positioning signals in the storage and then sends the positioning signals to the positioning platform system through the wireless communication unit;
s5: and the positioning platform system carries out position coordinate calculation according to the target position data after signal processing, so as to realize positioning tracking.
According to the positioning terminal with the multi-source integration, through the compatible integration of various different types of positioning chips, the ground base station positioning and space satellite positioning technologies are adopted, the satellite-ground combination and the seamless smooth connection of indoor and outdoor positioning can be effectively realized, the respective advantages of different positioning technical means are organically combined, the positioning working condition of people and vehicles is greatly improved, when people and vehicles needing positioning enter different signal coverage ranges, terminal equipment does not need to be replaced, and the global positioning requirement can be met through the same terminal.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings. Wherein:
FIG. 1 is a schematic structural diagram of a multi-source converged positioning terminal in the present invention;
fig. 2 is a schematic flow chart of the positioning method of the present invention.
Detailed Description
In order to clearly illustrate the inventive content of the present invention, the present invention will be described below with reference to examples.
In the description of the present invention, it should be noted that the terms "upper", "lower", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Example 1
As shown in fig. 1, the multi-source converged positioning terminal in the present invention includes: the wireless communication system comprises a memory, a central processing unit, a chip set and a wireless communication unit, wherein the chip set is connected with the central processing unit, and the central processing unit is respectively connected with the wireless communication unit and the memory;
the chip set comprises a plurality of positioning chips of different types and is used for acquiring positioning signals of the positioning terminal at set time intervals and storing the positioning signals in the memory, and the central processing unit sends the positioning signals stored in the memory to the positioning platform system through the wireless communication unit;
the central processing unit can automatically switch the positioning mode according to the type of the positioning signal received by the positioning terminal and position the positioning terminal through the positioning chip matched with the type of the positioning signal.
Most of positioning terminals in the current market can only adapt to one positioning signal transmitted by a base station, in order to meet the positioning requirements under various positioning signals, a target must wear the positioning terminals of multiple label types at the same time, the positioning requirements of the positioning terminals in the coverage range of various positioning signals can be met through a chipset integrated by positioning chips of various different types in the invention, and through an indoor and outdoor switching algorithm and a positioning algorithm program contained in a positioning terminal memory, the positioning chips can be automatically selected and replaced according to the actual positioning scene, thereby effectively realizing the seamless switching of the positioning terminals under the coverage of global positioning signals.
Based on the switching that indoor outer positioning mode can be realized to the positioning terminal, the location chip is including the chip that is applicable to indoor positioning accuracy technical requirement and the chip that is applicable to outdoor positioning accuracy requirement. The indoor positioning technology comprises a Lora, Bluetooth AOA, ZigBee and UWB positioning technology; the technologies suitable for outdoor positioning comprise Lora, Beidou positioning and GPS positioning. The precision of the method is centimeter-level, sub-meter-level and meter-level, and the method can be combined and applied according to the actual scene requirements.
In different positioning scenes, the positioning terminal can judge the type of the coverage positioning signal of the area where the positioning terminal is located through an indoor and outdoor switching algorithm and a positioning algorithm program in a central processing unit scheduling memory according to the received positioning signal, automatically switch the positioning mode according to the type of the coverage signal of the area and transmit the positioning signal by adopting a positioning chip matched with the coverage signal of the area.
Under different indoor and outdoor positioning scenes, the positioning terminal can meet the requirement of target positioning precision. Specifically, the positioning scenes are divided into indoor positioning scenes and outdoor positioning scenes, respectively.
When the positioning terminal enters the Bluetooth coverage area range in an indoor positioning scene, the positioning terminal receives a positioning signal through a wireless communication unit and performs positioning through a Bluetooth AOA chip by adopting a Bluetooth positioning technology; when the positioning terminal enters the range of the coverage area of the Lora signal, the positioning terminal receives the positioning signal through the wireless communication unit and performs positioning through the Lora chip by adopting the Lora positioning technology; .
Among the different positioning technologies, the Lora positioning technology is one of LPWAN communication technologies, and is an ultra-long-distance wireless transmission scheme based on a spread spectrum technology. The scheme changes the prior compromise consideration mode of transmission distance and power consumption, provides a simple system which can realize long distance, long battery life and large capacity for users, and further expands the sensing network. The Lora positioning technology has the characteristics of long distance, low power consumption (long service life of a battery), multiple nodes and low cost.
The Lora positioning technology can be compatible with the iBeacon positioning technology, the iBeacon is a low-energy-consumption Bluetooth technology, the BLE technology is used for sending own specific ID to the periphery, and the terminal equipment receives and feeds back signals in a contactless automatic positioning mode. The iBeacon is a simple package based on BLE, so most devices supporting BLE can be compatible, the identification range of the iBeacon can reach dozens of meters, and the induction range is wide and accurate.
In an outdoor positioning scene, when a positioning terminal enters a satellite signal coverage area, in order to meet the requirement of target positioning accuracy, a positioning terminal chip receives a positioning signal through a wireless communication unit and performs positioning by adopting a satellite positioning technology. Wherein, satellite signal includes big dipper positioning signal and GPS positioning signal, and the positioning terminal fixes a position through corresponding big dipper positioning chip and GPS positioning chip.
The positioning platform system comprises a ground base station and a space satellite, when a positioning target enters different signal coverage universes, a positioning target terminal receives a positioning signal transmitted by the base station, the type of the area coverage positioning signal where the positioning target is located is judged by scheduling an indoor and outdoor switching algorithm and a positioning algorithm program in a memory through a central processing unit, and according to the area coverage signal, the positioning terminal automatically switches a positioning mode and adopts a chip positioning technology matched with the area coverage signal.
The central processing unit comprises a positioning engine, the positioning engine processes positioning signals by adopting algorithms such as multi-signal maximum likelihood estimation, particle filtering, difference denoising and the like, the difficult problem of large positioning fluctuation caused by environmental interference of wireless positioning is restrained, the positioning precision is improved, and object positioning under different scenes is realized.
The ground base station and the space satellite send positioning signals with different frequencies, the positioning terminal receives the positioning signals and sends the received positioning signals to a memory in the positioning terminal, meanwhile, the central processing unit converts the frequency of the positioning signals, the positioning signals after the frequency conversion return to the positioning platform system through the wireless communication unit, the positioning platform system receives the returned signals after the frequency conversion and processes the positioning signals, and position coordinates are resolved according to target position data after the signal processing, so that positioning tracking is achieved.
In the positioning process, the positioning target is presented and combined with the AStar algorithm, and is modeled through 3D data. The map data is light in weight, massive data loading is supported, and various map effects such as 2.5D, three-dimensional modeling and oblique photography are supported.
By the multi-source integrated positioning terminal, the problem that different positioning technologies cannot be compatible on one label is solved, various positioning technologies of Lora, Bluetooth, Beidou and GPS can be effectively integrated and compatible, satellite-ground integration and seamless smooth connection are realized, combination of different positioning technical means with respective advantages of indoor personnel positioning, outdoor personnel positioning and vehicle positioning is realized, and various positioning technologies are organically combined.
It is important to point out that the positioning terminal in the invention simultaneously supports Lora + iBeacon, Bluetooth AOA, Beidou navigation, GPS and the like, and global positioning can be realized through the same positioning device without changing terminal devices when entering different signal coverage ranges.
Example 2
Referring to fig. 2, the present invention further provides a positioning method performed by a positioning terminal based on multi-source fusion, which specifically includes the following steps:
s1: the positioning terminal receives the positioning signal and stores the positioning signal in a memory;
s2: the central processing unit schedules an indoor and outdoor switching algorithm and a positioning algorithm program in the memory by judging the type of the positioning signal in the memory, and selects a positioning scene where the positioning terminal is located;
specifically, when the positioning terminal is switched from outdoor to indoor or from indoor to outdoor, the indoor and outdoor switching algorithm and the positioning algorithm program need to be scheduled simultaneously, and the current positioning scene of the positioning terminal is selected.
S3: the positioning terminal automatically selects a positioning mode corresponding to the coverage positioning signal of the area, acquires the positioning signal through a matched positioning chip and sends the positioning signal to the memory for storage;
the positioning mode specifically comprises a Lora positioning mode, a Bluetooth positioning mode, a UWB positioning mode, a Beidou positioning mode and a GPS positioning mode, positioning signals under the current positioning mode are received through a corresponding Lora chip, a Bluetooth AOA chip, a UWB positioning chip, a Beidou positioning chip and a GPS positioning chip, and the positioning signals are sent to the memory in real time.
S4: before the positioning signal of the positioning terminal is sent to the positioning platform system, the frequency conversion needs to be carried out through the central processing unit, and then the positioning signal after the frequency conversion is sent to the positioning platform system through the wireless communication unit.
S5: and the positioning platform system carries out position coordinate calculation according to the target position data after signal processing, so as to realize positioning tracking.
The positioning method disclosed by the invention is effectively compatible with various positioning technologies of Lora, iBeacon, Bluetooth, UWB, Beidou and GPS, and adopts technical means of ground base station positioning and space satellite positioning to realize satellite-ground fusion and seamless smooth connection, so that combination of different positioning technical means with respective advantages of indoor personnel positioning, outdoor personnel positioning and vehicle positioning is realized.
When the positioning terminal enters different signal coverage area ranges, the terminal receives the positioning signals and judges the type of the positioning signals through the built-in chip, and the positioning technology corresponding to the coverage signals of the current area where the switching target is located is automatically selected according to the type of the signals, so that seamless accurate positioning under different indoor and outdoor scenes is realized.
Finally, it is to be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not intended to be limiting. It will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention, and these changes and modifications are to be considered as within the scope of the invention.
Claims (7)
1. A multi-source converged positioning terminal, comprising: the wireless communication system comprises a memory, a central processing unit, a chip set and a wireless communication unit, wherein the chip set is connected with the central processing unit, and the central processing unit is respectively connected with the wireless communication unit and the memory;
the chip set comprises a plurality of positioning chips of different types and is used for acquiring positioning signals of the positioning terminal at set time intervals and storing the positioning signals in the memory, and the central processing unit sends the positioning signals stored in the memory to the positioning platform system through the wireless communication unit;
the central processing unit can automatically switch the positioning mode according to the type of the positioning signal received by the positioning terminal and position the positioning terminal through the positioning chip matched with the type of the positioning signal.
2. The positioning terminal of claim 1, wherein the positioning chip comprises a ground base station positioning chip and a satellite positioning chip, and the ground base station positioning chip comprises a chip supported by Lora, bluetooth AOA and UWB positioning technology; the satellite positioning chip comprises chips supported by Beidou positioning and GPS positioning technologies.
3. The positioning terminal of claim 1, wherein the memory includes an inside-outside switching algorithm and a positioning algorithm program.
4. The positioning terminal according to claim 1, wherein the positioning platform system includes a ground base station and a space satellite, the central processing unit performs frequency conversion on the positioning signal in the memory and then sends the positioning signal to the positioning platform system, and the positioning platform system processes the positioning signal and then performs position coordinate calculation on position data of the positioning terminal to realize positioning and tracking.
5. The positioning terminal of any of claims 1-5, wherein the central processor processes the positioning signals using multi-signal maximum likelihood estimation, particle filtering, and differential denoising algorithms.
6. The positioning terminal according to any of claims 1-5, characterized in that during positioning, the positioning target presentation incorporates the AStar algorithm and is modeled by 3D data.
7. A positioning method performed by a multi-source converged positioning terminal according to any one of claims 1 to 6, characterized by comprising the following steps:
s1: a positioning terminal receives a positioning signal;
s2: the central processing unit selects a positioning scene where the positioning terminal is located through an indoor and outdoor switching algorithm and a positioning algorithm program in the scheduling memory;
s3: the positioning terminal automatically selects a positioning mode corresponding to the coverage positioning signal of the area, acquires the positioning signal through a matched positioning chip and sends the positioning signal to the memory for storage;
s4: the central processing unit carries out frequency conversion on the positioning signals in the storage and then sends the positioning signals to the positioning platform system through the wireless communication unit;
s5: and the positioning platform system carries out position coordinate calculation according to the target position data after signal processing, so as to realize positioning tracking.
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| CN116567536A (en) * | 2023-05-08 | 2023-08-08 | 华中科技大学 | Intelligent environment interaction system for building |
| WO2024062768A1 (en) * | 2022-09-22 | 2024-03-28 | ソニーセミコンダクタソリューションズ株式会社 | Wireless communication device, and method for controlling wireless communication device |
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