CN113721279A - Indoor and outdoor scene switching and positioning device and method - Google Patents
Indoor and outdoor scene switching and positioning device and method Download PDFInfo
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- CN113721279A CN113721279A CN202111008619.3A CN202111008619A CN113721279A CN 113721279 A CN113721279 A CN 113721279A CN 202111008619 A CN202111008619 A CN 202111008619A CN 113721279 A CN113721279 A CN 113721279A
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- 238000012423 maintenance Methods 0.000 claims abstract description 56
- 238000004891 communication Methods 0.000 claims abstract description 5
- 230000007704 transition Effects 0.000 claims description 41
- 230000009286 beneficial effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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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
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- Radar, Positioning & Navigation (AREA)
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Abstract
The invention relates to a positioning device and a method for switching indoor and outdoor scenes, wherein the device comprises a UWB base station, an RTK base station and a combined positioning terminal; the method comprises the following steps that a maintaining buffer area is defined by taking an entrance and an exit of a target building as a circle center and taking a preset distance as a radius, and a UWB base station is arranged in the maintaining buffer area; the UWB base station is used for sending a positioning signal to the combined positioning terminal; the area where the coverage area of the UWB base station signal and the maintenance buffer area are not crossed is defined as a maintenance buffer boundary area; the RTK base station is arranged in a cache maintenance boundary region; the RTK base station is used for sending a differential signal to the combined positioning terminal; the combined positioning terminal is in communication connection with the UWB base station and the RTK base station; and the combined positioning terminal is used for obtaining the self positioning coordinate according to the positioning signal and the differential signal. Through the indoor and outdoor combination of the UWB base station and the RTK base station, when the combined positioning terminal moves from an indoor scene to an outdoor scene, the high-precision positioning can be continuously and stably maintained, and the indoor and outdoor seamless positioning with centimeter-level precision is realized.
Description
Technical Field
The invention relates to the technical field of indoor and outdoor positioning, in particular to an indoor and outdoor scene switching positioning device and method.
Background
In recent years, with the gradual maturity of wireless positioning technology, the location-based service industry develops rapidly, and positioning services are required in fields such as smart city construction, internet of things, industrial supervision and the like. The real-time dynamic carrier phase difference (RTK) positioning technology is widely applied to various fields in the surveying and mapping industry, is convenient to use outdoors, can cover the outdoor range of an industrial park and meet the requirement of real-time high-precision positioning of an outdoor environment, but because a building blocks satellite signals, RTK cannot be fixed in an indoor environment, and the positioning precision is low. In the field of indoor positioning, Ultra Wide Band (UWB) indoor positioning technology is widely used with high precision and strong interference resistance.
The UWB positioning module and the RTK positioning module can reach centimeter-level accuracy in a signal coverage area, when the combined positioning module moves from an indoor area to an outdoor area, the RTK positioning module needs a certain time to search for a satellite to obtain a high-accuracy fixed solution, the UWB module loses accuracy due to being far away from a base station, the error of the combined positioning module in the period is large, and the requirement of high-accuracy real-time positioning cannot be met.
In the prior art, the method is applied to indoor and outdoor seamless positioning through auxiliary sensors, Bluetooth, WIFI and the like, but the precision of the methods cannot continuously and stably reach centimeter level, and the method is not suitable for the situations that real-time high-precision positioning information is needed, such as vehicle obstacle avoidance, movable industrial equipment early warning obstacle avoidance and the like.
Disclosure of Invention
The invention aims to solve the technical problem of providing a positioning device and a positioning method for switching indoor and outdoor scenes aiming at the defects of the prior art. Through the indoor and outdoor combination of the UWB base station and the RTK base station, when the combined positioning terminal moves from an indoor scene to an outdoor scene, the high-precision positioning can be continuously and stably maintained, and the indoor and outdoor seamless positioning with centimeter-level precision is realized.
The technical scheme for solving the technical problems is as follows:
an indoor and outdoor scene switching positioning device comprises a UWB base station, an RTK base station and a combined positioning terminal;
a maintaining buffer area is defined by taking an entrance and an exit of a target building as a circle center and taking a preset distance as a radius, and the UWB base station is arranged in the maintaining buffer area;
the UWB base station is used for sending a positioning signal to the combined positioning terminal;
the area where the coverage area of the UWB base station signal and the maintenance buffer area are not crossed is defined as a maintenance buffer boundary area; the RTK base station is arranged in the cache maintenance boundary region;
the RTK base station is used for sending a differential signal to the combined positioning terminal;
the combined positioning terminal is in communication connection with the UWB base station and the RTK base station;
and the combined positioning terminal is used for obtaining the self positioning coordinate according to the positioning signal and the differential signal.
The invention has the beneficial effects that: a maintenance buffer area and a maintenance buffer boundary area are established by arranging the UWB base station indoors and outdoors, so that the combined positioning terminal can still continuously and stably maintain high-precision positioning when indoor and outdoor scenes are switched, and indoor and outdoor seamless positioning with centimeter-level precision is realized; the RTK base station can synchronously observe the satellite to perform error modeling combination, reduce the network system error to a certain extent and further improve the positioning accuracy.
Further, the preset distance is a product of a longest fixed time required for the combined positioning terminal to leave the target building and a highest average speed.
The beneficial effect of adopting the further scheme is that: the maintaining buffer area divided by the distance can ensure that the coverage combined positioning terminal obtains a high-precision fixed solution.
Further, the UWB base station includes a UWB indoor base station, a UWB transition base station, and a UWB outdoor base station;
the UWB base station is disposed in the maintenance buffer, and specifically includes:
in the maintenance buffer zone, a plurality of UWB indoor base stations are arranged, and the plurality of UWB indoor base stations are arranged indoors of the target building; the UWB transition base stations are arranged at the entrance and exit of the target building; the UWB outdoor base stations are arranged in plurality, and the UWB outdoor base stations are arranged outside the target building at intervals;
the UWB base station is configured to send a positioning signal to the combined positioning terminal, and specifically includes:
the UWB indoor base station, the UWB transition base station and the UWB outdoor base station are all used for sending positioning signals to the combined positioning terminal.
Further, the UWB indoor base station, the UWB transition base station, and the UWB outdoor base station are all configured to the combined positioning terminal to transmit a positioning signal, and specifically include:
the UWB indoor base station is used for sending an indoor positioning signal to the combined positioning terminal when the combined positioning terminal moves indoors in the target building;
the UWB transition base station is used for sending a transition positioning signal to the combined positioning terminal when the combined positioning terminal moves from the indoor of the target building to the outdoor through the entrance and the exit;
and the UWB outdoor base station is used for sending an outdoor positioning signal to the combined positioning terminal when the combined positioning terminal moves outdoors in the target building.
The beneficial effect of adopting the further scheme is that: through a plurality of UWB basic stations for providing positioning signal for combination positioning terminal, make combination positioning terminal still can continuously stably maintain high accuracy location when indoor outer scene switches, realize indoor outer seamless location of centimetre level precision.
Further, the combined positioning terminal comprises a UWB positioning module, an RTK positioning module and a single chip microcomputer module;
the UWB positioning module is used for receiving positioning signals sent by a plurality of UWB base stations when the combined positioning terminal moves indoors and outdoors in the maintenance buffer area, closing the RTK positioning module after caching when the combined positioning terminal moves from the maintenance cache boundary area to the maintenance buffer area, receiving the positioning signals sent by the UWB base stations, obtaining the positioning coordinates of the UWB positioning module according to the positioning signals, and sending the positioning coordinates of the UWB positioning module to the single chip microcomputer module;
the RTK positioning module is used for receiving differential signals sent by the two RTK base stations when the RTK positioning module moves from the maintaining buffer area to the maintaining buffer interface area, obtaining the positioning coordinate of the RTK positioning module according to the differential signals and sending the positioning coordinate of the RTK positioning module to the single chip microcomputer module;
and the single chip microcomputer module is used for taking the received positioning coordinate sent by the UWB positioning module or the RTK positioning module as the positioning coordinate of the combined terminal.
The beneficial effect of adopting the further scheme is that: the RTK positioning module and the UWB positioning module are alternately opened at the boundary, so that the UWB positioning module can continuously provide centimeter-level positioning accuracy before the RTK positioning module is not fixed and solved, and meanwhile, the RTK positioning module is ensured to have sufficient time to obtain the fixed solution and automatically switch, thereby achieving the purposes of reducing power consumption and continuously providing centimeter-level accuracy seamless positioning.
The invention also provides an indoor and outdoor scene switching and positioning method, which comprises the following steps: defining a maintaining buffer zone by taking an entrance and an exit of a target building as a circle center and taking a preset distance as a radius, and arranging a plurality of UWB base stations in the maintaining buffer zone;
the UWB base station sends a positioning signal to the combined positioning terminal;
the area where the coverage area of a plurality of UWB base station signals and the maintenance buffer area do not intersect is defined as a maintenance buffer boundary area; two RTK base stations are arranged in the cache maintaining boundary region;
the RTK base station sends a differential signal to the combined positioning terminal;
and the combined positioning terminal obtains the positioning coordinate of the combined positioning terminal according to the positioning signal and the differential signal.
Further, the preset distance is a product of a longest fixed time required for the combined positioning terminal to leave the target building and a highest average speed.
Further, the UWB base station includes a UWB indoor base station, a UWB transition base station, and a UWB outdoor base station;
setting a plurality of UWB base stations in the maintenance buffer, specifically including:
in the maintenance buffer area, a plurality of UWB indoor base stations are arranged, and the plurality of UWB indoor base stations are arranged indoors of the target building; the UWB transition base stations are arranged at the entrance and exit of the target building; the UWB outdoor base stations are arranged in plurality, and the UWB outdoor base stations are arranged outside the target building at intervals;
the UWB base station sends a positioning signal to the combined positioning terminal, and specifically includes:
and the UWB indoor base station, the UWB transition base station and the UWB outdoor base station send positioning signals to the combined positioning terminal.
Further, the UWB indoor base station, the UWB transition base station, and the UWB outdoor base station send positioning signals to the combined positioning terminal, specifically including:
when the combined positioning terminal moves indoors in the target building, the UWB indoor base station sends a transition positioning signal to the combined positioning terminal;
when the combined positioning terminal moves from the indoor of the target building to the outdoor through the entrance and the exit, the UWB transition base station sends a transition positioning signal to the combined positioning terminal;
and when the combined positioning terminal moves outdoors in the target building, the UWB outdoor base station sends an outdoor positioning signal to the combined positioning terminal.
Further, the combined positioning terminal comprises a UWB positioning module, an RTK positioning module and a single chip microcomputer module;
the combined positioning terminal obtains its own positioning coordinates according to the positioning signal and the differential signal, and specifically includes:
when the combined positioning terminal moves indoors and outdoors of the target building in the maintenance buffer zone, the UWB positioning module receives positioning signals sent by the UWB base stations, when the combined positioning terminal moves from the maintenance buffer zone to the maintenance buffer zone, the RTK positioning module is closed after being cached, and meanwhile the UWB positioning module receives the positioning signals sent by the UWB base stations, obtains the positioning coordinates of the UWB positioning module according to the positioning signals, and sends the positioning coordinates of the UWB positioning module to the single-chip microcomputer module;
when the RTK positioning module moves from the maintaining buffer area to the maintaining buffer interface area, the RTK positioning module receives differential signals sent by the two RTK base stations, obtains the positioning coordinates of the RTK positioning module according to the differential signals, and sends the positioning coordinates of the RTK positioning module to the single chip microcomputer module;
and the single chip microcomputer module takes the received positioning coordinate sent by the UWB positioning module or the RTK positioning module as the positioning coordinate of the combined terminal.
Drawings
Fig. 1 is a schematic structural diagram of an indoor/outdoor scene switching positioning device according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating a buffer maintenance area and a buffer maintenance boundary area of an indoor/outdoor scene switching positioning apparatus according to an embodiment;
fig. 3 is a schematic distribution diagram of a UWB base station and an RTK base station in an indoor and outdoor scene switching positioning apparatus according to an embodiment of the present invention;
fig. 4 is a schematic flow chart of a positioning method for switching indoor and outdoor scenes according to an embodiment of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
An indoor and outdoor scene switching positioning device, as shown in fig. 1, comprises a UWB base station, an RTK base station and a combined positioning terminal;
a maintaining buffer area is defined by taking an entrance and an exit of a target building as a circle center and taking a preset distance as a radius, and the UWB base station is arranged in the maintaining buffer area;
the UWB base station is used for sending a positioning signal to the combined positioning terminal;
the area where the coverage area of the UWB base station signal and the maintenance buffer area are not crossed is defined as a maintenance buffer boundary area; the RTK base station is arranged in the cache maintenance boundary region;
the RTK base station is used for sending a differential signal to the combined positioning terminal;
the combined positioning terminal is in communication connection with the UWB base station and the RTK base station;
and the combined positioning terminal is used for obtaining the self positioning coordinate according to the positioning signal and the differential signal.
The UWB base station transmits a high-frequency pulse signal to enable the combined positioning terminal to obtain a positioning coordinate; the RTK base station receives the satellite signals and provides differential data for the combined positioning terminal.
As shown in fig. 2, the coverage area of the UWB base station signal includes a maintenance buffer area and a maintenance buffer boundary area.
The combined positioning terminal receives signals of two RTK base stations simultaneously to obtain two groups of data achievements respectively, if only one group of the data achievements is within the range of plane +/-3 cm and elevation +/-8 cm tolerance, one group of data achievements conforming to the tolerance is adopted, and if both groups of data conform to the tolerance, the obtained two groups of data achievements are subjected to average value taking to obtain the final positioning coordinate.
In this embodiment: a maintenance buffer area and a maintenance buffer boundary area are established by arranging the UWB base station indoors and outdoors, so that the combined positioning terminal can still continuously and stably maintain high-precision positioning when indoor and outdoor scenes are switched, and indoor and outdoor seamless positioning with centimeter-level precision is realized; the two RTK base stations can synchronously observe the satellite to perform error modeling combination, reduce the network system error to a certain extent and further improve the positioning accuracy.
Preferably, as an embodiment of the present invention, the preset distance is a product of a maximum fixed time required for the combined positioning terminal to leave the building and a maximum average speed.
Specifically, the highest average speed V exists in a period of time when the combined positioning terminal enters or exits the building, and the longest fixed time T exists in the GNSS-RTK, then the maximum radius is obtained when the RTK positioning module leaves the factory at V × T, so that it is ensured that the RTK positioning module obtains a high-precision fixed solution in this area.
In this embodiment: the maintaining buffer area divided by the distance can ensure that the coverage combined positioning terminal obtains a high-precision fixed solution.
Preferably, as an embodiment of the present invention, as shown in fig. 3, the UWB base station includes a UWB indoor base station, a UWB transition base station, and a UWB outdoor base station;
the UWB base station is disposed in the maintenance buffer, and specifically includes:
in the maintenance buffer zone, a plurality of UWB indoor base stations are arranged, and the plurality of UWB indoor base stations are arranged indoors of the target building; the UWB transition base stations are arranged at the entrance and exit of the target building; the UWB outdoor base stations are arranged in plurality, and the UWB outdoor base stations are arranged outside the target building at intervals;
the UWB base station is configured to send a positioning signal to the combined positioning terminal, and specifically includes:
the UWB indoor base station, the UWB transition base station and the UWB outdoor base station are all used for sending positioning signals to the combined positioning terminal.
At least 3 UWB indoor base stations are arranged on the indoor wall or corner of a target building to ensure signal communication with the combined positioning terminal; 2 UWB transition base stations are arranged at the entrance and exit of a target building; at least 3 UWB outdoor base stations are uniformly arranged at the outdoor open place of the target building, and the distance between every two UWB outdoor base stations is within 70 meters.
Preferably, as an embodiment of the present invention, the transmitting a positioning signal to the combined positioning terminal by the UWB indoor base station, the UWB transition base station, and the UWB outdoor base station specifically includes:
when the combined positioning terminal moves indoors in the target building, the UWB indoor base station sends a transition positioning signal to the combined positioning terminal;
when the combined positioning terminal moves from the indoor of the target building to the outdoor through the entrance and the exit, the UWB transition base station sends a transition positioning signal to the combined positioning terminal;
and when the combined positioning terminal moves outdoors in the target building, the UWB outdoor base station sends an outdoor positioning signal to the combined positioning terminal.
In this embodiment: through a plurality of UWB basic stations for providing positioning signal for combination positioning terminal, make combination positioning terminal still can continuously stably maintain high accuracy location when indoor outer scene switches, realize indoor outer seamless location of centimetre level precision.
Preferably, as an embodiment of the present invention, the combined positioning terminal includes a UWB positioning module, an RTK positioning module, and a single chip module;
the UWB positioning module is used for receiving positioning signals sent by a plurality of UWB base stations when the combined positioning terminal moves indoors and outdoors in the maintenance buffer area, closing the RTK positioning module after caching when the combined positioning terminal moves from the maintenance cache boundary area to the maintenance buffer area, receiving the positioning signals sent by the UWB base stations, obtaining the positioning coordinates of the UWB positioning module according to the positioning signals, and sending the positioning coordinates of the UWB positioning module to the single chip microcomputer module;
the RTK positioning module is used for receiving differential signals sent by the two RTK base stations when the RTK positioning module moves from the maintaining buffer area to the maintaining buffer interface area, obtaining the positioning coordinate of the RTK positioning module according to the differential signals and sending the positioning coordinate of the RTK positioning module to the single chip microcomputer module;
and the single chip microcomputer module is used for taking the received positioning coordinate sent by the UWB positioning module or the RTK positioning module as the positioning coordinate of the combined terminal.
Specifically, when the combined positioning terminal is located indoors in a target building, the RTK positioning module fails; when the combined positioning terminal just leaves the room, the combined positioning terminal needs a certain time to search the satellite to obtain a high-precision fixed solution, and the UWB module provides high-precision position information in the coverage range of the base station.
Specifically, when the precision maintaining buffer boundary region of the combined positioning terminal reaches the precision maintaining buffer region, the UWB positioning module needs a 10-second buffer time, and the UWB positioning module needs an RTK positioning module to provide positioning coordinates for the single chip microcomputer module, and the RTK positioning module is turned off after 10 seconds, and the UWB positioning module provides the positioning coordinates.
In this embodiment: the RTK positioning module and the UWB positioning module are alternately opened at the boundary, so that the UWB positioning module can continuously provide centimeter-level positioning accuracy before the RTK positioning module is not fixed and solved, and meanwhile, the RTK positioning module is ensured to have sufficient time to obtain the fixed solution and automatically switch, thereby achieving the purposes of reducing power consumption and continuously providing centimeter-level accuracy seamless positioning.
The present embodiment provides a method for positioning indoor and outdoor scene switching, as shown in fig. 4, the method includes the steps of: defining a maintaining buffer zone by taking an entrance and an exit of a target building as a circle center and taking a preset distance as a radius, and arranging a plurality of UWB base stations in the maintaining buffer zone;
the UWB base station sends a positioning signal to the combined positioning terminal;
the area where the coverage area of a plurality of UWB base station signals and the maintenance buffer area do not intersect is defined as a maintenance buffer boundary area; two RTK base stations are arranged in the cache maintaining boundary region;
the RTK base station sends a differential signal to the combined positioning terminal;
and the combined positioning terminal obtains the positioning coordinate of the combined positioning terminal according to the positioning signal and the differential signal.
Preferably, as an embodiment of the present invention, the preset distance is a product of a maximum fixed time required for the combined positioning terminal to leave the target building and a maximum average speed.
Preferably, as an embodiment of the present invention, the UWB base station includes a UWB indoor base station, a UWB transition base station, and a UWB outdoor base station;
setting a plurality of UWB base stations in the maintenance buffer, specifically including:
in the maintenance buffer area, a plurality of UWB indoor base stations are arranged, and the plurality of UWB indoor base stations are arranged indoors of the target building; the UWB transition base stations are arranged at the entrance and exit of the target building; the UWB outdoor base stations are arranged in plurality, and the UWB outdoor base stations are arranged outside the target building at intervals;
the UWB base station sends a positioning signal to the combined positioning terminal, and specifically includes:
and the UWB indoor base station, the UWB transition base station and the UWB outdoor base station send positioning signals to the combined positioning terminal.
Preferably, as an embodiment of the present invention, the transmitting a positioning signal to the combined positioning terminal by the UWB indoor base station, the UWB transition base station, and the UWB outdoor base station specifically includes:
when the combined positioning terminal moves indoors in the target building, the UWB indoor base station sends a transition positioning signal to the combined positioning terminal;
when the combined positioning terminal moves from the indoor of the target building to the outdoor through the entrance and the exit, the UWB transition base station sends a transition positioning signal to the combined positioning terminal;
and when the combined positioning terminal moves outdoors in the target building, the UWB outdoor base station sends an outdoor positioning signal to the combined positioning terminal.
The combined positioning terminal comprises a UWB positioning module, an RTK positioning module and a single chip microcomputer module;
the combined positioning terminal obtains its own positioning coordinates according to the positioning signal and the differential signal, and specifically includes:
when the combined positioning terminal moves indoors and outdoors of the target building in the maintenance buffer zone, the UWB positioning module receives positioning signals sent by the UWB base stations, when the combined positioning terminal moves from the maintenance buffer zone to the maintenance buffer zone, the RTK positioning module is closed after being cached, and meanwhile the UWB positioning module receives the positioning signals sent by the UWB base stations, obtains the positioning coordinates of the UWB positioning module according to the positioning signals, and sends the positioning coordinates of the UWB positioning module to the single-chip microcomputer module;
when the RTK positioning module moves from the maintaining buffer area to the maintaining buffer interface area, the RTK positioning module receives differential signals sent by the two RTK base stations, obtains the positioning coordinates of the RTK positioning module according to the differential signals, and sends the positioning coordinates of the RTK positioning module to the single chip microcomputer module;
and the single chip microcomputer module takes the received positioning coordinate sent by the UWB positioning module or the RTK positioning module as the positioning coordinate of the combined terminal.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed.
Claims (10)
1. An indoor and outdoor scene switching positioning device is characterized by comprising a UWB base station, an RTK base station and a combined positioning terminal;
a maintaining buffer area is defined by taking an entrance and an exit of a target building as a circle center and taking a preset distance as a radius, and the UWB base station is arranged in the maintaining buffer area;
the UWB base station is used for sending a positioning signal to the combined positioning terminal;
the area where the coverage area of the UWB base station signal and the maintenance buffer area are not crossed is defined as a maintenance buffer boundary area; the RTK base station is arranged in the cache maintenance boundary region;
the RTK base station is used for sending a differential signal to the combined positioning terminal;
the combined positioning terminal is in communication connection with the UWB base station and the RTK base station;
and the combined positioning terminal is used for obtaining the self positioning coordinate according to the positioning signal and the differential signal.
2. The indoor and outdoor scene change positioning device of claim 1, wherein the preset distance is a product of a maximum fixed time required for the combined positioning terminal to leave the target building and a maximum average speed.
3. The indoor and outdoor scene switching positioning device according to claim 1, wherein said UWB base station comprises a UWB indoor base station, a UWB transition base station and a UWB outdoor base station;
the UWB base station is disposed in the maintenance buffer, and specifically includes:
in the maintenance buffer zone, a plurality of UWB indoor base stations are arranged, and the plurality of UWB indoor base stations are arranged indoors of the target building; the UWB transition base stations are arranged at the entrance and exit of the target building; the UWB outdoor base stations are arranged in plurality, and the UWB outdoor base stations are arranged outside the target building at intervals;
the UWB base station is configured to send a positioning signal to the combined positioning terminal, and specifically includes:
the UWB indoor base station, the UWB transition base station and the UWB outdoor base station are all used for sending positioning signals to the combined positioning terminal.
4. The indoor/outdoor scene switching positioning device according to claim 3, wherein said UWB indoor base station, said UWB transition base station and said UWB outdoor base station are all configured to said combined positioning terminal to send a positioning signal, and specifically include:
the UWB indoor base station is used for sending an indoor positioning signal to the combined positioning terminal when the combined positioning terminal moves indoors in the target building;
the UWB transition base station is used for sending a transition positioning signal to the combined positioning terminal when the combined positioning terminal moves from the indoor of the target building to the outdoor through the entrance and the exit;
and the UWB outdoor base station is used for sending an outdoor positioning signal to the combined positioning terminal when the combined positioning terminal moves outdoors in the target building.
5. The indoor and outdoor scene switching positioning device according to claim 1, wherein said combined positioning terminal comprises a UWB positioning module, an RTK positioning module and a single chip module;
the UWB positioning module is used for receiving positioning signals sent by a plurality of UWB base stations when the combined positioning terminal moves indoors and outdoors in the maintenance buffer area, closing the RTK positioning module after caching when the combined positioning terminal moves from the maintenance cache boundary area to the maintenance buffer area, receiving the positioning signals sent by the UWB base stations, obtaining the positioning coordinates of the UWB positioning module according to the positioning signals, and sending the positioning coordinates of the UWB positioning module to the single chip microcomputer module;
the RTK positioning module is used for receiving differential signals sent by the two RTK base stations when the RTK positioning module moves from the maintaining buffer area to the maintaining buffer interface area, obtaining the positioning coordinate of the RTK positioning module according to the differential signals and sending the positioning coordinate of the RTK positioning module to the single chip microcomputer module;
and the single chip microcomputer module is used for taking the received positioning coordinate sent by the UWB positioning module or the RTK positioning module as the positioning coordinate of the combined positioning terminal.
6. A method for switching and positioning indoor and outdoor scenes is characterized by comprising the following steps: defining a maintaining buffer zone by taking an entrance and an exit of a target building as a circle center and taking a preset distance as a radius, and arranging a plurality of UWB base stations in the maintaining buffer zone;
the UWB base station sends a positioning signal to the combined positioning terminal;
the area where the coverage area of a plurality of UWB base station signals and the maintenance buffer area do not intersect is defined as a maintenance buffer boundary area; two RTK base stations are arranged in the cache maintaining boundary region;
the RTK base station sends a differential signal to the combined positioning terminal;
and the combined positioning terminal obtains the positioning coordinate of the combined positioning terminal according to the positioning signal and the differential signal.
7. The indoor and outdoor scene switching positioning method according to claim 6, wherein the preset distance is a product of a maximum fixed time required for the combined positioning terminal to leave a target building and a maximum average speed.
8. The indoor and outdoor scene switching positioning method according to claim 6, wherein said UWB base station comprises a UWB indoor base station, a UWB transition base station and a UWB outdoor base station;
setting a plurality of UWB base stations in the maintenance buffer, specifically including:
in the maintenance buffer area, a plurality of UWB indoor base stations are arranged, and the plurality of UWB indoor base stations are arranged indoors of the target building; the UWB transition base stations are arranged at the entrance and exit of the target building; the UWB outdoor base stations are arranged in plurality, and the UWB outdoor base stations are arranged outside the target building at intervals;
the UWB base station sends a positioning signal to the combined positioning terminal, and specifically includes:
and the UWB indoor base station, the UWB transition base station and the UWB outdoor base station send positioning signals to the combined positioning terminal.
9. The indoor and outdoor scene switching positioning method according to claim 8, wherein the UWB indoor base station, the UWB transition base station and the UWB outdoor base station send positioning signals to the combined positioning terminal, specifically comprising:
when the combined positioning terminal moves indoors in the target building, the UWB indoor base station sends a transition positioning signal to the combined positioning terminal;
when the combined positioning terminal moves from the indoor of the target building to the outdoor through the entrance and the exit, the UWB transition base station sends a transition positioning signal to the combined positioning terminal;
and when the combined positioning terminal moves outdoors in the target building, the UWB outdoor base station sends an outdoor positioning signal to the combined positioning terminal.
10. The indoor and outdoor scene switching positioning method according to claim 6, wherein said combined positioning terminal comprises a UWB positioning module, an RTK positioning module and a single chip module;
the combined positioning terminal obtains its own positioning coordinates according to the positioning signal and the differential signal, and specifically includes:
when the combined positioning terminal moves indoors and outdoors of the target building in the maintenance buffer zone, the UWB positioning module receives positioning signals sent by the UWB base stations, when the combined positioning terminal moves from the maintenance buffer zone to the maintenance buffer zone, the RTK positioning module is closed after being cached, and meanwhile the UWB positioning module receives the positioning signals sent by the UWB base stations, obtains the positioning coordinates of the UWB positioning module according to the positioning signals, and sends the positioning coordinates of the UWB positioning module to the single-chip microcomputer module;
when the RTK positioning module moves from the maintaining buffer area to the maintaining buffer interface area, the RTK positioning module receives differential signals sent by the two RTK base stations, obtains the positioning coordinates of the RTK positioning module according to the differential signals, and sends the positioning coordinates of the RTK positioning module to the single chip microcomputer module;
and the single chip microcomputer module takes the received positioning coordinate sent by the UWB positioning module or the RTK positioning module as the positioning coordinate of the combined positioning terminal.
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