CN107040891B - auxiliary accurate navigation method and system based on LoRa - Google Patents
auxiliary accurate navigation method and system based on LoRa Download PDFInfo
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- CN107040891B CN107040891B CN201710208936.7A CN201710208936A CN107040891B CN 107040891 B CN107040891 B CN 107040891B CN 201710208936 A CN201710208936 A CN 201710208936A CN 107040891 B CN107040891 B CN 107040891B
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
the invention provides an auxiliary accurate navigation method and system based on LoRa, wherein the auxiliary accurate navigation method comprises the following steps: the LoRa personal navigation terminal registers and authenticates the LoRa navigation system which is accessed to the network; the LoRa personal navigation terminal communicates with a third-party navigation system through a LoRa plug-in; broadcasting a positioning protocol packet to the LoRa navigation system by the LoRa personal navigation terminal; the LoRa personal navigation terminal receives the corrected geographic position sent by the LoRa navigation system; the LoRa personal navigation terminal transmits the corrected geographic position to a third-party navigation system, and the navigation error is corrected; and judging whether to continue navigation, if so, executing a positioning protocol packet broadcasting step, and if not, ending. The invention has the beneficial effects that: because the LoRa technology is adopted, the power consumption and the cost can be lower, the navigation is more accurate, and the life of people is more convenient.
Description
Technical Field
The invention relates to the technical field of navigation, in particular to an auxiliary accurate navigation method and system based on LoRa.
background
although the mainstream Baidu map and Gade map navigation system can bring great convenience to our navigation in daily life, because the positioning is not very accurate, there are some situations where there are some disadvantages and inconveniences, such as:
1. when a driver drives on a highway, the driver can miss an intersection due to the error of the navigator, so that multiple detours are caused, time is wasted, and resources are wasted;
2. in a small plane range, the Baidu map and the Gade map navigation system have difficulty providing navigation assistance to people.
disclosure of Invention
The invention provides an auxiliary accurate navigation method based on LoRa, which comprises the following steps of:
a registration step: the LoRa personal navigation terminal registers and authenticates the LoRa navigation system which is accessed to the network;
A network access judging step: judging whether the network access is successful, if so, executing a communication connection step, otherwise, continuing to execute a registration step;
communication connection step: the LoRa personal navigation terminal communicates with a third-party navigation system through a LoRa plug-in;
positioning protocol packet broadcasting step: broadcasting a positioning protocol packet to the LoRa navigation system by the LoRa personal navigation terminal;
And a step of receiving the corrected geographic position: the LoRa personal navigation terminal receives the corrected geographic position sent by the LoRa navigation system;
a transmission correction step: the LoRa personal navigation terminal transmits the corrected geographic position to a third-party navigation system, and the navigation error is corrected;
And a navigation judgment step: and judging whether to continue navigation, if so, executing a positioning protocol packet broadcasting step, and if not, ending.
as a further improvement of the present invention, in the registration step, the following steps are included:
a registration information sending step: the LoRa personal navigation terminal packs the registration information into a network access application protocol packet and broadcasts the network access application protocol packet;
Applying for sending a network access protocol packet: after receiving the network access application protocol packet, the LoRa equipment node forwards the network access application protocol packet to the LoRa gateway, and the LoRa gateway sends the network access application protocol packet to the LoRa cloud server for authentication permission;
a step of sending a network access result: and the LoRa cloud server sends the network access application result to the LoRa personal navigation terminal.
as a further improvement of the present invention, a geographical position correction step is further included between the positioning protocol packet broadcasting step and the geographical position correction receiving step;
In the broadcasting step of the positioning protocol packet, the LoRa personal navigation terminal packs the registration information and the geographic position information into the positioning protocol packet and broadcasts the positioning protocol packet according to the fixed RSSI intensity;
The geographical position correction step comprises:
positioning protocol packet forwarding step: the LoRa equipment node which receives the positioning protocol packet packs the positioning protocol packet and the RSSI value into a new positioning protocol packet and then sends the new positioning protocol packet to the LoRa gateway;
And (3) correcting: the LoRa gateway selects a plurality of suitable LoRa equipment nodes through comparison, acquires RSSI values from a positioning protocol packet, calculates the position of the LoRa personal navigation terminal in a LoRa navigation system according to an RSSI algorithm, and finally obtains the accurate corrected geographic position of the LoRa personal navigation terminal by combining the geographic position of the LoRa equipment nodes;
A sending step: and the modified geographical position of the LoRa personal navigation terminal is sent to the LoRa personal navigation terminal by the LoRa gateway.
as a further improvement of the invention, the auxiliary accurate navigation method also comprises the construction step of the LoRa navigation system:
LoRa equipment node entering step: arranging and installing LoRa equipment nodes, registering accurate geographical position information of each LoRa equipment node, binding the accurate geographical position information with LoRa ID, and inputting the accurate geographical position information of the LoRa equipment nodes into a LoRa cloud server;
LoRa gateway entering step: arranging and installing the LoRa gateway according to the arrangement condition of the LoRa equipment nodes to enable the LoRa gateway to be good in communication, and inputting the geographic position information of the LoRa gateway into the LoRa cloud server;
A sharing step: sharing the geographical position information in the LoRa cloud server to a background of a third-party navigation system;
plug-in writing: and compiling a LoRa plug-in of the third-party navigation system so as to complete the construction.
As a further improvement of the present invention, the registration information includes a device ID and a user ID of the LoRa personal navigation terminal, and the third-party navigation system includes a Baidu map navigation system, a Gauss map navigation system, and an Tencent map navigation system.
the invention also provides an auxiliary accurate navigation system based on LoRa, which comprises the following modules which are executed in sequence:
a registration module: the LoRa personal navigation terminal registers and authenticates the LoRa navigation system which is accessed to the network;
a network access judging module: judging whether the network access is successful, if so, executing the communication connection module, and otherwise, continuing to execute the registration module;
communication connection module: the LoRa personal navigation terminal communicates with a third-party navigation system through a LoRa plug-in;
Positioning protocol packet broadcast module: broadcasting a positioning protocol packet to the LoRa navigation system by the LoRa personal navigation terminal;
the geographical position correction receiving module: the LoRa personal navigation terminal receives the corrected geographic position sent by the LoRa navigation system;
a sending correction module: the LoRa personal navigation terminal transmits the corrected geographic position to a third-party navigation system, and the navigation error is corrected;
A navigation judgment module: and judging whether to continue navigation, if so, executing a positioning protocol packet broadcasting module, and if not, ending.
as a further improvement of the present invention, the registration module includes:
a registration information sending module: the LoRa personal navigation terminal packs the registration information into a network access application protocol packet and broadcasts the network access application protocol packet;
applying for a network access protocol packet sending module: after receiving the network access application protocol packet, the LoRa equipment node forwards the network access application protocol packet to the LoRa gateway, and the LoRa gateway sends the network access application protocol packet to the LoRa cloud server for authentication permission;
a network access result sending module: and the LoRa cloud server sends the network access application result to the LoRa personal navigation terminal.
As a further improvement of the present invention, a geographic position correction module is further included between the positioning protocol packet broadcasting module and the corrected geographic position receiving module;
in the positioning protocol packet broadcasting module, the LoRa personal navigation terminal packs the registration information and the geographic position information into a positioning protocol packet and broadcasts the positioning protocol packet according to the fixed RSSI intensity;
The geographic position correction module comprises:
A positioning protocol packet forwarding module: the LoRa equipment node which receives the positioning protocol packet packs the positioning protocol packet and the RSSI value into a new positioning protocol packet and then sends the new positioning protocol packet to the LoRa gateway;
A correction module: the LoRa gateway selects a plurality of suitable LoRa equipment nodes through comparison, acquires RSSI values from a positioning protocol packet, calculates the position of the LoRa personal navigation terminal in a LoRa navigation system according to an RSSI algorithm, and finally obtains the accurate corrected geographic position of the LoRa personal navigation terminal by combining the geographic position of the LoRa equipment nodes;
a sending module: and the modified geographical position of the LoRa personal navigation terminal is sent to the LoRa personal navigation terminal by the LoRa gateway.
as a further improvement of the invention, the auxiliary accurate navigation system also comprises a building module of the LoRa navigation system:
LoRa equipment node type-in module: arranging and installing LoRa equipment nodes, registering accurate geographical position information of each LoRa equipment node, binding the accurate geographical position information with LoRa ID, and inputting the accurate geographical position information of the LoRa equipment nodes into a LoRa cloud server;
LoRa gateway type module: arranging and installing the LoRa gateway according to the arrangement condition of the LoRa equipment nodes to enable the LoRa gateway to be good in communication, and inputting the geographic position information of the LoRa gateway into the LoRa cloud server;
Sharing the module: sharing the geographical position information in the LoRa cloud server to a background of a third-party navigation system;
a plug-in writing module: and compiling a LoRa plug-in of the third-party navigation system so as to complete the construction.
as a further improvement of the present invention, the registration information includes a device ID and a user ID of the LoRa personal navigation terminal, and the third-party navigation system includes a Baidu map navigation system, a Gauss map navigation system, and an Tencent map navigation system.
the invention has the beneficial effects that: because the LoRa technology is adopted, the power consumption and the cost can be lower, the navigation is more accurate, and the life of people is more convenient.
drawings
fig. 1 is a schematic diagram of the LoRa navigation system of the present invention.
fig. 2 is a schematic structural diagram of the LoRa personal navigation terminal of the present invention.
FIG. 3 is a flow chart of a method of assisted precision navigation of the present invention.
fig. 4 is a flow chart of registration authentication network access of the LoRa personal navigation terminal of the present invention.
fig. 5 is a flow chart of the position correction of the present invention.
Detailed Description
The system comprises a LoRa navigation system, a LoRa personal navigation terminal, a smart phone, a Baidu map or Gauder map navigation system, an RSSI positioning algorithm and the like. The LoRa navigation system consists of a LoRa cloud server, a LoRa gateway and LoRa equipment nodes. The LoRa gateway comprises a central processing unit, a LoRa communication module, a power module, an Ethernet module or a GSM/GPRS module or a 3G/4G/5G module or a WIFI module, a peripheral device interface and the like. The LoRa equipment node comprises a central processing unit, a LoRa module and a power supply module. The LoRa personal navigation terminal comprises a central processing unit, a LoRa module, a power supply module, a Micro USB interface or Mini USB or a USB-C (USB Type-C) interface. The central processing unit can be 8-bit MCU, 16-bit MCU, 32-bit MCU, DSP, FPGA or multi-core processor, and the power supply module can be various types of lithium batteries, storage batteries, power supplies, solar power supplies, wind power supplies and the like. The peripheral interfaces may be ISP, UART, I2C, GPIO, USB, HDMI, VGA, Type C interfaces, etc. The smart phone is capable of running a Baidu map app and a Gaudi map app and has a positioning function. The Baidu map is a whole set of navigation system provided by Baidu companies and comprises Baidu map app, a Baidu map background server and the like. The high-grade map is a complete set of navigation system provided by a high-grade software company and comprises a high-grade map app, a high-grade map background server and the like. The RSSI positioning algorithm is any algorithm capable of calculating the position of an object from the variation value of the RSSI strength.
in the LoRa navigation system, a person holds a smart phone with a LoRa personal navigation terminal inserted through a Micro USB or Mini USB or USB-C (USB Type-C) interface, a mobile phone network (wifi, 3G or 4G and the like) is started, a Baidu map or Gauded map app is opened, and then the whole navigation starts. The navigation principle is as follows: firstly, acquiring a geographical position of a mobile phone by a Baidu map or a Gade map app, broadcasting the position information to more than 3 LoRa equipment nodes around through a LoRa personal navigation terminal, and packaging and sending the acquired RSSI value, the LoRa equipment node ID, the LoRa equipment node geographical position and other information to a LoRa gateway by each LoRa equipment node; secondly, the LoRa gateway selects RSSI values of a plurality of LoRa equipment nodes, calculates the position of the LoRa personal navigation terminal in the LoRa navigation system, and calculates the corrected geographic position of the LoRa personal navigation terminal by combining the geographic position information of the corresponding LoRa equipment nodes; and thirdly, the LoRa gateway issues the corrected geographic position of the LoRa personal navigation terminal to the LoRa personal navigation terminal, and the geographic position is transmitted to a Baidu map or a Gade map app through a Baidu map or Gade map app plug-in component to correct the position, so that more accurate navigation is achieved.
as shown in fig. 1, a plurality of LoRa gateways and a large number of LoRa device nodes are arranged in a city, and then an LoRa navigation system is constructed together with an LoRa cloud server. The intelligent mobile phone inserted with the LoRa personal navigation terminal is held by a person, and the Baidu or Gaudi map app is opened, so that the LoRa navigation system can provide auxiliary accurate navigation for the person.
as shown in fig. 2, the LoRa personal navigation terminal is mainly composed of 3 parts, including an LoRa antenna, a terminal body, and a Micro USB or Mini USB or USB-C interface. This loRa personal navigation terminal carries out data exchange through Micro USB or Mini USB or USB-C interface and smart mobile phone, through loRa module and loRa equipment communication.
As shown in fig. 3, the invention discloses an auxiliary accurate navigation method based on LoRa, which comprises the following steps:
A registration step: the LoRa personal navigation terminal registers and authenticates the LoRa navigation system which is accessed to the network;
A network access judging step: judging whether the network access is successful, if so, executing a communication connection step, otherwise, continuing to execute a registration step;
communication connection step: the LoRa personal navigation terminal communicates with a third-party navigation system through a LoRa plug-in;
positioning protocol packet broadcasting step: broadcasting a positioning protocol packet to the LoRa navigation system by the LoRa personal navigation terminal;
And a step of receiving the corrected geographic position: the LoRa personal navigation terminal receives the corrected geographic position sent by the LoRa navigation system;
a transmission correction step: the LoRa personal navigation terminal transmits the corrected geographic position to a third-party navigation system, and the navigation error is corrected;
and a navigation judgment step: and judging whether to continue navigation, if so, executing a positioning protocol packet broadcasting step, and if not, ending.
As shown in fig. 4, the registering step includes the following steps:
a registration information sending step: the LoRa personal navigation terminal packs the registration information into a network access application protocol packet and broadcasts the network access application protocol packet;
Applying for sending a network access protocol packet: after receiving the network access application protocol packet, the LoRa equipment node forwards the network access application protocol packet to the LoRa gateway, and the LoRa gateway sends the network access application protocol packet to the LoRa cloud server for authentication permission;
a step of sending a network access result: and the LoRa cloud server sends the network access application result to the LoRa personal navigation terminal.
Fig. 5 is a location correction flow chart further including a geographical location correction step between the positioning protocol packet broadcasting step and the corrected geographical location receiving step;
in the broadcasting step of the positioning protocol packet, the LoRa personal navigation terminal packs the registration information and the geographic position information into the positioning protocol packet and broadcasts the positioning protocol packet according to the fixed RSSI intensity;
the geographical position correction step comprises:
positioning protocol packet forwarding step: the LoRa equipment node which receives the positioning protocol packet packs the positioning protocol packet and the RSSI value into a new positioning protocol packet and then sends the new positioning protocol packet to the LoRa gateway;
and (3) correcting: the LoRa gateway selects a plurality of suitable LoRa equipment nodes through comparison, acquires RSSI values from a positioning protocol packet, calculates the position of the LoRa personal navigation terminal in a LoRa navigation system according to an RSSI algorithm, and finally obtains the accurate corrected geographic position of the LoRa personal navigation terminal by combining the geographic position of the LoRa equipment nodes;
a sending step: and the modified geographical position of the LoRa personal navigation terminal is sent to the LoRa personal navigation terminal by the LoRa gateway.
the auxiliary accurate navigation method also comprises the steps of constructing an LoRa navigation system:
LoRa equipment node entering step: firstly, according to the terrain, LoRa equipment nodes are arranged and installed along a street, the accurate geographical position information of each LoRa equipment node is registered and bound with a LoRa ID, and the accurate geographical position information of the LoRa equipment nodes is recorded into a LoRa cloud server;
LoRa gateway entering step: arranging and installing the LoRa gateway according to the arrangement condition of the LoRa equipment nodes to enable the LoRa gateway to be good in communication, and inputting the geographic position information of the LoRa gateway into the LoRa cloud server;
a sharing step: sharing the geographical position information in the LoRa cloud server to a background of a third-party navigation system;
Plug-in writing: and writing a LoRa plug-in of a third-party navigation system (a Baidu map or a Gade map app) so as to complete the construction.
in the invention, the registration information comprises the equipment ID and the user ID of the LoRa personal navigation terminal, and the third-party navigation system comprises a Baidu map navigation system, a Gaudi map navigation system and an Tencent map navigation system.
LoRa navigation step:
1, opening the mobile phone, inserting the LoRa personal navigation terminal, and starting the network.
2, opening a Baidu map or Gade map app with a LoRa personal navigation terminal plug-in.
and 3, entering a LoRa navigation system network, and then navigating.
the invention discloses an auxiliary accurate navigation system based on LoRa, which comprises the following modules which are executed in sequence:
a registration module: the LoRa personal navigation terminal registers and authenticates the LoRa navigation system which is accessed to the network;
A network access judging module: judging whether the network access is successful, if so, executing the communication connection module, and otherwise, continuing to execute the registration module;
communication connection module: the LoRa personal navigation terminal communicates with a third-party navigation system through a LoRa plug-in;
positioning protocol packet broadcast module: broadcasting a positioning protocol packet to the LoRa navigation system by the LoRa personal navigation terminal;
the geographical position correction receiving module: the LoRa personal navigation terminal receives the corrected geographic position sent by the LoRa navigation system;
a sending correction module: the LoRa personal navigation terminal transmits the corrected geographic position to a third-party navigation system, and the navigation error is corrected;
a navigation judgment module: and judging whether to continue navigation, if so, executing a positioning protocol packet broadcasting module, and if not, ending.
In the registration module, comprising:
A registration information sending module: the LoRa personal navigation terminal packs the registration information into a network access application protocol packet and broadcasts the network access application protocol packet;
Applying for a network access protocol packet sending module: after receiving the network access application protocol packet, the LoRa equipment node forwards the network access application protocol packet to the LoRa gateway, and the LoRa gateway sends the network access application protocol packet to the LoRa cloud server for authentication permission;
A network access result sending module: and the LoRa cloud server sends the network access application result to the LoRa personal navigation terminal.
a geographical position correction module is also arranged between the positioning protocol packet broadcasting module and the corrected geographical position receiving module;
a geographical position correction module is also arranged between the positioning protocol packet broadcasting module and the corrected geographical position receiving module;
the geographic position correction module comprises:
a positioning protocol packet forwarding module: the LoRa equipment node which receives the positioning protocol packet packs the positioning protocol packet and the RSSI value into a new positioning protocol packet and then sends the new positioning protocol packet to the LoRa gateway;
a correction module: the LoRa gateway selects a plurality of suitable LoRa equipment nodes through comparison, acquires RSSI values from a positioning protocol packet, calculates the position of the LoRa personal navigation terminal in a LoRa navigation system according to an RSSI algorithm, and finally obtains the accurate corrected geographic position of the LoRa personal navigation terminal by combining the geographic position of the LoRa equipment nodes;
A sending module: and the modified geographical position of the LoRa personal navigation terminal is sent to the LoRa personal navigation terminal by the LoRa gateway.
the auxiliary accurate navigation system also comprises a building module of the LoRa navigation system:
LoRa equipment node type-in module: arranging and installing LoRa equipment nodes, registering accurate geographical position information of each LoRa equipment node, binding the accurate geographical position information with LoRa ID, and inputting the accurate geographical position information of the LoRa equipment nodes into a LoRa cloud server;
LoRa gateway type module: arranging and installing the LoRa gateway according to the arrangement condition of the LoRa equipment nodes to enable the LoRa gateway to be good in communication, and inputting the geographic position information of the LoRa gateway into the LoRa cloud server;
sharing the module: sharing the geographical position information in the LoRa cloud server to a background of a third-party navigation system;
A plug-in writing module: and compiling a LoRa plug-in of the third-party navigation system so as to complete the construction.
the registration information comprises a device ID and a user ID of the LoRa personal navigation terminal, and the third-party navigation system comprises a Baidu map navigation system, a Gaudi map navigation system and an Tencent map navigation system.
The invention adopts the scheme of combining LoRa, mobile phone, Baidu or Gaode navigation system, RSSI wireless positioning algorithm and big data analysis, utilizes the characteristics of low power consumption, long distance and low price of LoRa, and the characteristics of LoRa RSSI wireless positioning and Baidu or Gaode navigation system for acquiring navigation information, can build an auxiliary accurate navigation method and system with lower cost, and can bring greater convenience to the daily life of people.
In conclusion, the LoRa technology is adopted, so that the power consumption and the cost can be lower, the navigation is more accurate, and the life of people is more convenient.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (10)
1. an auxiliary accurate navigation method based on LoRa is characterized by comprising the following steps of:
a registration step: the LoRa personal navigation terminal registers and authenticates the LoRa navigation system which is accessed to the network;
a network access judging step: judging whether the network access is successful, if so, executing a communication connection step, otherwise, continuing to execute a registration step;
Communication connection step: the LoRa personal navigation terminal communicates with a third-party navigation system through a LoRa plug-in;
Positioning protocol packet broadcasting step: broadcasting a positioning protocol packet to the LoRa navigation system by the LoRa personal navigation terminal;
and a step of receiving the corrected geographic position: the LoRa personal navigation terminal receives the corrected geographic position sent by the LoRa navigation system;
A transmission correction step: the LoRa personal navigation terminal transmits the corrected geographic position to a third-party navigation system, and the navigation error is corrected;
and a navigation judgment step: judging whether to continue navigation, if so, executing a positioning protocol packet broadcasting step, and if not, ending;
the geographical position correction step comprises:
positioning protocol packet forwarding step: the LoRa equipment node which receives the positioning protocol packet packs the positioning protocol packet and the RSSI value into a new positioning protocol packet and then sends the new positioning protocol packet to the LoRa gateway;
and (3) correcting: the LoRa gateway selects a plurality of suitable LoRa equipment nodes through comparison, acquires RSSI values from a positioning protocol packet, calculates the position of the LoRa personal navigation terminal in a LoRa navigation system according to an RSSI algorithm, and finally obtains the accurate corrected geographic position of the LoRa personal navigation terminal by combining the geographic position of the LoRa equipment nodes;
A sending step: and the modified geographical position of the LoRa personal navigation terminal is sent to the LoRa personal navigation terminal by the LoRa gateway.
2. The assisted precision navigation method of claim 1, wherein in the registering step, the following steps are included:
A registration information sending step: the LoRa personal navigation terminal packs the registration information into a network access application protocol packet and broadcasts the network access application protocol packet;
Applying for sending a network access protocol packet: after receiving the network access application protocol packet, the LoRa equipment node forwards the network access application protocol packet to the LoRa gateway, and the LoRa gateway sends the network access application protocol packet to the LoRa cloud server for authentication permission;
A step of sending a network access result: and the LoRa cloud server sends the network access application result to the LoRa personal navigation terminal.
3. the method of assisting in precise navigation according to claim 1, further comprising a geographical location correction step between the positioning protocol packet broadcasting step and the corrected geographical location receiving step;
in the broadcasting step of the positioning protocol packet, the LoRa personal navigation terminal packs the registration information and the geographic position information into the positioning protocol packet and broadcasts the positioning protocol packet according to the fixed RSSI intensity.
4. the aided precise navigation method according to claim 1, further comprising the step of constructing a LoRa navigation system:
LoRa equipment node entering step: arranging and installing LoRa equipment nodes, registering accurate geographical position information of each LoRa equipment node, binding the accurate geographical position information with LoRa ID, and inputting the accurate geographical position information of the LoRa equipment nodes into a LoRa cloud server;
LoRa gateway entering step: arranging and installing the LoRa gateway according to the arrangement condition of the LoRa equipment nodes to enable the LoRa gateway to be good in communication, and inputting the geographic position information of the LoRa gateway into the LoRa cloud server;
A sharing step: sharing the geographical position information in the LoRa cloud server to a background of a third-party navigation system;
plug-in writing: and compiling a LoRa plug-in of the third-party navigation system so as to complete the construction.
5. The method as claimed in any one of claims 2 to 4, wherein the registration information includes a device ID and a user ID of a LoRa personal navigation terminal, and the third party navigation system includes a Baidu map navigation system, a Gaudi map navigation system, and an Tencent map navigation system.
6. An auxiliary accurate navigation system based on LoRa is characterized by comprising the following modules which are executed in sequence:
a registration module: the LoRa personal navigation terminal registers and authenticates the LoRa navigation system which is accessed to the network;
a network access judging module: judging whether the network access is successful, if so, executing the communication connection module, and otherwise, continuing to execute the registration module;
Communication connection module: the LoRa personal navigation terminal communicates with a third-party navigation system through a LoRa plug-in;
Positioning protocol packet broadcast module: broadcasting a positioning protocol packet to the LoRa navigation system by the LoRa personal navigation terminal;
the geographical position correction receiving module: the LoRa personal navigation terminal receives the corrected geographic position sent by the LoRa navigation system;
A sending correction module: the LoRa personal navigation terminal transmits the corrected geographic position to a third-party navigation system, and the navigation error is corrected;
a navigation judgment module: judging whether to continue navigation, if so, executing a positioning protocol packet broadcasting module, and if not, ending;
The geographic position correction module comprises:
a positioning protocol packet forwarding module: the LoRa equipment node which receives the positioning protocol packet packs the positioning protocol packet and the RSSI value into a new positioning protocol packet and then sends the new positioning protocol packet to the LoRa gateway;
A correction module: the LoRa gateway selects a plurality of suitable LoRa equipment nodes through comparison, acquires RSSI values from a positioning protocol packet, calculates the position of the LoRa personal navigation terminal in a LoRa navigation system according to an RSSI algorithm, and finally obtains the accurate corrected geographic position of the LoRa personal navigation terminal by combining the geographic position of the LoRa equipment nodes;
a sending module: and the modified geographical position of the LoRa personal navigation terminal is sent to the LoRa personal navigation terminal by the LoRa gateway.
7. the assisted precision navigation system of claim 6, comprising, in the registration module:
a registration information sending module: the LoRa personal navigation terminal packs the registration information into a network access application protocol packet and broadcasts the network access application protocol packet;
applying for a network access protocol packet sending module: after receiving the network access application protocol packet, the LoRa equipment node forwards the network access application protocol packet to the LoRa gateway, and the LoRa gateway sends the network access application protocol packet to the LoRa cloud server for authentication permission;
a network access result sending module: and the LoRa cloud server sends the network access application result to the LoRa personal navigation terminal.
8. the assisted precision navigation system of claim 6 further comprising a geographic position correction module between the positioning protocol packet broadcast module and the corrected geographic position receiving module;
In the positioning protocol packet broadcasting module, the LoRa personal navigation terminal packs the registration information and the geographic position information into a positioning protocol packet and broadcasts the positioning protocol packet according to the fixed RSSI intensity.
9. the aided precise navigation system of claim 6, further comprising a building module of the LoRa navigation system:
LoRa equipment node type-in module: arranging and installing LoRa equipment nodes, registering accurate geographical position information of each LoRa equipment node, binding the accurate geographical position information with LoRa ID, and inputting the accurate geographical position information of the LoRa equipment nodes into a LoRa cloud server;
LoRa gateway type module: arranging and installing the LoRa gateway according to the arrangement condition of the LoRa equipment nodes to enable the LoRa gateway to be good in communication, and inputting the geographic position information of the LoRa gateway into the LoRa cloud server;
sharing the module: sharing the geographical position information in the LoRa cloud server to a background of a third-party navigation system;
a plug-in writing module: and compiling a LoRa plug-in of the third-party navigation system so as to complete the construction.
10. the precision assisted navigation system of any one of claims 7 to 9, wherein the registration information includes a device ID and a user ID of the LoRa personal navigation terminal, and the third party navigation system includes a Baidu map navigation system, a Goodpasture map navigation system, and an Tencent map navigation system.
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