CN109655848B - Positioning system and method based on NB-IoT and AGPS - Google Patents
Positioning system and method based on NB-IoT and AGPS Download PDFInfo
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- CN109655848B CN109655848B CN201811569916.3A CN201811569916A CN109655848B CN 109655848 B CN109655848 B CN 109655848B CN 201811569916 A CN201811569916 A CN 201811569916A CN 109655848 B CN109655848 B CN 109655848B
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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
- G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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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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- Position Fixing By Use Of Radio Waves (AREA)
- Mobile Radio Communication Systems (AREA)
Abstract
The invention relates to the field of Internet of things, and provides a positioning method based on NB-IoT and AGPS, aiming at the problem of low efficiency of obtaining AGPS data through NB-IoT network, comprising the following steps: the positioning module performs positioning to obtain satellite positioning data and satellite searching data, and sends the satellite positioning data and the satellite searching data to the application server for storage through the NB-IoT gateway; the application server acquires positioning auxiliary data; the data processing module calculates according to the currently received satellite positioning data and satellite searching data of the NB-IoT positioning terminal and the satellite positioning data and satellite searching data in the storage module to obtain a satellite number corresponding to a satellite with the probability that the area where the NB-IoT positioning terminal is located is greater than or equal to the preset probability, and sends positioning auxiliary data corresponding to the satellite number to the NB-IoT positioning terminal through the NB-IoT gateway; and calculating the position coordinates of the NB-IoT positioning terminal according to the satellite positioning data and the positioning auxiliary data sent by the data processing module. The method is suitable for the field of the Internet of things needing positioning and low power consumption.
Description
Technical Field
The invention relates to the field of Internet of things, in particular to a positioning system and a positioning method based on NB-IoT and AGPS.
Background
The Global Positioning System (GPS) is composed of 24 satellites, and is uniformly distributed on 6 orbital planes. The distribution of the satellites enables at least 4 GPS satellites to be observed at the same time anywhere on the earth at any time, and all-weather continuous navigation and positioning service around the globe is guaranteed. However, in a more complex environment, an Assisted Global Positioning System (AGPS) is required to shorten the Positioning time and improve the Positioning accuracy. Currently, many mobile terminals have an AGPS function.
The Narrow-Band Internet of Things (NB-IoT) is an important branch of the Internet of everything, is an emerging technology in the field of the Internet of Things, supports cellular data connection of low-power-consumption equipment in a wide area network, supports efficient connection of equipment with long standby time and high requirement on network connection, and can provide comprehensive indoor cellular data connection coverage. Due to the low bandwidth of the NB-IoT and the relatively large amount of AGPS data, and the NB-IoT module cannot directly access the AGPS server to acquire data such as ephemeris, in the positioning application scenario of NB-IoT + GPS, it becomes very difficult and inefficient to acquire the AGPS data through the NB-IoT network.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the problem that the efficiency of acquiring AGPS data through an NB-IoT network is low in the prior art is solved, and a positioning system and a positioning method based on the NB-IoT and the AGPS are provided.
The invention solves the technical problems and adopts the technical scheme that:
the positioning system based on the NB-IoT and the AGPS comprises an application server, an NB-IoT gateway and an NB-IoT positioning terminal; the application server comprises a data acquisition module, a storage module and a data processing module, and the NB-IoT positioning terminal comprises a positioning module, a control module and an NB-IoT communication module;
the data acquisition module is used for acquiring positioning auxiliary data;
the storage module is used for storing satellite positioning data and satellite searching data sent by the NB-IoT positioning terminal;
the data processing module is used for calculating according to currently received satellite positioning data and satellite searching data of the NB-IoT positioning terminal and satellite positioning data and satellite searching data in the storage module to obtain a satellite number corresponding to a satellite of which the probability that the area where the NB-IoT positioning terminal is located can be searched is greater than or equal to a preset probability, and sending positioning auxiliary data corresponding to the satellite number to the NB-IoT positioning terminal through the NB-IoT gateway;
the NB-IoT gateway is used for communicating with the NB-IoT communication module and the application server;
the positioning module is used for acquiring satellite positioning data and satellite searching data and sending the satellite positioning data and the satellite searching data to the application server through the NB-IoT gateway;
and the control module is used for calculating the position coordinates of the NB-IoT positioning terminal according to the satellite positioning data and the positioning auxiliary data sent by the data processing module.
Preferably, the satellite positioning data includes longitude and latitude, and/or the satellite searching data includes satellite number and corresponding satellite signal strength.
Preferably, the data processing module is configured to search satellite positioning data in a storage module, which has a difference smaller than or equal to a predetermined difference range from the currently received satellite positioning data of the NB-IoT positioning terminal, obtain corresponding satellite search data according to the searched satellite positioning data in the storage module, perform weighted calculation on the occurrence frequency of the satellite number in the satellite search data and the satellite signal strength to obtain a probability that a satellite corresponding to an area where the NB-IoT positioning terminal is located can be searched, and send positioning assistance data of the satellite number, which has a probability greater than or equal to a preset probability, to the NB-IoT positioning terminal through the NB-IoT gateway.
Further, the data processing module is further configured to compress the positioning assistance data corresponding to the satellite number before the positioning assistance data is sent to the NB-IoT positioning terminal through the NB-IoT gateway; the control module is further configured to decompress the positioning assistance data.
The method applied to the positioning system based on NB-IoT and AGPS comprises the following steps:
A. the positioning module performs positioning to obtain satellite positioning data and satellite searching data, and sends the satellite positioning data and the satellite searching data to the application server for storage through the NB-IoT gateway; the application server acquires positioning auxiliary data;
B. the data processing module calculates according to the currently received satellite positioning data and satellite searching data of the NB-IoT positioning terminal and the satellite positioning data and satellite searching data in the storage module to obtain a satellite number corresponding to a satellite with the probability that the area where the NB-IoT positioning terminal is located is greater than or equal to the preset probability, and sends positioning auxiliary data corresponding to the satellite number to the NB-IoT positioning terminal through the NB-IoT gateway;
C. and calculating the position coordinates of the NB-IoT positioning terminal according to the satellite positioning data and the positioning auxiliary data sent by the data processing module.
Preferably, the satellite positioning data includes longitude and latitude, and/or the satellite searching data includes satellite number and corresponding satellite signal strength.
Preferably, the step B includes:
searching satellite positioning data in a storage module with a difference value smaller than or equal to a preset difference value range according to the currently received satellite positioning data of the NB-IoT positioning terminal;
obtaining corresponding satellite searching data according to the satellite positioning data in the searched storage module which meets the conditions;
weighting and calculating the occurrence frequency of the satellite numbers and the satellite signal strength in the satellite searching data to obtain the probability that the satellite corresponding to the area where the NB-IoT positioning terminal is located can be searched;
and sending the positioning auxiliary data of the satellite number corresponding to the probability greater than or equal to the preset probability to the NB-IoT positioning terminal through the NB-IoT gateway.
Further, before the positioning assistance data corresponding to the satellite number is sent to an NB-IoT positioning terminal through an NB-IoT gateway, the positioning assistance data is compressed; the calculating the position coordinates of the NB-IoT positioning terminal according to the satellite positioning data and the positioning auxiliary data sent by the data processing module comprises decompressing the positioning auxiliary data.
The invention has the beneficial effects that:
according to the invention, the satellite number corresponding to the satellite with the probability of being searched in the area of the NB-IoT positioning terminal being greater than or equal to the preset probability is obtained by calculating according to the currently received satellite positioning data and satellite search data of the NB-IoT positioning terminal and the satellite positioning data and satellite search data in the storage module, and the positioning auxiliary data corresponding to the satellite number is sent to the NB-IoT positioning terminal through the NB-IoT gateway, namely, the positioning auxiliary data corresponding to the satellite number which can be searched by the module can be only sent to different NB-IoT positioning terminals, but not the positioning auxiliary data corresponding to all the satellite numbers are sent to the NB-IoT positioning terminal, so that the data volume of the fixed number auxiliary data sent to the NB-IoT communication module can be greatly reduced, the times of sub-packet sending are reduced, the power consumption and the flow rate of the NB-IoT communication module are greatly reduced, the high-efficiency transmission of the fixed number auxiliary data in an NB-IoT network is realized in the application scene of the NB-IoT communication module and the positioning module, and the positioning time is further shortened and the positioning accuracy is improved.
Drawings
FIG. 1 is a system block diagram of an embodiment of the present invention;
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and the following embodiments.
As shown in FIG. 1, the positioning system based on NB-IoT and AGPS comprises an application server, an NB-IoT gateway and an NB-IoT positioning terminal; the application server comprises a data acquisition module, a storage module and a data processing module, and the NB-IoT positioning terminal comprises a positioning module, a control module and an NB-IoT communication module;
the data acquisition module is used for acquiring positioning auxiliary data from the AGPS server;
the storage module is used for storing satellite positioning data and satellite searching data sent by the NB-IoT positioning terminal;
the data processing module is used for calculating according to the currently received satellite positioning data and satellite searching data of the NB-IoT positioning terminal and the satellite positioning data and satellite searching data in the storage module to obtain a satellite number corresponding to a satellite with the probability that the area where the NB-IoT positioning terminal is located is greater than or equal to the preset probability, and sending positioning auxiliary data corresponding to the satellite number to the NB-IoT positioning terminal through the NB-IoT gateway;
the NB-IoT gateway is used for communicating with the NB-IoT communication module and the application server;
the positioning module is used for acquiring satellite positioning data and satellite searching data and sending the satellite positioning data and the satellite searching data to the application server through the NB-IoT gateway;
and the control module is used for calculating the position coordinates of the NB-IoT positioning terminal according to the satellite positioning data and the positioning auxiliary data sent by the data processing module.
In order to enable the range of the positioning assistance data to be applicable to all geographical position ranges where the NB-IoT positioning terminal is located, the positioning assistance data can comprise GPS and BDS satellite ephemeris visible in various places and/or GPS and BDS satellite almanac visible in various places, the positioning assistance data can be obtained after being changed according to the positioning assistance data in the AGPS server, the positioning module can be a GPS positioning module or a BDS (China Beidou satellite navigation system) positioning module, and the application server and the NB-IoT gateway can be communicated by adopting the internet; and the NB-IoT gateway and the NB-IoT positioning terminal adopt an NB-IoT protocol for communication. In view of the inconsistency of the satellite positioning data located by the NB-IoT positioning terminals in the same area, the above probability needs to be calculated.
In order to make the data amount of the satellite positioning data and the satellite searching data small enough to reduce the traffic of NB-IoT and meet the data required by the system, the satellite positioning data may include longitude and latitude, and/or the satellite searching data may include a satellite number and corresponding satellite signal strength.
In order to reduce the communication quantity of the NB-IoT positioning terminal and improve the communication efficiency, and ensure the effectiveness of positioning auxiliary data while improving the communication efficiency, only the positioning auxiliary data with high search probability is sent to the NB-IoT positioning terminal, the data processing module can be used for searching satellite positioning data in the storage module with the difference being less than or equal to a preset difference range according to the currently received satellite positioning data of the NB-IoT positioning terminal, obtaining corresponding satellite searching data according to the searched satellite positioning data in the storage module, carrying out weighting calculation on the occurrence frequency of satellite numbers in the satellite searching data and the satellite signal strength to obtain the probability that the satellite corresponding to the area where the NB-IoT positioning terminal is located can be searched, and sending the positioning auxiliary data of the satellite numbers with the probability being greater than or equal to the preset probability to the NB-IoT positioning terminal through the NB-IoT gateway.
The searching for the satellite positioning data in the storage module having a difference smaller than or equal to the predetermined difference range according to the currently received satellite positioning data of the NB-IoT positioning terminal may include: if the longitude difference range between the currently received satellite positioning data of the NB-IoT positioning terminal and the satellite positioning data in the storage module is smaller than or equal to the precision difference range, and the latitude difference range between the currently received satellite positioning data of the NB-IoT positioning terminal and the satellite positioning data in the storage module is smaller than or equal to the latitude difference range; the corresponding satellite positioning data and satellite searching data in the storage module are the data to be searched. The above probability calculation may employ: the product of the frequency of occurrence of the corresponding satellite number and the satellite signal strength is divided by the sum of the products of the frequency of occurrence of all satellite numbers and the satellite signal strength.
In order to reduce the communication traffic of the NB-IoT, the data processing module may be further configured to compress the positioning assistance data corresponding to the satellite number before the positioning assistance data is sent to the NB-IoT positioning terminal through the NB-IoT gateway; the control module may also be configured to decompress the positioning assistance data.
The method applied to the positioning system based on NB-IoT and AGPS comprises the following steps:
A. the positioning module performs positioning to obtain satellite positioning data and satellite searching data, and sends the satellite positioning data and the satellite searching data to the application server for storage through the NB-IoT gateway; the application server acquires the positioning auxiliary data from the AGPS server;
B. the data processing module calculates according to the currently received satellite positioning data and satellite searching data of the NB-IoT positioning terminal and the satellite positioning data and satellite searching data in the storage module to obtain a satellite number corresponding to a satellite with the probability that the area where the NB-IoT positioning terminal is located is greater than or equal to the preset probability, and sends positioning auxiliary data corresponding to the satellite number to the NB-IoT positioning terminal through the NB-IoT gateway;
C. and calculating the position coordinates of the NB-IoT positioning terminal according to the satellite positioning data and the positioning auxiliary data sent by the data processing module.
The positioning auxiliary data can be obtained from an AGPS server, the AGPS server is provided by a third party, in order to enable the range of the positioning auxiliary data to be suitable for all geographical position ranges where NB-IoT positioning terminals are located, the positioning auxiliary data can comprise GPS and BDS satellite ephemeris visible in various places and/or GPS and BDS satellite almanac visible in various places, the positioning auxiliary data can be obtained after being changed according to the positioning auxiliary data in the AGPS server, the positioning module can be a GPS positioning module or a BDS (Chinese Beidou satellite navigation system) positioning module, and the application server and the NB-IoT gateway can be communicated by adopting the internet; and the NB-IoT gateway and the NB-IoT positioning terminal adopt an NB-IoT protocol for communication. In view of the inconsistency of the satellite positioning data positioned by the NB-IoT positioning terminals in the same area, the above probability needs to be calculated.
In order to make the data amount of the satellite positioning data and the satellite searching data small enough to reduce the traffic of NB-IoT and meet the data required by the system, the satellite positioning data may include longitude and latitude, and/or the satellite searching data may include a satellite number and corresponding satellite signal strength.
In order to reduce the communication traffic of the NB-IoT positioning terminal and increase the communication efficiency, and ensure the effectiveness of the positioning assistance data while increasing the communication efficiency, only the positioning assistance data with high search probability is sent to the NB-IoT positioning terminal, where step B may include:
searching satellite positioning data in a storage module with a difference value smaller than or equal to a preset difference value range according to the currently received satellite positioning data of the NB-IoT positioning terminal;
obtaining corresponding satellite searching data according to the satellite positioning data in the searched storage module which meets the conditions;
weighting and calculating the occurrence frequency of the satellite number and the satellite signal strength in the satellite searching data to obtain the probability that the satellite corresponding to the area where the NB-IoT positioning terminal is located can be searched;
and sending the positioning auxiliary data of the satellite number corresponding to the probability greater than or equal to the preset probability to the NB-IoT positioning terminal through the NB-IoT gateway.
The searching for the satellite positioning data in the storage module having a difference smaller than or equal to the predetermined difference range from the currently received satellite positioning data of the NB-IoT positioning terminal may include: if the longitude difference range between the currently received satellite positioning data of the NB-IoT positioning terminal and the satellite positioning data in the storage module is smaller than or equal to the precision difference range, and the latitude difference range between the currently received satellite positioning data of the NB-IoT positioning terminal and the satellite positioning data in the storage module is smaller than or equal to the latitude difference range; the corresponding satellite positioning data and satellite searching data in the storage module are the data to be searched. The calculating of the probability may include: the product of the frequency of occurrence of the corresponding satellite number and the satellite signal strength is divided by the sum of the products of the frequency of occurrence of all the satellite numbers and the satellite signal strength.
In order to reduce the communication traffic of NB-IoT, before the positioning assistance data corresponding to the satellite number is sent to the NB-IoT positioning terminal through the NB-IoT gateway, the positioning assistance data can be compressed; calculating the location coordinates of the NB-IoT positioning terminal from the satellite positioning data and the positioning assistance data sent by the data processing module may include decompressing the positioning assistance data.
Claims (8)
1. The positioning system based on NB-IoT and AGPS is characterized by comprising an application server, an NB-IoT gateway and an NB-IoT positioning terminal; the application server comprises a data acquisition module, a storage module and a data processing module, and the NB-IoT positioning terminal comprises a positioning module, a control module and an NB-IoT communication module;
the data acquisition module is used for acquiring positioning auxiliary data;
the storage module is used for storing satellite positioning data and satellite searching data sent by the NB-IoT positioning terminal;
the data processing module is used for calculating according to currently received satellite positioning data and satellite searching data of the NB-IoT positioning terminal and satellite positioning data and satellite searching data in the storage module to obtain a satellite number corresponding to a satellite of which the probability that the area where the NB-IoT positioning terminal is located can be searched is greater than or equal to a preset probability, and sending positioning auxiliary data corresponding to the satellite number to the NB-IoT positioning terminal through the NB-IoT gateway;
the NB-IoT gateway is used for communicating with the NB-IoT communication module and the application server;
the positioning module is used for acquiring satellite positioning data and satellite searching data and sending the satellite positioning data and the satellite searching data to the application server through the NB-IoT gateway;
and the control module is used for calculating the position coordinates of the NB-IoT positioning terminal according to the satellite positioning data and the positioning auxiliary data sent by the data processing module.
2. The NB-IoT and AGPS based positioning system in accordance with claim 1, wherein the satellite positioning data comprises longitude and latitude, and/or the satellite search data comprises a satellite number and corresponding satellite signal strength.
3. The NB-IoT and AGPS based positioning system according to claim 2, wherein the data processing module is configured to search for satellite positioning data in the storage module that differs from currently received NB-IoT positioning terminal by a predetermined difference range or less according to the satellite positioning data of the NB-IoT positioning terminal, obtain corresponding satellite search data according to the searched satellite positioning data in the storage module, perform weighting calculation on the occurrence frequency of the satellite numbers in the satellite search data and the satellite signal strength to obtain the probability that the satellite corresponding to the area where the NB-IoT positioning terminal is located can be searched, and send positioning assistance data of the satellite numbers corresponding to the probability or greater than a predetermined probability to the NB-IoT positioning terminal via the NB-IoT gateway.
4. The NB-IoT and AGPS based positioning system according to claim 1 or 2 or 3, wherein the data processing module is further configured to compress the positioning assistance data corresponding to the satellite number before sending the positioning assistance data to the NB-IoT positioning terminal via the NB-IoT gateway; the control module is further configured to decompress the positioning assistance data.
5. Method applied to the NB-IoT and AGPS based positioning system of claim 1, characterized in that it comprises the following steps:
A. the positioning module performs positioning to obtain satellite positioning data and satellite searching data, and sends the satellite positioning data and the satellite searching data to the application server for storage through the NB-IoT gateway; the application server acquires positioning auxiliary data;
B. the data processing module calculates according to the currently received satellite positioning data and satellite searching data of the NB-IoT positioning terminal and the satellite positioning data and satellite searching data in the storage module to obtain a satellite number corresponding to a satellite with the probability that the area where the NB-IoT positioning terminal is located is greater than or equal to the preset probability, and sends positioning auxiliary data corresponding to the satellite number to the NB-IoT positioning terminal through the NB-IoT gateway;
C. and calculating the position coordinates of the NB-IoT positioning terminal according to the satellite positioning data and the positioning auxiliary data sent by the data processing module.
6. The method according to claim 5, wherein the satellite positioning data comprises longitude and latitude, and/or the satellite search data comprises a satellite number and a corresponding satellite signal strength.
7. The method of claim 6, wherein step B comprises:
searching satellite positioning data in a storage module with a difference value smaller than or equal to a preset difference value range according to the currently received satellite positioning data of the NB-IoT positioning terminal;
obtaining corresponding satellite searching data according to the searched satellite positioning data in the storage module meeting the conditions;
weighting and calculating the occurrence frequency of the satellite number and the satellite signal strength in the satellite searching data to obtain the probability that the satellite corresponding to the area where the NB-IoT positioning terminal is located can be searched;
and sending the positioning auxiliary data of the satellite number corresponding to the probability greater than or equal to the preset probability to the NB-IoT positioning terminal through the NB-IoT gateway.
8. The method of claim 5, 6 or 7, wherein the positioning assistance data corresponding to the satellite number is compressed before being sent to an NB-IoT positioning terminal via an NB-IoT gateway; the step of calculating the position coordinates of the NB-IoT positioning terminal according to the satellite positioning data and the positioning auxiliary data sent by the data processing module comprises decompressing the positioning auxiliary data.
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