CN113466910A - Signal positioning system based on WiFi + GPS algorithm - Google Patents
Signal positioning system based on WiFi + GPS algorithm Download PDFInfo
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- CN113466910A CN113466910A CN202110516174.3A CN202110516174A CN113466910A CN 113466910 A CN113466910 A CN 113466910A CN 202110516174 A CN202110516174 A CN 202110516174A CN 113466910 A CN113466910 A CN 113466910A
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- 238000004364 calculation method Methods 0.000 claims abstract description 51
- 238000010295 mobile communication Methods 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims abstract description 5
- 238000000034 method Methods 0.000 claims description 17
- 238000010276 construction Methods 0.000 claims description 3
- 238000013480 data collection Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 9
- 238000012544 monitoring process Methods 0.000 description 2
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
- G01S5/02585—Hybrid positioning by combining or switching between measurements derived from different systems at least one of the measurements being a non-radio measurement
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention aims to provide a signal positioning system based on a WiFi + GPS algorithm, which comprises a WiFi receiving module, a GNSS module, a positioning calculation module and a mobile communication module; the WiFi receiving module and the GNSS module are connected with the positioning calculation module through pins; the GNSS module is used for detecting and receiving GPS satellite data and transmitting the GPS satellite data to the positioning calculation module, the positioning calculation module is used for performing combined pseudo-range calculation according to the GPS satellite data and the WiFi signal intensity detected by the WiFi receiving module, and positioning processing and resolving work are completed through the extracted arrival time difference. According to the invention, accurate positioning of the attached object is realized by combining calculation of a WiFi positioning technology and a GPS positioning technology.
Description
Technical Field
The invention belongs to the technical field of electronic information, and particularly relates to a signal positioning system based on a WiFi + GPS algorithm.
Background
In the current life, the lost article is mainly positioned by a GPS, and the GPS positioning is not accurate enough and not accurate enough in a complex urban environment, particularly indoors.
And the WiFi indoor positioning technology is adopted to make up for the defect that the traditional GPS can not be used for positioning in the residential building, and the WiFi technology is used in the prior art
The focus almost covers all cities completely, and nearly every family has the wiFi focus, through the problem that the unable accurate location of solution GPS location in city high building mansion that wiFi location technology can be better, especially in order under indoor environment, GPS extremely difficult accurate location, then can switch into the wiFi location this moment, then can perfectly solve traditional GPS location accurate problem inadequately.
Therefore, a system and a method for realizing accurate positioning by combining the WiFi positioning technology and the GPS positioning technology with calculation are urgently needed.
Disclosure of Invention
The invention aims to provide a signal positioning system based on a WiFi + GPS algorithm, which realizes accurate positioning of attached articles by combining calculation of a WiFi positioning technology and a GPS positioning technology.
The technical scheme adopted by the invention is as follows:
the signal positioning system based on the WiFi + GPS algorithm comprises a WiFi receiving module, a GNSS module, a positioning calculation module and a mobile communication module;
the WiFi receiving module and the GNSS module are connected with the positioning calculation module through pins; the GNSS module is used for detecting and receiving GPS satellite data and transmitting the GPS satellite data to the positioning calculation module, the positioning calculation module is used for performing combined pseudo-range calculation according to the GPS satellite data and the WiFi signal intensity detected by the WiFi receiving module, and positioning processing and resolving work are completed through the extracted arrival time difference.
The positioning calculation module is in wireless connection with the control terminal through the mobile communication module, transmits calculated position information to the control terminal, and receives a control instruction from the control terminal.
The WiFi receiving module and the GNSS module are used for simultaneously collecting data, respectively collecting signal intensity of AP points in the environment and GPS satellite data, and the data are processed by the positioning computing module and then sent to the cloud control platform.
The positioning calculation module adopts an STM32 single chip microcomputer as a main control, the WiFi receiving module is used for carrying out RSSI data collection by utilizing AP points of WiFi, and the GNSS module is responsible for collecting GPS satellite positioning data and carrying out positioning parameter estimation on the positioning calculation module according to satellite data received by the GPSGNSS module and signals received by the WiFi receiving module to obtain corresponding coordinates.
The invention also provides a positioning method of the small signal positioning system based on WiFi + GPS, which applies the signal positioning system based on WiFi + GPS algorithm and comprises the following steps:
A. the GNSS module is used for detecting and receiving satellite signals, calculating three-dimensional position information and transmitting the three-dimensional position information to the positioning calculation module, and the positioning calculation module is used for calculating a pseudo range to obtain a pseudo range a;
B. the WiFi receiving module detects and receives AP signals of a WiFi network, obtains RSSI values, calculates three-dimensional position information and transmits the three-dimensional position information to the positioning calculation module, and the positioning calculation module calculates and converts pseudo ranges to obtain pseudo ranges b;
C. and establishing a TDOA positioning equation by the pseudo range a and the pseudo range b as follows:
c is the propagation speed of the electromagnetic wave in the medium, the positioning equations of the 3 base station type electronic reconnaissance device groups (1) form a positioning equation group, the position coordinates of the pseudo ranges converted by the two modules are respectively expressed as s1 ═ x1, y1, z1] and s2 ═ x2, y2, z2, the position of the positioner to be estimated is expressed as u ═ x, y, z, and all the positions adopt a geocentric rectangular coordinate system.
The method for calculating the three-dimensional position in the step A comprises the following steps: the GNSS module captures signals of satellites to be detected which are cut off according to a certain satellite height, tracks the operation of the satellites, and converts, amplifies and processes received satellite GPS signals so as to measure the propagation time of the GPS signals from the satellites to a receiver antenna, and interprets navigation messages sent by the GPS satellites to calculate the three-dimensional position of the positioning system in real time.
The earth center rectangular coordinate system has the following construction formula:
assuming that the longitude of a point on the earth surface is L, the latitude is B and the elevation is H, under the WGS-84 ellipsoid model, the relationship between the geocentric rectangular coordinate of the point and the geodetic longitude and latitude height coordinates is
Wherein e is the first eccentricity of the ellipsoid, e2＝(a2-b2)/a2；
a is the major semi-axis of the ellipsoid, 6378.137 km; b is the minor semi-axis of the ellipsoid 6356.752314 km;
n is the curvature radius of the prime circle of the ellipsoid, and N is a/[1-e ]2(sinB)2]1/2。
The method for calculating the three-dimensional position in the step B comprises the following steps: the WiFi receiving module estimates the AP points to acquire corresponding RSSI value information;
in the indoor WiFi positioning, the RSSI value information of more than 3 AP points is obtained, namely the calculation of the three-dimensional position can be realized, and in the outdoor WiFi network positioning, the three-dimensional position information which can be obtained only by receiving the information of more than 6 AP points is obtained.
In the step B, the positioning calculation module calculates a formula for converting the RSSI value into the pseudorange, that is, the formula for converting the RSSI value into the range is:
D＝10^(ABS(RSSI)-A/(10*N)) (3)。
compared with the prior art, the invention has the beneficial effects that:
according to the invention, the WiFi and the GPS are combined, and the positioning processing and resolving work is intensively finished by the positioning calculation module taking the integrated STM32 chip as a core, so that the positioning precision and accuracy of the positioner are improved, and the influence of complex environments in cities is overcome.
The TDOA and FDOA combined parameter estimation is carried out on the received signal by adopting RSSI ranging, so that the arrival time difference and the arrival frequency difference with higher accuracy can be obtained;
the invention can effectively solve the multipath problem faced by signal positioning in urban environment, can continuously position, has high positioning precision and strong anti-interference capability, and is very suitable for the field of micro positioners.
Drawings
FIG. 1 is a block diagram of the working principle of the present invention;
FIG. 2 is a positioning flow chart of the present invention;
Detailed Description
Example 1
The signal positioning system based on the WiFi + GPS algorithm comprises a WiFi receiving module, a GNSS module, a positioning calculation module and a mobile communication module;
the WiFi receiving module and the GNSS module are connected with the positioning calculation module through pins; the GNSS module is used for detecting and receiving GPS satellite data and transmitting the GPS satellite data to the positioning calculation module, the positioning calculation module is used for performing combined pseudo-range calculation according to the GPS satellite data and the WiFi signal intensity detected by the WiFi receiving module, and positioning processing and resolving work are completed through the extracted arrival time difference.
The positioning calculation module is in wireless connection with the control terminal through the mobile communication module, transmits calculated position information to the control terminal, and receives a control instruction from the control terminal.
The WiFi receiving module and the GNSS module are used for simultaneously collecting data, respectively collecting signal intensity of AP points in the environment and GPS satellite data, and the data are processed by the positioning computing module and then sent to the cloud control platform.
The positioning calculation module adopts an STM32 single chip microcomputer as a main control, the WiFi receiving module is used for carrying out RSSI data collection by utilizing AP points of WiFi, and the GNSS module is responsible for collecting GPS satellite positioning data and carrying out positioning parameter estimation on the positioning calculation module according to satellite data received by the GPSGNSS module and signals received by the WiFi receiving module to obtain corresponding coordinates.
Example 2
The positioning method using the system of embodiment 1 includes the steps of:
A. the GNSS module is used for detecting and receiving satellite signals, calculating three-dimensional position information and transmitting the three-dimensional position information to the positioning calculation module, and the positioning calculation module is used for calculating a pseudo range to obtain a pseudo range a;
the specific process of calculating the three-dimensional position information comprises the following steps: the GNSS module captures signals of satellites to be detected which are cut off according to a certain satellite height, tracks the operation of the satellites, and converts, amplifies and processes received satellite GPS signals so as to measure the propagation time of the GPS signals from the satellites to a receiver antenna, and interprets navigation messages sent by the GPS satellites to calculate the three-dimensional position of the positioning system in real time.
B. The WiFi receiving module detects and receives AP signals of a WiFi network, obtains RSSI values, calculates three-dimensional position information and transmits the three-dimensional position information to the positioning calculation module, and the positioning calculation module calculates and converts pseudo ranges to obtain pseudo ranges b;
the method for calculating the three-dimensional position in the step B comprises the following steps: the WiFi receiving module estimates the AP points to acquire corresponding RSSI value information;
in the indoor WiFi positioning, the RSSI value information of more than 3 AP points is obtained, namely the calculation of the three-dimensional position can be realized, and in the outdoor WiFi network positioning, the three-dimensional position information which can be obtained only by receiving the information of more than 6 AP points is obtained;
in the step B, the positioning calculation module calculates a formula for converting the RSSI value into the pseudorange, that is, the formula for converting the RSSI value into the range is:
D＝10^(ABS(RSSI)-A/(10*N)) (3)；
C. and establishing a TDOA positioning equation by the pseudo range a and the pseudo range b as follows:
c is the propagation speed of the electromagnetic wave in the medium, the positioning equations of the 3 base station type electronic reconnaissance device groups (1) form a positioning equation group, the position coordinates of the pseudo ranges converted by the two modules are respectively expressed as s1 ═ x1, y1, z1] and s2 ═ x2, y2, z2, the position of the positioner to be estimated is expressed as u ═ x, y, z, and all the positions adopt a geocentric rectangular coordinate system.
The earth center rectangular coordinate system has the following construction formula:
assuming that the longitude of a point on the earth surface is L, the latitude is B and the elevation is H, under the WGS-84 ellipsoid model, the relationship between the geocentric rectangular coordinate of the point and the geodetic longitude and latitude height coordinates is
Wherein e is the first eccentricity of the ellipsoid, e2＝(a2-b2)/a2；
a is the major semi-axis of the ellipsoid, 6378.137 km; b is the minor semi-axis of the ellipsoid 6356.752314 km;
n is the curvature radius of the prime circle of the ellipsoid, and N is a/[1-e ]2(sinB)2]1/2。
In the actual detection, reasonably estimating the height value of the positioner to be H ^ 300 meters; assuming that the latitude range of the monitoring area is [ B1, B2], the average longitude and latitude B ^ of the monitoring area is (B1+ B2)/2; and converting B ^ and H ^ into a geocentric rectangular coordinate system by using the formula 4, taking the obtained value as the estimated value of the z coordinate of the locator, simplifying the time difference positioning equation set into a two-dimensional equation set, and finally solving the equation to solve the positioning target position u ═ x, y and z.
Claims (8)
1. The utility model provides a signal positioning system based on wiFi + GPS algorithm, includes wiFi receiving module, GNSS module, location calculation module, mobile communication module, its characterized in that:
the WiFi receiving module and the GNSS module are connected with the positioning calculation module through pins; the GNSS module is used for detecting and receiving GPS satellite data and transmitting the GPS satellite data to the positioning calculation module, the positioning calculation module is used for performing combined pseudo-range calculation according to the GPS satellite data and the WiFi signal intensity detected by the WiFi receiving module, and positioning processing and resolving work are completed through the extracted arrival time difference.
The positioning calculation module is in wireless connection with the control terminal through the mobile communication module, transmits calculated position information to the control terminal, and receives a control instruction from the control terminal.
2. The small form factor locator based on moveout measurement of claim 1, wherein: the WiFi receiving module and the GNSS module are used for simultaneously collecting data, respectively collecting signal intensity of AP points in the environment and GPS satellite data, and the data are processed by the positioning computing module and then sent to the cloud control platform.
3. The RSSI-based positioning system of claim 3, wherein: the positioning calculation module adopts an STM32 single chip microcomputer as a main control, the WiFi receiving module is used for carrying out RSSI data collection by utilizing AP points of WiFi, and the GNSS module is responsible for collecting GPS satellite positioning data and carrying out positioning parameter estimation on the positioning calculation module according to satellite data received by the GPSGNSS module and signals received by the WiFi receiving module to obtain corresponding coordinates.
4. A positioning method of a WiFi + GPS based small signal positioning system, applying the WiFi + GPS algorithm based signal positioning system of any one of claims 1-3, characterized by comprising the following steps:
A. the GNSS module is used for detecting and receiving satellite signals, calculating three-dimensional position information and transmitting the three-dimensional position information to the positioning calculation module, and the positioning calculation module is used for calculating a pseudo range to obtain a pseudo range a;
B. the WiFi receiving module detects and receives AP signals of a WiFi network, obtains RSSI values, calculates three-dimensional position information and transmits the three-dimensional position information to the positioning calculation module, and the positioning calculation module calculates and converts pseudo ranges to obtain pseudo ranges b;
C. and establishing a TDOA positioning equation by the pseudo range a and the pseudo range b as follows:
c is the propagation speed of the electromagnetic wave in the medium, the positioning equations of the 3 base station type electronic reconnaissance device groups (1) form a positioning equation group, the position coordinates of the pseudo ranges converted by the two modules are respectively expressed as s1 ═ x1, y1, z1] and s2 ═ x2, y2, z2, the position of the positioner to be estimated is expressed as u ═ x, y, z, and all the positions adopt a geocentric rectangular coordinate system.
5. The positioning method of the WiFi + GPS based small signal positioning system as claimed in claim 4, wherein: the method for calculating the three-dimensional position in the step A comprises the following steps: the GNSS module captures signals of satellites to be detected which are cut off according to a certain satellite height, tracks the operation of the satellites, and converts, amplifies and processes received satellite GPS signals so as to measure the propagation time of the GPS signals from the satellites to a receiver antenna, and interprets navigation messages sent by the GPS satellites to calculate the three-dimensional position of the positioning system in real time.
6. The positioning method of the WiFi + GPS based small signal positioning system as claimed in claim 4, wherein:
the earth center rectangular coordinate system has the following construction formula:
assuming that the longitude of a point on the earth surface is L, the latitude is B and the elevation is H, under the WGS-84 ellipsoid model, the relationship between the geocentric rectangular coordinate of the point and the geodetic longitude and latitude height coordinates is
Wherein e is the first eccentricity of the ellipsoid, e2＝(a2-b2)/a2；
a is the major semi-axis of the ellipsoid, 6378.137 km; b is the minor half axis of ellipsoid
6356.752314 km; n is the curvature radius of the prime circle of the ellipsoid,
N＝a/[1-e2(sinB)2]1/2。
7. the positioning method of the WiFi + GPS based small signal positioning system as claimed in claim 6, wherein:
the method for calculating the three-dimensional position in the step B comprises the following steps: the WiFi receiving module estimates the AP points to acquire corresponding RSSI value information;
in the indoor WiFi positioning, the RSSI value information of more than 3 AP points is obtained, namely the calculation of the three-dimensional position can be realized, and in the outdoor WiFi network positioning, the three-dimensional position information which can be obtained only by receiving the information of more than 6 AP points is obtained.
8. The positioning method of the WiFi + GPS based small signal positioning system of claim 7, wherein:
in the step B, the positioning calculation module calculates a formula for converting the RSSI value into the pseudorange, that is, the formula for converting the RSSI value into the range is:
D＝10^(ABS(RSSI)-A/(10*N)) (3)。
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113993071A (en) * | 2021-10-29 | 2022-01-28 | 维沃移动通信有限公司 | Positioning method, device, equipment and storage medium |
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Application publication date: 20211001 |