CN114518587A - Indoor and outdoor seamless positioning system and method - Google Patents

Indoor and outdoor seamless positioning system and method Download PDF

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Publication number
CN114518587A
CN114518587A CN202210148504.2A CN202210148504A CN114518587A CN 114518587 A CN114518587 A CN 114518587A CN 202210148504 A CN202210148504 A CN 202210148504A CN 114518587 A CN114518587 A CN 114518587A
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bds
imu
magnetometer
data
time
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高周正
陈琳
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China University of Geosciences Beijing
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China University of Geosciences Beijing
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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
    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • G01S19/49—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 whereby the further system is an inertial position system, e.g. loosely-coupled
    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Automation & Control Theory (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention relates to an indoor and outdoor seamless positioning system and method. The BDS antenna and the UWB antenna are arranged at different positions of the z-axis of an IMU coordinate system in the system; the BDS antenna is connected with the BDS board card; the BDS board card is used for processing ranging information broadcast by BDS satellites B1I, B1C and B3I frequency and real-time precise orbit/clock difference correction number broadcast by BDS B2B frequency, which are received by the BDS antenna; the UWB antenna is connected with the UWB chip; the UBDS board card, the UWB chip, the IMU, the magnetometer and the barometer are all connected with the ARM processor; the ARM processor is used for carrying out time synchronization and data fusion on data collected by the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer; the ARM processor is also connected with the communication module; the power supply is respectively connected with the BDS board card, the UWB chip, the IMU, the magnetometer, the barometer and the ARM processor. The invention can realize indoor and outdoor integration, high precision and real-time positioning.

Description

Indoor and outdoor seamless positioning system and method
Technical Field
The invention relates to the technical field of indoor and outdoor positioning, in particular to an indoor and outdoor seamless positioning system and method.
Background
The indoor and outdoor positioning technology is one of the core technical requirements of the Internet of things, intelligent traffic and the like. Currently, indoor and outdoor location services are separated, outdoor positioning mainly adopts satellite navigation positioning technology (such as BDS), and indoor positioning mainly adopts technical means such as Wi-Fi and Bluetooth. No matter the existing outdoor positioning or indoor positioning means, blind areas exist. If the satellite navigation is mainly based on pseudo-range single-point positioning at present, the three-dimensional positioning precision is meter-level or even dozens of meter-level; Wi-Fi and other indoor positioning technologies can only provide a meter level or even a dozen of meters indoors and mainly use a plane. Moreover, no effective indoor and outdoor integration, high-precision and real-time positioning solution exists at present.
Disclosure of Invention
The invention aims to provide an indoor and outdoor seamless positioning system and method, which can realize indoor and outdoor integration, high precision and real-time positioning.
In order to achieve the purpose, the invention provides the following scheme:
an indoor and outdoor seamless positioning system comprising: the BDS card, the BDS antenna, the UWB chip, the UWB antenna, the IMU, the magnetometer, the barometer, the ARM processor, the communication module and the power supply;
the BDS antenna and the UWB antenna are arranged at different positions of a z-axis of an IMU coordinate system;
the BDS antenna is connected with the BDS board card; the BDS board card is used for processing ranging information broadcast by BDS satellites B1I, B1C and B3I frequency and real-time precise orbit/clock difference correction number broadcast by BDS B2B frequency, which are received by the BDS antenna;
the UWB antenna is connected with the UWB chip; the UWB chip is used for acquiring UWB ranging signals received by the UWB antenna;
the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer are all connected with the ARM processor; the ARM processor is used for carrying out time synchronization and data fusion on data collected by the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer;
the ARM processor is also connected with the communication module; the data processing device is used for transmitting the data processing result to the control center;
the power supply is respectively connected with the BDS board card, the UWB chip, the IMU, the magnetometer, the barometer and the ARM processor.
An indoor and outdoor seamless positioning method is used for realizing the indoor and outdoor seamless positioning system, and comprises the following steps:
acquiring data acquired by a BDS board card, a UWB chip, an IMU, a magnetometer and a barometer;
carrying out time synchronization on the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer;
and performing data fusion by adopting an extended Kalman filtering theory according to ranging information, UWB ranging signals, IMU data, magnetometer signals and barometer data which are broadcasted by the BDS satellites B1I, B1C and B3I after time synchronization and real-time precise orbit/clock error correction numbers broadcasted by the BDS B2B frequency.
Optionally, time synchronization is performed on the BDS board card, the UWB chip, the IMU, the magnetometer, and the barometer, specifically including:
the BDS board card carries out BDS PPP resolving on ranging information broadcasted by the BDS satellites B1I, B1C and B3I frequency and real-time precise track/clock difference correction number broadcasted by the BDS B2B frequency, which are received by the BDS antenna, and determines the position and speed of the indoor and outdoor seamless positioning system and the clock error of the BDS board card receiver at the current moment;
determining the time for receiving the BDS signal according to the clock error of the BDS board card receiver and the current moment of the BDS board card;
determining the starting time of the UWB chip, the IMU, the magnetometer and the barometer based on the BDS time reference according to the difference between the time of receiving the BDS signals and the time of transmitting the data of the UWB chip, the IMU, the magnetometer and the barometer into the ARM processor and the time of transmitting the data of the BDS board card into the ARM processor;
Time synchronization is performed based on the adjacent epoch time differences of the UWB chip, IMU, magnetometer, and barometer, and the start time based on the BDS time reference.
Optionally, the data fusion is performed by using an extended kalman filter theory according to the ranging information broadcast by the time-synchronized BDS satellites B1I, B1C, and B3I frequency, the UWB ranging signal, the IMU data, the magnetometer signal, the barometer data, and the real-time precise orbit/clock difference correction broadcast by the BDS B2B frequency, and specifically includes:
determining the attitude information of the current moment by utilizing the data of the IMU and the magnetic strength signal of the magnetometer according to the position and the speed of the indoor and outdoor seamless positioning system at the current moment;
the method comprises the steps of taking an INS system based on IMU data as a core, constructing different Kalman filtering innovation vectors according to data time synchronization results of the IMU, a BDS board card, a UWB chip, a magnetometer and a barometer at different moments, and carrying out data fusion to obtain fused position, speed and attitude information.
Optionally, time synchronization is performed to BDS board card, UWB chip, IMU, magnetometer and barometer, and specifically, the method further includes:
a lever arm is acquired with the BDS antenna and UWB antenna relative to the center of the IMU.
An indoor and outdoor seamless positioning system is applied to the indoor and outdoor seamless positioning method, and comprises the following steps:
the data acquisition module is used for acquiring data acquired by the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer;
the time synchronization module is used for performing time synchronization on the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer;
and the data fusion module is used for carrying out data fusion by adopting an extended Kalman filtering theory according to ranging information, UWB ranging signals, IMU data, magnetometer signals and barometer data which are broadcasted at the frequencies of the BDS satellites B1I, B1C and B3I after time synchronization and real-time precise orbit/clock error correction numbers broadcasted at the frequency of the BDS B2B.
Optionally, the time synchronization module specifically includes:
the BDS PPP resolving unit is used for carrying out BDS PPP resolving on ranging information which is broadcasted by BDS satellites B1I, B1C and B3I and real-time precise track/clock difference correction number which is broadcasted by BDS B2B, wherein the ranging information is received by a BDS antenna through a BDS board card, and the position and the speed of an indoor and outdoor seamless positioning system at the current moment and the clock error of a BDS board card receiver are determined;
the BDS signal receiving time determining unit is used for determining the receiving time of the BDS signal according to the clock error of the BDS board card receiver and the current moment of the BDS board card;
The starting time determining unit is used for determining the starting time of the UWB chip, the IMU, the magnetometer and the barometer based on the BDS time reference according to the receiving time of the BDS signal and the difference value of the time of transmitting the data of the UWB chip, the IMU, the magnetometer and the barometer into the ARM processor and the time of transmitting the data of the BDS board card into the ARM processor;
and the time synchronization unit is used for performing time synchronization according to the time difference of adjacent epochs of the UWB chip, the IMU, the magnetometer and the barometer and the starting time based on the BDS time reference.
Optionally, the data fusion module specifically includes:
the attitude information determining unit at the current moment is used for determining the attitude information at the current moment by utilizing the data of the IMU and the magnetic strength signal of the magnetometer according to the position and the speed of the indoor and outdoor seamless positioning system at the current moment;
and the data fusion unit is used for constructing different Kalman filtering innovation vectors by taking an INS system based on IMU data as a core according to data time synchronization results of the IMU, the BDS board card, the UWB chip, the magnetometer and the barometer at different moments, and performing data fusion to obtain fused position, speed and attitude information.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
The invention provides an indoor and outdoor seamless positioning system and method, which determine the accurate position and speed at the initial moment according to the ranging information broadcast by the BDS satellites B1I, B1C and B3I frequency and the real-time accurate orbit/clock difference correction number broadcast by the BDS B2B frequency received by a BDS antenna; the ARM processor carries out time synchronization and data fusion according to data collected by the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer, and determines real-time position, speed and posture, so that real-time high-precision continuous indoor and outdoor seamless precise positioning is achieved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural view of an indoor and outdoor seamless positioning system provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide an indoor and outdoor seamless positioning system and method, which can realize indoor and outdoor integration, high precision and real-time positioning.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural view of an indoor and outdoor seamless positioning system provided by the present invention, and as shown in fig. 1, the indoor and outdoor seamless positioning system provided by the present invention includes: the BDS card, the BDS antenna, the UWB chip, the UWB antenna, the IMU, the magnetometer, the barometer, the ARM processor, the communication module and the power supply; the IMU is a six-axis IMU; the magnetometer is a three-axis magnetometer; the data collected by the IMU are data of a gyroscope and an accelerometer;
the BDS antenna and the UWB antenna are arranged at different positions of a z-axis of an IMU coordinate system; the IMU coordinate system is established when the IMU device is produced and is marked on the IMU device, the IMU coordinate center is in the center of mass, and the three axes of x/y/z point to the front/right/lower part of the IMU device respectively.
The BDS antenna is connected with the BDS board card; the BDS board card is used for processing ranging information broadcast by BDS satellites B1I, B1C and B3I frequency and real-time precise orbit/clock difference correction number broadcast by BDS B2B frequency, which are received by the BDS antenna;
The UWB antenna is connected with the UWB chip; the UWB chip is used for acquiring UWB ranging signals received by the UWB antenna;
the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer are all connected with the ARM processor; the ARM processor is used for carrying out time synchronization and data fusion on data collected by the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer;
the ARM processor is also connected with the communication module; the data processing device is used for transmitting the data processing result to the control center;
the power supply is respectively connected with the BDS board card, the UWB chip, the IMU, the magnetometer, the barometer and the ARM processor.
An indoor and outdoor seamless positioning method is used for realizing the indoor and outdoor seamless positioning system, and comprises the following steps:
s101, acquiring data collected by a BDS board card, a UWB chip, an IMU, a magnetometer and a barometer;
s102, carrying out time synchronization on the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer;
and S103, performing data fusion by adopting an extended Kalman filtering theory according to ranging information, UWB ranging signals, IMU data, magnetometer signals and barometer data which are broadcasted at the frequencies of the BDS satellites B1I, B1C and B3I after time synchronization and real-time precise orbit/clock difference correction numbers broadcasted at the frequency of the BDS B2B.
S102 specifically comprises the following steps:
the BDS board card carries out BDS PPP resolving on ranging information broadcasted by the BDS satellites B1I, B1C and B3I frequency and real-time precise track/clock difference correction number broadcasted by the BDS B2B frequency, which are received by the BDS antenna, and determines the position and speed of the indoor and outdoor seamless positioning system and the clock error of the BDS board card receiver at the current moment;
determining the time for receiving the BDS signal according to the clock error of the BDS board card receiver and the current moment of the BDS board card;
determining the starting time of the UWB chip, the IMU, the magnetometer and the barometer based on the BDS time reference according to the difference between the time of receiving the BDS signals and the time of transmitting the data of the UWB chip, the IMU, the magnetometer and the barometer into the ARM processor and the time of transmitting the data of the BDS board card into the ARM processor;
time synchronization is performed based on the adjacent epoch time differences of the UWB chip, IMU, magnetometer, and barometer and the start time based on the BDS time reference.
As a specific example, in order to realize BDS/UWB/I under the same spatial reference (IMU center)MU data fusion; meanwhile, the coordinate system of the magnetometer is ensured to be consistent with the coordinate system of the IMU in the three-axis pointing direction, so that the attitude angle calculated by the magnetometer is ensured to be consistent with the attitude angle space reference calculated by the IMU, and the lever arms of the BDS antenna and the UWB antenna relative to the center of the IMU are obtained
Figure BDA0003509636340000061
Figure BDA0003509636340000062
The start time of the UWB chip, IMU, magnetometer and barometer based on the BDS time reference is:
Figure BDA0003509636340000071
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003509636340000072
time of reception of BDS signals, d0,1,k、d0,2,k、d0,3,k、d0,4,kThe time difference between the time when the data of the UWB chip, the IMU, the magnetometer and the barometer are transmitted into the ARM processor and the time when the data of the BDS board card is transmitted into the ARM processor are respectively different;
performing time synchronization according to the time difference between adjacent epochs of the UWB chip, the IMU, the magnetometer and the barometer and the starting time based on the BDS time reference, and specifically comprising the following formula:
Figure BDA0003509636340000073
wherein, d0,s,k、d0,s,k、d0,s,k、d0,s,The adjacent epoch time differences for the UWB chip, the IMU, the magnetometer, and the barometer, respectively.
S103 specifically comprises the following steps:
determining the attitude information of the current moment by utilizing the data of the IMU and the magnetic strength signal of the magnetometer according to the position and the speed of the indoor and outdoor seamless positioning system at the current moment;
the method comprises the steps of taking an INS system based on IMU data as a core, constructing different Kalman filtering innovation vectors according to data time synchronization results of the IMU, a BDS board card, a UWB chip, a magnetometer and a barometer at different moments, and carrying out data fusion to obtain fused position, speed and attitude information.
As a specific embodiment, the position and the speed information of the hardware system at the current moment are obtained through BDS PPP calculation, and the attitude information of the hardware system at the current moment and the initial state information of the kalman filtering data processing system are determined by using the linear acceleration data, the angular velocity data, and the geomagnetic field strength data of the magnetometer of the IMU. Because the BDS, UWB, IMU, magnetometer and barometer data have different time sampling rates (IMU is highest and BDS is lowest), the data processing system is designed to take an INS system based on IMU data as a core, and different Kalman filtering innovation vectors (z) are constructed according to the data time synchronization results of the IMU and different sensors (BDS, UWB, magnetometer and barometer) at different moments k) In this way, different data processing modes (INS mechanics arrangement, BDS/INS tight combination, UWB/INS tight combination, magnetometer/INS combination, barometer/INS combination, BDS/UWB/INS tight combination, BDS/magnetometer/INS tight combination, BDS/barometer/INS tight combination, UWB/magnetometer/INS tight combination, UWB/barometer/INS tight combination, magnetometer/INS tight combination, BDS/UWB/barometer/INS tight combination, UWB/magnetometer/barometer/INS tight combination, BDS/UWB/magnetometer/INS tight combination, BDS/magnetometer/INS tight combination) are performed. In Kalman filtering, the innovation vector (z) of each data processing modek) The observation equation can be uniformly expressed as:
zk＝hkxk+εk (3)
in the formula zk、xk、hk、εkAnd respectively representing an observation information vector, a state vector, a design coefficient matrix and an observation residual vector at the moment k. Wherein the state vector
Figure BDA0003509636340000081
(n denotes a Navigation coordinate system (Navigation frame)) anddata processing mode independent, in design to data processing mode, xkEach consisting of three parts, i.e. navigation parameters (position correction δ p)nSpeed correction number δ vnAttitude correction δ θ), IMU sensor error (gyro zero bias (abbreviated as g) correction δ BgGyroscope scale factor correction δ SgAccelerometer (abbreviated as a) zero offset correction δ B a’And the correction number delta S of the scale factor of the accelerometera) BDS-related parameters (BDS receiver clock difference correction dt)BDSBDS clock drift correction number
Figure BDA0003509636340000084
Tropospheric wet delay correction dwetAn ambiguity correction number N); innovation vector zkIn relation to the data processing mode, z is if BDS, UWB, IMU, magnetometer, barometer data are all present (i.e. BDS/UWB/magnetometer/barometer/INS tightly combined processing mode is performed), then z iskCan be expressed as:
zk＝(zBDS，k，zUWB，k，zAtt，k，zH，k) (4)
in the formula zBDS，k、zUWB，k、zAtt，kAnd zH，kRespectively representing a BDS innovation vector, a UWB innovation vector, an Attitude angle innovation vector (Att) and a Height change innovation value (Height, H).
Because the center of mass of the IMU is not coincident with the BDS antenna and the UWB antenna, z is constructedBDS，k，zUWB，kWhen it is necessary to use a lever arm (
Figure BDA0003509636340000082
And
Figure BDA0003509636340000083
) The measurement centers for BDS and UWB, respectively, were normalized to the IMU center using the following expressions.
Figure BDA0003509636340000091
In the formula
Figure BDA0003509636340000092
Respectively representing a BDS antenna position, a UWB antenna position and an IMU mass center position at the time n;
Figure BDA0003509636340000093
the attitude rotation matrix derived from b and n is shown.
Constructing different Kalman filtering innovation vectors, specifically comprising the following combinations:
1. only one type of sensor data is synchronized with the IMU data. When only IMU and BDS data exist, BDS/INS tight combination is carried out, and innovation vector z k＝zBDS，k(ii) a When only IMU and UWB data exist, UWB/INS tight combination is carried out, and innovation vector z isk＝zUWB，k(ii) a When only IMU and magnetometer data are present, a magnetometer/INS combination is performed, the innovation vector zk＝zAtt，k(ii) a When only IMU and barometer data are present, barometer/INS combinations are performed, the innovation vector zk＝zH，k。
2. There are two types of sensor data that are synchronized with the IMU data. BDS/UWB/INS tight combinations, z, when IMU, BDS and UWB data are presentk＝(zBDS，k，zUWB，k) (ii) a Performing a BDS/magnetometer/INS tight combination, z, when IMU, BDS and magnetometer data are presentk＝(zBDS，k，zAtt，k) (ii) a BDS/barometer/INS tight combinations, z, when IMU, BDS and barometer data are presentk＝(zBDS，k，zH，k) (ii) a When IMU, UWB and barometer data are present, UWB/barometer/INS tight combinations are performed, zk＝(zUWB，k，zH，k) (ii) a When IMU, UWB and magnetometer data are present, UWB/magnetometer/INS tight combinations are performed, zk＝(zUWB，k，zAtt，k) (ii) a Performing a magnetometer/barometer/INS tight combination, z, when IMU, magnetometer and barometer data are presentk＝(zAtt，k，zH，k)；
3. There are three sensor data types that are synchronized with the IMU data. When IMU, BDS, UWB and magnetometer data are present, BDS/UWB/magnetometer/INS tight combinations are made, zk＝(zBDS，k，zUWB，k，zAtt，k) (ii) a BDS/UWB/barometer/INS tight combinations when IMU, BDS, UWB and barometer data are present, z k＝(zBDS，k，zUWB，k，zH，k) (ii) a UWB/magnetometer/barometer/INS tight combinations when IMU, UWB, magnetometer and barometer data are present, zk＝(zUWB，k，zAtt，k，zH，k)；
4. If the data of the four sensors are synchronous with the IMU data, a BDS/UWB/magnetometer/barometer/INS tight combination processing mode is carried out;
5. and if the time synchronization of the sensors and the IMU data is not available, the INS mechanical arrangement is calculated, and no observation information vector exists.
According to the determined zkInnovation vector, pair xkPartial differential derivation is carried out, and the corresponding design coefficient matrix h under different data processing modes can be obtainedk. Based on z in different data processing modeskAnd hkPerforming Kalman Filter State parameter (x)k) Updating to calculate INS mechanical choreography position, speed, attitude, IMU zero offset, IMU scale factor, tropospheric wet delay and ambiguity correction:
xk＝Φk/k-1xk+Kk(zk-hkΦk/k-1xk) (6)
Figure BDA0003509636340000101
wherein phik/k-1A state transition matrix representing each parameter of the state vector from the k-1 moment to the k moment (the specific coefficient is determined by a kinetic function model of the parameter); qk-1And RkRespectively representing the accuracy of the parametric dynamical function (i.e. the state noise) and the observation information vector zkThe accuracy of (i.e., observing noise).
Using formulas
Figure BDA0003509636340000102
The INS mechanical arrangement result (position) is fed back
Figure BDA0003509636340000103
Speed of rotation
Figure BDA0003509636340000104
And posture
Figure BDA0003509636340000105
) And obtaining fused data.
In the case of the situation of the 5 th, there is no BDS, UWB, magnetometer, or barometer data at the current time, and the position, speed, and attitude updated by the INS mechanics arrangement are directly used as the positioning result at the current time without kalman filtering observation update, that is:
Figure BDA0003509636340000106
an indoor and outdoor seamless positioning system is applied to the indoor and outdoor seamless positioning method, and comprises the following steps:
the data acquisition module is used for acquiring data acquired by the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer;
the time synchronization module is used for performing time synchronization on the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer;
and the data fusion module is used for carrying out data fusion by adopting an extended Kalman filtering theory according to ranging information, UWB ranging signals, IMU data, magnetometer signals and barometer data which are broadcasted at the frequencies of the BDS satellites B1I, B1C and B3I after time synchronization and real-time precise orbit/clock error correction numbers broadcasted at the frequency of the BDS B2B.
The time synchronization module specifically includes:
the BDS PPP resolving unit is used for carrying out BDS PPP resolving on ranging information which is broadcasted by BDS satellites B1I, B1C and B3I and real-time precise track/clock difference correction number which is broadcasted by BDS B2B, wherein the ranging information is received by a BDS antenna through a BDS board card, and the position and the speed of an indoor and outdoor seamless positioning system at the current moment and the clock error of a BDS board card receiver are determined;
The BDS signal receiving time determining unit is used for determining the BDS signal receiving time according to the clock error of the BDS board card receiver and the current moment of the BDS board card;
the starting time determining unit is used for determining the starting time of the UWB chip, the IMU, the magnetometer and the barometer based on the BDS time reference according to the receiving time of the BDS signal and the difference value of the time of transmitting the data of the UWB chip, the IMU, the magnetometer and the barometer into the ARM processor and the time of transmitting the data of the BDS board card into the ARM processor;
and the time synchronization unit is used for performing time synchronization according to the time difference of adjacent epochs of the UWB chip, the IMU, the magnetometer and the barometer and the starting time based on the BDS time reference.
The data fusion module specifically comprises:
the attitude information determining unit at the current moment is used for determining the attitude information at the current moment by utilizing the data of the IMU and the magnetic strength signal of the magnetometer according to the position and the speed of the indoor and outdoor seamless positioning system at the current moment;
and the data fusion unit is used for constructing different Kalman filtering innovation vectors by taking an INS system based on IMU data as a core according to data time synchronization results of the IMU, the BDS board card, the UWB chip, the magnetometer and the barometer at different moments, and performing data fusion to obtain fused position, speed and attitude information.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the description of the method part.
The principle and the embodiment of the present invention are explained by applying specific examples, and the above description of the embodiments is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. An indoor and outdoor seamless positioning system, comprising: the BDS card, the BDS antenna, the UWB chip, the UWB antenna, the IMU, the magnetometer, the barometer, the ARM processor, the communication module and the power supply;
the BDS antenna and the UWB antenna are arranged at different positions of a z-axis of an IMU coordinate system;
the BDS antenna is connected with the BDS board card; the BDS board card is used for processing ranging information broadcast by BDS satellites B1I, B1C and B3I frequency and real-time precise orbit/clock difference correction number broadcast by BDS B2B frequency, which are received by the BDS antenna;
The UWB antenna is connected with the UWB chip; the UWB chip is used for acquiring UWB ranging signals received by the UWB antenna;
the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer are all connected with the ARM processor; the ARM processor is used for carrying out time synchronization and data fusion on data collected by the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer;
the ARM processor is also connected with the communication module; the data processing device is used for transmitting the data processing result to the control center;
the power supply is respectively connected with the BDS board card, the UWB chip, the IMU, the magnetometer, the barometer and the ARM processor.
2. An indoor and outdoor seamless positioning method for realizing the indoor and outdoor seamless positioning system of claim 1, comprising:
acquiring data collected by a BDS board card, a UWB chip, an IMU, a magnetometer and a barometer;
carrying out time synchronization on the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer;
and performing data fusion by adopting an extended Kalman filtering theory according to ranging information, UWB ranging signals, IMU data, magnetometer signals and barometer data which are broadcasted by the BDS satellites B1I, B1C and B3I after time synchronization and real-time precise orbit/clock error correction numbers broadcasted by the BDS B2B frequency.
3. The indoor and outdoor seamless positioning method according to claim 2, wherein the time synchronization of the BDS board card, the UWB chip, the IMU, the magnetometer, and the barometer specifically includes:
the BDS board card carries out BDS PPP resolving on ranging information broadcasted by the BDS satellites B1I, B1C and B3I frequency and real-time precise track/clock difference correction number broadcasted by the BDS B2B frequency, which are received by the BDS antenna, and determines the position and speed of the indoor and outdoor seamless positioning system and the clock error of the BDS board card receiver at the current moment;
determining the time for receiving the BDS signals according to the clock error of the BDS board card receiver and the current moment of the BDS board card;
determining the starting time of the UWB chip, the IMU, the magnetometer and the barometer based on the BDS time reference according to the difference between the time of receiving the BDS signals and the time of transmitting the data of the UWB chip, the IMU, the magnetometer and the barometer into the ARM processor and the time of transmitting the data of the BDS board card into the ARM processor;
time synchronization is performed based on the adjacent epoch time differences of the UWB chip, IMU, magnetometer, and barometer and the start time based on the BDS time reference.
4. The indoor and outdoor seamless positioning method according to claim 3, wherein the data fusion is performed by using an extended Kalman filter theory according to ranging information broadcasted by time-synchronized BDS satellites B1I, B1C and B3I, UWB ranging signals, IMU data, magnetometer signals and barometer data, and real-time precise orbit/clock difference correction numbers broadcasted by BDS B2B, and specifically comprises:
Determining attitude information of the current moment by using data of the IMU and a magnetic strength signal of the magnetometer according to the position and the speed of the indoor and outdoor seamless positioning system at the current moment;
the method comprises the steps of taking an INS system based on IMU data as a core, constructing different Kalman filtering information vectors according to data time synchronization results of an IMU, a BDS board card, a UWB chip, a magnetometer and a barometer at different moments, and carrying out data fusion to obtain fused position, speed and attitude information.
5. The indoor and outdoor seamless positioning method according to claim 3, wherein the time synchronization is performed on the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer, and specifically the method further comprises:
the lever arms of the BDS antenna and UWB antenna relative to the center of the IMU are acquired.
6. An indoor and outdoor seamless positioning system applied to the indoor and outdoor seamless positioning method of claim 2, comprising:
the data acquisition module is used for acquiring data acquired by the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer;
the time synchronization module is used for performing time synchronization on the BDS board card, the UWB chip, the IMU, the magnetometer and the barometer;
and the data fusion module is used for carrying out data fusion by adopting an extended Kalman filtering theory according to ranging information, UWB ranging signals, IMU data, magnetometer signals and barometer data which are broadcasted at the frequencies of the BDS satellites B1I, B1C and B3I after time synchronization and real-time precise orbit/clock error correction numbers broadcasted at the frequency of the BDS B2B.
7. An indoor and outdoor seamless positioning system according to claim 6, wherein the time synchronization module specifically comprises:
the BDS PPP resolving unit is used for carrying out BDS PPP resolving on ranging information which is broadcasted by BDS satellites B1I, B1C and B3I and real-time precise track/clock difference correction number which is broadcasted by BDS B2B, wherein the ranging information is received by a BDS antenna through a BDS board card, and the position and the speed of an indoor and outdoor seamless positioning system at the current moment and the clock error of a BDS board card receiver are determined;
the BDS signal receiving time determining unit is used for determining the BDS signal receiving time according to the clock error of the BDS board card receiver and the current moment of the BDS board card;
the starting time determining unit is used for determining starting times of the UWB chip, the IMU, the magnetometer and the barometer based on the BDS time reference according to the difference between the time of receiving the BDS signals and the time of transmitting the data of the UWB chip, the IMU, the magnetometer and the barometer into the ARM processor and the time of transmitting the data of the BDS board card into the ARM processor;
and the time synchronization unit is used for performing time synchronization according to the time difference of adjacent epochs of the UWB chip, the IMU, the magnetometer and the barometer and the starting time based on the BDS time reference.
8. An indoor and outdoor seamless positioning system according to claim 7, wherein the data fusion module specifically comprises:
The attitude information determining unit at the current moment is used for determining the attitude information at the current moment by utilizing the data of the IMU and the magnetic strength signal of the magnetometer according to the position and the speed of the indoor and outdoor seamless positioning system at the current moment;
and the data fusion unit is used for constructing different Kalman filtering innovation vectors by taking an INS system based on IMU data as a core according to data time synchronization results of the IMU, the BDS board card, the UWB chip, the magnetometer and the barometer at different moments, and performing data fusion to obtain fused position, speed and attitude information.
CN202210148504.2A 2022-02-18 2022-02-18 Indoor and outdoor seamless positioning system and method Pending CN114518587A (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114739390A (en) * 2022-06-13 2022-07-12 武汉地铁集团有限公司 Subway line protection zone construction project informatization management system
CN115342807A (en) * 2022-08-12 2022-11-15 全图通位置网络有限公司 Multi-source signal self-adaptive fusion positioning method and system in complex environment

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114739390A (en) * 2022-06-13 2022-07-12 武汉地铁集团有限公司 Subway line protection zone construction project informatization management system
CN115342807A (en) * 2022-08-12 2022-11-15 全图通位置网络有限公司 Multi-source signal self-adaptive fusion positioning method and system in complex environment

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