CN103048671A - New RTD (Relative Time Difference), MEMS-IMU (Micro-electromechanical Systems-Inertial Measurement Unit) and ZigBee combined high-precision seamless navigation method for global navigation satellite system - Google Patents
New RTD (Relative Time Difference), MEMS-IMU (Micro-electromechanical Systems-Inertial Measurement Unit) and ZigBee combined high-precision seamless navigation method for global navigation satellite system Download PDFInfo
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- CN103048671A CN103048671A CN201110362341XA CN201110362341A CN103048671A CN 103048671 A CN103048671 A CN 103048671A CN 201110362341X A CN201110362341X A CN 201110362341XA CN 201110362341 A CN201110362341 A CN 201110362341A CN 103048671 A CN103048671 A CN 103048671A
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Abstract
The invention provides a seamless location method based on combination of multiple sensors, which is applicable to various application fields. An optimal combination strategy is structured by utilizing a global satellite navigation system, an inertial device and other multiple sensors, and the availability selection of seamless location can be performed by reasonably using the inertial device and other wireless sensors and auxiliary sensors in an environment free from GNSS(Global Navigation Satellite System) signals and simultaneously setting up comprehensive criterions on the availability, abnormality and the like of the GNSS signals; and on the basis, an expanded Kalman filter is adopted for processing so as to realize the optimal estimation output of the seamless location.
Description
Technical field
" GNSS RTD/MEMS IMU/ZIGBEE Combination for High Precision seamless navigation new method " (be called for short AnyPos), comprehensive utilization GNSS satellite network RTD technology, radiolocation technology, effectively make up based on the Inertial Navigation Unit of MEMS; Positioning calculation when strengthening facility on the outdoor GNSS of taking full advantage of ground and obtaining the difference text and carry out high-precision real, positioning calculation when the indoor and outdoor occasion is undertaken covering the high-precision real of occasion without navigation satellite signal by the ZIGBEE sensor base station of laying in advance, utilize simultaneously the inertia module based on MEMS, auxiliary attitude, speed, acceleration information under the blind area, location is provided.
Main creation point of the present invention provides a kind of high precision seamless positioning method, can be effectively with indoor positioning, and outdoor positioning, and auxiliary attitude information combines under the blind area, location.The mode of combination is to bind in twos, namely " RTD+MEMS " reaches " MEMS+ZIGBEE ", application scenarios comprises: 1) Real Time Monitoring, the bootup process of valuables or equipment such as historical relic, the collection artwork etc., when monitored target goes to museum, a certain exhibition center from the departure place, the GNSS signal often can't receive at the scene, then need to use the IMU/ZIGBEE signal and carry out indoor positioning this moment, and the position of monitored target often needs accurately known, could improve the efficient of the judgement decision-making of monitoring side.2) old man, children, patient's monitoring is in case can obtain real-time relief when the phenomenon such as getting lost, wandering away.3) miner's underground safety monitoring is in real time rescue of mine provides technical support.According to these demands, the method is proposed just.
Above information is carried out fusion treatment, thereby under the application scenario in all case, obtain in real time the parameters such as high precision position that the user is concerned about, speed, attitude, this kind technology is particularly useful for when the high-precision real of any switching transition of indoor and outdoor the location occasion, the intelligently guiding that moves such as precision equipment, the mobile management of valuable asset etc.
Background technology
The realization prerequisite of the seamless location technology of high precision is under with/without the environment of navigation satellite signal, occasion, take full advantage of radio signal such as GNSS, Wi-Fi, the ZIGBEE etc. of extensive existence, and take information such as the speed that inertia device was provided of MEMS, acceleration, attitudes as the basis, comprehensively carry out fusion treatment, thereby under the application scenario in all case, obtain in real time the parameters such as high precision position that the user is concerned about, speed, attitude; Its background technology mainly is divided into following a few class.
1) outdoor positioning (GNSS RTD) technology:
In the outdoor positioning occasion, by the GNSS hand-held set module that has cured, leverage fully on the navigation satellite signal of Global coverage, the high precision satellite difference that associating GNSS ground enhancing system such as CORS provide corrects signal, carrier phase measurement value based on precision measurement, utilize differential technique, realize the output up to the positioning result of centimetre magnitude.
2) indoor positioning (ZIGBEE RSSI) technology:
In the indoor positioning occasion, ZigBee base station by extensive laying, on the fully synchronous basis of equipment, based on signal intensity attenuation observation-distance relation model, the distance value that obtains, in conjunction with the sensor base station coordinates of Accurate Calibration in advance, by the computing method of Distance Intersection, realize the positioning result output of meter level.
3) auxiliary positioning (MEMS IMU) technology:
In blind area, the restricted location of indoor and outdoor radio signal, utilize the MEMS device that embeds to be assisted, general using IMU assembly by the principle of inertia measurement, is exported the in short-term parameters such as high accuracy three-dimensional position, acceleration/speed, attitude.This kind assistant positioning system can in the situation that indoor positioning and/or outdoor positioning are in the blind area, help indoor positioning and outdoor positioning to carry out positioning action.
4) Data fusion technique:
Utilize some observation information such as GNSS, IMU, the ZIGBEE etc. of computing machine to obtaining chronologically, automatic analysis, comprehensive in addition under certain criterion, the information processing of carrying out to finish required decision-making and evaluation tasks.Comprise collection, transmission, comprehensive, the filtration, relevant and synthetic of the useful information that various information sources are provided.
Summary of the invention
At present, the occasion of outdoor positioning and application are general all the more and means are few, mainly concentrate on satellite navigation, inertial equipment etc., from simple individual/popular consumer electronics, such as handheld terminals such as the mobile phone of GNSS/DR/COMPASS combination, PDA, to complicated professional positioning equipment, such as RTD receiver terminal, multi-functional professional GNSS hand-held set etc.
And aspect the indoor positioning scene, mainly be the radiotelegraphys such as HS-GNSS, CDMA, Wi-Fi, RFID, ZigBee, under relevant infrastructure is relied on, the equipment of indoor positioning is formulated corresponding standard and product not yet specially, common mainly is the product that the companies such as WhereNet, Ekahau, Ubisense formulate according to the single wireless electric signal, and bearing accuracy is not high.
This invention aiming indoor/outdoor is switched arbitrarily, the hi-Fix of seamless transitions is used, the production service situation.In above-mentioned scene, the intelligently guiding that moves such as precision equipment, the mobile management of valuable asset etc., the positional information of destination carrier is particularly most important, therefore the degree of accuracy of location has been proposed very high requirement, has generally all reached the decimetre magnitude; Simultaneously, the scene of location often need to be switched arbitrarily and seamless transitions between indoor/outdoor.The transition here refers in the blind area that no signal covers, and utilizes auxiliary MEMS to carry out the process of short transition.
To sum up, solely rely on navigation satellite signal or a certain indoor positioning signal, be difficult to satisfy above demand; And, in some of short duration blind area, location, when any radio signal all can't play a role, often need the means of autonomous location to be assisted, with the transition of realization position fixing process, thus the seamless location of realizing indoor and outdoor.Therefore also need introduce the MEMS device, such as IMU etc., provide the parameters such as necessary three-dimensional position, acceleration/speed, attitude.
In order to overcome above-mentioned weak point, fundamental purpose of the present invention is intended to by RTD, IMU, ZigBee separately on the data basis of Real-time Collection, a kind of blending algorithm of multi sensor combination is provided, this algorithm can be effectively with the real-time pseudo range difference algorithm in the Navsat location, be closely linked with the algorithm of RSSI and auxiliary inertia attitude orientation measurement result in the ZigBee location, thereby realize the highly reliable navigator fix of real-time seamless high precision.
Another object of the present invention aims to provide a kind of flexibly station-keeping mode changing method, counts the whether judgement of these two kinds of conditions of tracking of threshold value, strong and weak signals by visible satellite, carries out the pattern of seamless location, and this determination methods is simple, reliable, effectively.
In general, the necessary condition of carrying out the GNSS location is that number of satellite is no less than 4, calculates to finish navigator fix, and when the satellite number was less than 4, the GNSS bearing accuracy obviously descended; Even and if another kind of situation be the satellite number greater than 4 when waiting environmental impact so that the satellite signal to noise ratio (S/N ratio) is very weak owing to being subject to blocking shielding, general below 20dB-Hz in, need employing MEMS auxiliary positioning pattern; And when satellite-signal loses fully, namely enter the indoor positioning occasion, just need to carry out the ZigBee/IMU station-keeping mode.
The invention allows for a kind of high precision space-time datum unified approach for the different sensors kind, mainly in seamless location infrastructure construction process, implement, when lay the ZigBee base station, need to demarcate its coordinate, as prior imformation; In addition in data fusion process, ZigBee ﹠amp; MEMS and RTD ﹠amp; The coordinate system of positioning result data is also inconsistent under two kinds of patterns of MEMS, therefore need to carry out coordinate conversion.
Because what GLONASS (Global Navigation Satellite System) was used is the solid space coordinates of ground heart, and the use of ZigBee system is self-defined coordinate system, IMU is inertial coordinates system simultaneously, therefore with the unique coordinate system of GNSS world coordinate system as these space coordinates, be about to other coordinate system coordinate conversion and arrive below WGS 84 coordinate systems.Here means by fine measuring instrument such as total powerstation, the sensor location coordinates reckoning is converted in the coordinate of GLONASS (Global Navigation Satellite System), thereby the space reference of having realized two kinds of indoor and outdoor positioning signal sources is consistent, and the inertial coordinates system naturalization mainly is based on the method for attitude conversion to the method for the earth's core body-fixed coordinate system.
For time reference, because the global navigational satellite signal is based on a self-defining cover time system, major parameter is all numbers and second in week, and the use of ZigBee system is different time references, therefore two kinds of time systems need to be made a kind of projectional technique of mutual naturalization, what the present invention used is: first the time mark of GNSS signal is carried out continuous recording, on to the level and smooth basis of sampling, be the UTC time format with the as a result naturalization of level and smooth time, while carries out mutual deviation with the time on the ZigBee and judges, on the prerequisite of 100 time marks of continuous sampling, its 100 mutual deviation numerical value are averaged, end product is brought in the time synchronized output.
Time synchronized is in the transition occasion from outdoor to indoor, and the calibration of the temporal information in the auxiliary positioning pattern, when motion carrier enters indoor the time from outdoor, GNSS locating information before needing this moment to use, locating information has time mark often, therefore and the GNSS time system is more accurate than ZigBee time system, need to be with ZigBee time naturalization to GNSS on the time, to realize synchronously.
On the basis of above-mentioned work, the invention provides a kind of active data blending algorithm, by technology such as use EKF, the data of multiple sensors are at first judged and mated, as only using the combination of GNSS/IMU under at outdoor environment, only use the combination of ZigBee/IMU under indoor environment, the present invention only limits to above-mentioned two kinds of array modes.On this basis, carry out concrete data fusion, utilize the attitude parameters such as three-dimensional Geographical Coordinates Parameter, speed, position angle of the output of sensor separately, carry out extendible Kalman filter to process so that the positional parameter of last output is stable, reliable, effectively.
In addition, the invention provides a kind of computing mode of operation based on server, and subscriber equipment itself does not carry out the calculating based on certain sensor, but by sending computation requests and calculating required observation data to server, server carries out concrete computing engines by compute type and selects to process, again result of calculation is sent to the user, the user carries out concrete Data Fusion in conjunction with various result of calculations.
The main technical flows figure of this invention is as follows.
Fig. 1
The station-keeping mode matching judgment:In user terminal, by relevant startup is set, judge this moment the GNSS signal whether can, if unavailable (be that the GNSS signal can't receive fully, the usable satellite number is zero) then is defaulted as the indoor positioning pattern, change step 2. over to, carry out the ZigBee location Calculation.
Start ZIGBEE location Calculation engine: start ZigBee positioning label in the terminal this moment, and label is sent to its id information in the ZigBee calculation server, and server will be identified it, and determine synchronously the information of its neighbor base station, so that ZigBee location Calculation engine is ready.
Start GNSS location Calculation engine:In the situation that the GNSS signal can be used, terminal by RTCM difference message format, is sent to the RTD calculation server with its Pseudo-range Observations, rough coordinates by wireless communication link, server will distinguish it, and synchronously to CORS network server download network RTD data.
Duty activates:Unavailable when the ZigBee signal, perhaps in the disabled situation of GNSS signal, the actuating MEMS module is carried out work, carries out auxiliary positioning and calculates.
Carrying out RSSI calculates:The main location algorithm of ZigBee is the RSSI pattern, the ZigBee calculation server will be judged the signal power decay between receiving end and the transmitting terminal this moment, calculate geometric distance according to power-distance model, press weighted mass center algorithm and RSSI location fingerprint location Calculation, and the result is sent to user terminal.
Carry out the RTD location Calculation:The RTD calculation server carried out user terminal and both data of CORS server synchronously and coupling, thereby carried out the RTD Difference Calculation, and the result is sent to user terminal this moment.
Carry out the MEMS auxiliary positioning:As initialization input ZigBee locating information or GNSS locating information by configuration order this moment, estimates etc. by peak detection and position angle, obtains the locating information under the blind area, location.
Data fusion is calculated:User terminal gathers various positioning result data inputs, starts Kalman filter, carries out data fusion computation process.
Elaborating of technical solution of the present invention.
1) working foundation of this invention mainly relies on the altitude combination of RTD, IMU, each module of ZigBee, and chief component has GNSS-RTD module, ZigBee positioning label, IMU module, signal converting circuit board, master control version, GPRS wireless communication module, calculation server etc.For master control borad, its chief component has: micro-control unit, power supply power conversion, signal indicating circuit etc.Below describe in detail.
2) power on after, equipment carries out initial work, the work such as the GNSS module will be searched star, caught, tracking, the ZigBee positioning label is with near the sensor base station signal the automatic search, and the MEMS module will be carried out self check.Self check is exactly initialization, the duty of checking module etc.
3) after initialization finishes, the GNSS module will provide concrete satellites in view quantity, and corresponding satellite signal receiving power, and signal carried out a series of processing and calculating, obtain user's GNSS coordinate figure roughly, and being converted into the local coordinate form of N/E/U, this moment is in order to judge the concrete state of localizing environment.
4) if navigation satellite signal can use, observe 4 above GNSS satellites, and satellite-signal signal to noise ratio (S/N ratio) intensity is not less than 20dBHz, then carry out outdoor positioning computation schema (otherwise redirect is the 7th) step), this moment, module utilized the Type 17/18/19 text standard of RTCM definition to encode, the useful contents such as the real-time satellite Pseudo-range Observations of serial communication interface (this serial ports the meets the RS-232 level standard) output by the GNSS module, carrier-to-noise ratio, and send RTCM text based on above observed reading to calculation server by the GPRS wireless communication module.
5) calculation server is after receiving the request of user RTCM text, position according to the user sends authorization requests to the network differential service, automatically generate the high accuracy pseudo range differential correcting data based on reference station network, simultaneously process calculating based on the certain position model of RTD, thereby calculate this user's high precision position, and positioning result is sent to the user, this coordinate data is included in the $ GPGGA statement that defines according to NMEA-0183, and $ GPGGA statement is a character string take comma as separator.
6) user is after receiving the positioning result that calculation server is accurately processed, log-on data fusion calculation engine, together with useful informations such as the attitude of MEMS output, speed, step-lengths, finally export the user reliable, accurately, comprehensive locating information.
7) when navigation satellite signal is unavailable, subscriber equipment sends concrete status request by the GPRS communication link to calculation server, calculation server will start ultra broadband computing engine this moment, this engine will be inquired about the ZigBee positioning label identity state on the authorized user, and together with near sensor the base station data available positioning label, carry out time synchronizing, then carry out apart from computing, judge simultaneously the intervisibility state between label and the base station, if available, export accurate N/E/U D coordinates value, and be sent on the subscriber equipment.
8) user is after receiving the positioning result that calculation server is accurately processed, log-on data fusion calculation engine, together with useful informations such as the attitude of MEMS output, speed, step-lengths, finally export the user reliable, accurately, comprehensive locating information.
System Working Principle figure
Fig. 2
The specific works flow process is seen above step.
Claims (6)
1. the determination methods of navigator fix pattern.
2. method of data synchronization in the navigational system location Calculation.
3.ZigBee real-time location algorithm.
4. the high precision space-time datum unified approach of different sensors.
5. computing mode of operation based on server.
6.GNSS RTD/MEMS IMU/ZIGBEE combined system data fusion is calculated.
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| CN103499826A (en) * | 2013-09-09 | 2014-01-08 | 中国船舶重工集团公司第七0九研究所 | Graded seamless switching method used for GPS / BeiDou-2 double-system satellite navigation receiver |
| CN103517361A (en) * | 2013-10-25 | 2014-01-15 | 北京航空航天大学 | Seamless indoor and outdoor positioning switching method |
| CN104507045A (en) * | 2014-11-26 | 2015-04-08 | 成都智信优创科技有限公司 | A communication system for special crowds |
| CN105157707A (en) * | 2015-09-30 | 2015-12-16 | 努比亚技术有限公司 | Navigation device and method |
| CN105592423A (en) * | 2016-03-04 | 2016-05-18 | 广州万物信息科技有限公司 | Vehicular antitheft tracking system |
| CN105973242A (en) * | 2016-06-14 | 2016-09-28 | 夏烬楚 | High-precision outdoor and indoor combined navigation and positioning system |
| CN106610498A (en) * | 2015-10-22 | 2017-05-03 | 北京金坤科创技术有限公司 | Embedded intelligent positioning terminal design |
| CN106612544A (en) * | 2015-10-22 | 2017-05-03 | 北京金坤科创技术有限公司 | Embedded intelligent microcell design |
| CN108267765A (en) * | 2018-03-13 | 2018-07-10 | 北京沙谷科技有限责任公司 | Use the MEMS integrated navigation modeling methods of imperfect GNSS information |
| CN109490931A (en) * | 2018-09-03 | 2019-03-19 | 天津远度科技有限公司 | Flight localization method, device and unmanned plane |
| CN109579830A (en) * | 2017-09-29 | 2019-04-05 | 长沙理工大学 | The air navigation aid and navigation system of intelligent robot |
| CN109699007A (en) * | 2018-12-29 | 2019-04-30 | 北京航空航天大学苏州创新研究院 | A kind of seamless gradual change navigation transition method of indoor and outdoor |
| CN109743776A (en) * | 2018-11-27 | 2019-05-10 | 中国科学院光电研究院 | A kind of base station networking method for synchronizing time based on GNSS |
| CN111092917A (en) * | 2018-10-23 | 2020-05-01 | 千寻位置网络有限公司 | Method and device for providing positioning navigation service and service system |
| CN111474561A (en) * | 2020-04-24 | 2020-07-31 | 深圳国信泰富科技有限公司 | Positioning system suitable for intelligent robot |
| CN112484753A (en) * | 2020-12-04 | 2021-03-12 | 瑞驰博方（北京）科技有限公司 | Dynamic positioning accuracy evaluation system, method, device, equipment and storage medium |
| CN112526572A (en) * | 2020-11-30 | 2021-03-19 | 湘潭大学 | Network switching method and positioning system for indoor and outdoor seamless navigation |
| CN113625321A (en) * | 2021-07-24 | 2021-11-09 | 全图通位置网络有限公司 | Rail transit indoor and outdoor integrated navigation method, device, equipment and storage medium |
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| CN103499826A (en) * | 2013-09-09 | 2014-01-08 | 中国船舶重工集团公司第七0九研究所 | Graded seamless switching method used for GPS / BeiDou-2 double-system satellite navigation receiver |
| CN103517361A (en) * | 2013-10-25 | 2014-01-15 | 北京航空航天大学 | Seamless indoor and outdoor positioning switching method |
| CN103517361B (en) * | 2013-10-25 | 2016-07-06 | 北京航空航天大学 | A kind of indoor and outdoor seamless location changing method |
| CN104507045A (en) * | 2014-11-26 | 2015-04-08 | 成都智信优创科技有限公司 | A communication system for special crowds |
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| CN105157707A (en) * | 2015-09-30 | 2015-12-16 | 努比亚技术有限公司 | Navigation device and method |
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| CN105973242A (en) * | 2016-06-14 | 2016-09-28 | 夏烬楚 | High-precision outdoor and indoor combined navigation and positioning system |
| CN109579830A (en) * | 2017-09-29 | 2019-04-05 | 长沙理工大学 | The air navigation aid and navigation system of intelligent robot |
| CN108267765B (en) * | 2018-03-13 | 2021-08-03 | 北京沙谷科技有限责任公司 | MEMS combined navigation modeling method using incomplete GNSS information |
| CN108267765A (en) * | 2018-03-13 | 2018-07-10 | 北京沙谷科技有限责任公司 | Use the MEMS integrated navigation modeling methods of imperfect GNSS information |
| CN109490931A (en) * | 2018-09-03 | 2019-03-19 | 天津远度科技有限公司 | Flight localization method, device and unmanned plane |
| CN111092917A (en) * | 2018-10-23 | 2020-05-01 | 千寻位置网络有限公司 | Method and device for providing positioning navigation service and service system |
| CN109743776B (en) * | 2018-11-27 | 2020-12-15 | 中国科学院光电研究院 | Base station networking time synchronization method based on GNSS |
| CN109743776A (en) * | 2018-11-27 | 2019-05-10 | 中国科学院光电研究院 | A kind of base station networking method for synchronizing time based on GNSS |
| CN109699007A (en) * | 2018-12-29 | 2019-04-30 | 北京航空航天大学苏州创新研究院 | A kind of seamless gradual change navigation transition method of indoor and outdoor |
| CN111474561A (en) * | 2020-04-24 | 2020-07-31 | 深圳国信泰富科技有限公司 | Positioning system suitable for intelligent robot |
| CN111474561B (en) * | 2020-04-24 | 2022-08-12 | 深圳国信泰富科技有限公司 | Positioning system suitable for intelligent robot |
| CN112526572A (en) * | 2020-11-30 | 2021-03-19 | 湘潭大学 | Network switching method and positioning system for indoor and outdoor seamless navigation |
| CN112526572B (en) * | 2020-11-30 | 2022-08-30 | 湘潭大学 | Network switching method and positioning system for indoor and outdoor seamless navigation |
| CN112484753A (en) * | 2020-12-04 | 2021-03-12 | 瑞驰博方（北京）科技有限公司 | Dynamic positioning accuracy evaluation system, method, device, equipment and storage medium |
| CN113625321A (en) * | 2021-07-24 | 2021-11-09 | 全图通位置网络有限公司 | Rail transit indoor and outdoor integrated navigation method, device, equipment and storage medium |
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Application publication date: 20130417 |