CN104459749A - Positioning method and device capable of correcting base station positioning - Google Patents
Positioning method and device capable of correcting base station positioning Download PDFInfo
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- CN104459749A CN104459749A CN201410716814.5A CN201410716814A CN104459749A CN 104459749 A CN104459749 A CN 104459749A CN 201410716814 A CN201410716814 A CN 201410716814A CN 104459749 A CN104459749 A CN 104459749A
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- satellite positioning
- location
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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
Abstract
The invention relates to a positioning method and device capable of correcting base station positioning. The device mainly comprises a computation module (a CPU), a storage module, a timing module (a clock), a pedometer, a satellite positioning module (a GPS chip), a base station positioning module (a base band chip) and a corresponding circuit and software system. The device can be integrated in objects such as a watch and the position is acquired mainly through satellite positioning and base station positioning. When the device is switched to a base station positioning mode from a satellite positioning mode, and due to the fact that base station positioning is large in error, the positioning position suddenly deviates greatly; when the distance between the final satellite positioning position and the latest base station positioning position is larger than a certain threshold value, the estimated motion distance is computed through data returned by the satellite positioning module and the step number returned by the pedometer, and combined with the motion direction, the estimated position is computed. When the estimated motion distance is far smaller than the distance between the base station positioning position and the satellite positioning position, the estimated position is adopted as the final position, so that the position accuracy is improved.
Description
Technical field
The present invention relates generally to field of locating technology, especially wearable satnav and base station positioning method and device.
Background technology
Current locating device generally uses satnav and architecture.Satnav precision is high, but in building, tunnel etc. cannot use without the place of satellite positioning signal.Architecture precision is low, cannot meet pinpoint requirement.When entering the position without satellite positioning signal such as building, tunnel, underground station due to user and causing device to be switched to architecture from satnav, positioning precision can decline suddenly, and cause the position obtained before and after switching that larger skew occurs, namely satnav result and architecture result have relatively large deviation.
Summary of the invention
The technical issues that need to address of the present invention are, when device is switched to architecture from satnav, avoid position that larger skew occurs suddenly.Main method is, by the step number of passometer record and the positional information obtained before losing satellite positioning signal and directional information, corrects, to improve positioning precision to architecture result.
Concrete technical scheme is: this device mainly comprises computing module (CPU), memory module, timing module (clock), passometer, satellite positioning module (GPS chip), architecture module (baseband chip) and corresponding circuit and software systems.Structural drawing please refer to accompanying drawing 1.
Concrete grammar is, when there being satellite positioning signal, this device relies on satnav to obtain positional information, and press certain hour interval (such as 20 seconds, hereinafter referred to as record with the time interval) record and the system time preserved nearest a period of time in (such as 5 minutes) and satellite positioning module obtain position, direction of motion and passometer step number.If satellite positioning module does not have Return-ing direction information, then record null value.
After continuous recording data exceed certain hour (such as 5 minutes), abandon the oldest data and preserve the data of state-of-the-art record.Such as from 00:00:00, every 20 seconds records once, during to 00:05:20 second, are deleted the data of 00:00:00, are preserved the data of 00:05:20.
When losing satellite positioning signal, retain above recorded data for the calculating of estimated position, until again successfully carry out satnav.
When losing satellite positioning signal and obtain architecture position, record obtains the step number of time of architecture position, position location and passometer, and calculates the distance of satellite positioning location and the up-to-date architecture position obtained finally obtained.If both distances exceed the threshold (such as 100 meters) of systemic presupposition, then adopt the step number between the last satnav of passometer record to up-to-date architecture (step number when deducting satnav by step number during architecture obtains) to be multiplied by step size computation and go out estimating motion distance.
Using the last satellite positioning location of device record as reference point, add estimating motion distance, be aided with direction of motion information, just can calculate estimated position.
Direction of motion information obtains from the satellite positioning information of device record.If the satellite positioning information of record only has one and do not comprise direction of motion information in these data, then adopt the direction (such as due east) that system pre-sets.If the satellite location data of record is more than one, and does not comprise directional information in up-to-date data, then calculate directional information with the line of the satellite positioning location in up-to-date two data.
If estimating motion distance is less than (being such as less than half) the up-to-date satnav of device record and the positional distance of up-to-date architecture, then think that base station location information is unreliable, thus use estimated position as position location.If instead estimating motion distance does not have the positional distance much smaller than satnav and architecture, then adopt architecture result as position location.
If the distance of the up-to-date satellite positioning location of device record and up-to-date architecture position is no more than the threshold (such as 100 meters) of systemic presupposition, then architecture result is not corrected.
Step-length is obtained divided by step number interior during this period of time by the distance of last twice satellite positioning location of (in such as 5 minutes) in nearest a period of time of device record.If the step value calculated exceeds normal range (such as step value be less than 0.2 meter or be greater than 1.5 meters), or during this period of time in step number be 0, then adopt the step value of systemic presupposition.If there is no twice satellite location data or step count data in the data in nearest a period of time (such as 5 minutes) that device is preserved, then also adopt the step value of systemic presupposition.
In order to saves energy, just device only opens architecture function after satnav failure, and close architecture function immediately after satnav again success.
Foregoing lose satellite positioning signal and satnav failure, its criterion is, satellite positioning module does not obtain satellite positioning location information in certain hour (such as 1 minute), or the number of satellite that detects of satellite positioning module by be more than or equal to three be reduced to less than three time.In this manual, the implication losing satellite positioning signal and satnav failure is equivalent, namely no matter lose satellite positioning signal or satnav failure, all need to judge by foregoing 2 criterions, meet any one criterion and namely think that condition is set up.
After losing satellite positioning signal,
If again obtain satellite positioning signal and successfully locate before architecture success, then continuous data is used as to the data of whole process and carries out recording processing, think that satnav is continuously successfully;
If again obtain satellite positioning signal and successfully carry out satnav after architecture success, then delete the total datas such as the step number of the system time, satellite positioning location, direction of motion and the passometer that record above, passometer counts again from 0, device restart to record and saved system time and satellite positioning module obtain position, direction of motion and passometer step number, and record also restarts timing with the time interval;
Such as, device successfully have recorded satellite location data at 01:00:00,01:00:20, when 01:00:40 attempts record data, discovery cannot obtain satellite positioning location, so again attempt to obtain satellite positioning location, through retry repeatedly, after 1 minute, still cannot obtain satellite positioning location, so open architecture at 01:01:40:
If after 3 seconds, not yet obtain architecture position at unlatching architecture, just successfully achieve satellite positioning location.So the data of device record are 01:00:00,01:00:20,01:01:43,01:02:00 etc., namely the data of whole process record are considered as continuous recording data, within the time period of satnav failure, record does not change with the timing in the time interval, and the time not obtaining satellite positioning location then refuses record;
If unlatching architecture after 3 seconds success obtain architecture position, then spend again 1 second and just obtain satellite positioning location, data then before 01:01:43 all can be deleted, new satellite location data records series is: 01:01:44,01:02:04,01:02:24,01:02:44, i.e. record time interval reclocking from new Article 1 record.
After this device enters open state from off-mode opening power, first timing module carries out time synchronized by baseband chip connection data in mobile phone network, and deletes the data of all records, and then passometer resets, restart counting, then open satnav.After this satnav is in opening always, until powered-down.
After power-on, after satnav success first, record and just start timing with the time interval, record the position of this satnav, directional information and passometer information simultaneously.Timing time reaches default record when using the time interval, and device records the position of satnav, directional information and passometer information again, restarts timing simultaneously.
Until satnav success first after the start of this device, owing to failing to be recorded to satellite positioning information, so can not correct architecture result.
Specific embodiment:
As shown in Figure 2, suppose user the morning 10:00:00 come certain doorway, market (namely putting A), now still have satellite positioning signal, and obtain and have recorded last satellite positioning information, and satellite positioning information display direction of motion be eastwards.And 9:59:40 before this also once success obtain and have recorded a satellite positioning information.After user enters doorway, market, satellite positioning signal disappears, and is now switched to architecture.Architecture success after 10 seconds, but architecture result display user is being positioned at from the position (namely putting C) outside doorway, market (namely last GPS position location) 300 meters.
After architecture success, this device compares last GPS position location and up-to-date architecture position, both discoveries gap 300 meters, has exceeded the threshold (100 meters) preset.Then this device obtains up-to-date twice GPS position location (i.e. 9:59:40 and 10:00:00 twice), and calculating spacing is 20 meters, and passometer to show in this twice positioning intervals walking 30 steps, then average step length is 20/30=0.66 rice.Passometer also to show in 10 seconds between last satnav to up-to-date architecture user's walking 15 steps, show that the estimating motion distance value of user is 0.66x15=10 rice (namely putting the position of B).10 meters much smaller than 300 meters (being namely less than the half 150 meters of 300 meters), so this device is judged as that architecture error is excessive, the position of estimation user is that last GPS position location (namely put A, that is doorway, market) is toward 10 meters of (namely putting B) in east.
Above [0020] example in, if user to stop a little while on doorway, market, cause the satellite positioning signal now finally obtained there is no return movement directional information, then get the line of twice satellite positioning location nearest before entering doorway, market to calculate direction of motion.Suppose the line display direction of motion of twice nearest satellite positioning location eastwards; The distance of two positions is 20 meters, and passometer to show between twice location walking 30 steps, then average step length is 0.66 meter.Still suppose that the difference of last satnav successful time and architecture successful time is 10 seconds, in these 10 seconds, passometer shows user's walking 15 steps, and the step-length gone out according to previous calculations 0.66 meter, then estimating motion distance is 10 meters.Much smaller than 300 meters (being namely less than the half 150 meters of 300 meters), so this device is judged as that architecture error is excessive, estimate that the position of user is last 10 meters of (namely putting B) in the past east of satellite positioning location (i.e. doorway, market) for 10 meters.
Above [0020] example in, if user just from the market on road opposite out, this market is entered after crossing street, a satellite positioning signal is achieved by chance on this doorway, market, only have this time satellite location data in the data of then now this device record, and the satellite location data originally recorded before entering market, road opposite is all deleted.Suppose also do not have return movement directional information in this unique satellite location data, then direction of motion uses the direction (such as eastwards) that system pre-sets, the step value (such as 0.5 meter) that step-length adopts system to pre-set.If passometer arrives the front walking altogether of architecture success 20 steps after showing last satnav success, then estimating motion distance is 0.5x20=10 rice, and the estimated position of user is last 10 meters of (namely putting B) in the past east of satellite positioning location (i.e. doorway, market).
Above [0020] example in, if user takes taxi and arrives doorway, market, enter market after getting off at once, although then this device have recorded repeatedly satellite location data (can obtain satellite positioning signal in taxi), but for 0(, the step number in twice satnav interval of passometer record but supposes that taxi is relatively more steady, so that passometer can not detect step number).Then now step-length also adopts default step value.
Above [0020] example in, if user has paced a few minutes back and forth on doorway, market, the distance of last twice satellite positioning location is caused to be 1 meter, and step number is 10, then the result of calculation of step-length is 0.1 meter, obviously not in normal range (0.2 ~ 1.5 meter), now also adopt the step value that system pre-sets.
Above [0020] example in, if user arrives doorway, market at 10:00:10 and enters market, although now also can satellite positioning information be obtained, but because this device is every 20 seconds record one secondary data, so still using the data of 10:00:00 record as up-to-date satellite location data.
In order to upper method, with regard to avoiding or alleviate the excessive problem of architecture error to a certain extent, improve the precision of location.
This device needs power supply to run.When this device be embedded into wrist-watch etc. containing the equipment of power supply in time, can common source, also can use independent current source; When this device be embedded into sole etc. containing the article of power supply in time, need to use independent current source.Independent current source uses rechargeable battery usually.
This device needs installation SIM card and opens mobile data network service just to carry out architecture and time synchronized by baseband chip.
[0030] describe not limitation of the present invention more than, all data in above-described embodiment are all example values.In addition, satnav also can adopt Big Dipper location or mixed positioning etc.; Computing module, memory module, timing module, architecture module also can be incorporated in a chip module such as baseband chip; Some baseband chip comprises radio-frequency module, and also some baseband chip needs matching RF chip; Step-length also can according to employing crowd average step length etc.The replacement of this type of similar technical scheme does not make the essence of appropriate technical solution depart from the spirit and scope of the present invention.
Accompanying drawing explanation
Fig. 1 is apparatus structure schematic diagram.
Fig. 2 is embodiment base station therefor location correcting method schematic diagram.
Claims (6)
1. the localization method corrected architecture of energy and a device, is characterized in that: comprise computing module, memory module, timing module, passometer, satellite positioning module, architecture module and corresponding circuit and software systems; Can when there being satellite positioning signal by certain hour interval record satellite positioning information and step information, clocking information; And estimated position can be calculated according to these information; And can correct architecture result with estimated position, to improve the precision of location.
2. according to claim 1ly calculate estimated position, it is characterized in that, using the up-to-date satellite positioning location of device record as reference position, add estimating motion distance, be aided with direction of motion information, calculate estimated position.
3. estimating motion distance according to claim 2, is characterized in that, adopts the last satnav success of passometer record and the step number in the up-to-date architecture successful time interval to be multiplied by step-length, calculates estimating motion distance.
4. direction of motion according to claim 2, is characterized in that, comprises direction of motion information, then adopt this direction of motion if had in the up-to-date satellite positioning information of device record; If do not comprise direction of motion in up-to-date satellite positioning information, then the method for twice up-to-date satellite positioning location line of device record is adopted to calculate direction of motion; If only there is a satellite positioning information in the data of device record, and also do not comprise direction of motion information in an only satellite positioning information, then adopt the direction that system pre-sets.
5. step-length according to claim 3, is characterized in that, gets the air line distance of twice up-to-date satellite positioning location of device record, divided by the step number in the time interval of this twice location, calculates step value; If there is not twice satellite location data or step count data in the data of device record, or the step number in the time interval of this twice location is 0, or the step value calculated exceeds normal range, then use the step value of systemic presupposition.
6. according to claim 1 architecture result to be corrected, it is characterized in that, first calculate up-to-date architecture position and the distance of up-to-date satellite positioning location; If this distance exceedes the threshold of systemic presupposition, then compare with this distance and estimating motion distance, if the latter is much smaller than the former, then using estimated position as final position location, otherwise using architecture position as final position location; If the distance of up-to-date architecture position and up-to-date satellite positioning location does not exceed the threshold of systemic presupposition or device fails to be recorded to satellite positioning information, then architecture result is not corrected.
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| CN201410716814.5A CN104459749A (en) | 2014-12-02 | 2014-12-02 | Positioning method and device capable of correcting base station positioning |
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| CN105527642A (en) * | 2016-01-22 | 2016-04-27 | 北京日月九天科技有限公司 | Single star positioning device and a method |
| CN105527643A (en) * | 2015-12-22 | 2016-04-27 | 北京奇虎科技有限公司 | Positioning method for mobile terminal and mobile terminal |
| CN105629283A (en) * | 2015-12-22 | 2016-06-01 | 北京奇虎科技有限公司 | Mobile terminal positioning method and mobile terminal |
| CN106028445A (en) * | 2016-07-04 | 2016-10-12 | 百度在线网络技术（北京）有限公司 | Method and apparatus for determining positioning accuracy |
| CN106504484A (en) * | 2016-11-23 | 2017-03-15 | 成都四威电子有限公司成都星石科技分公司 | A kind of article losing-proof method for tracing |
| WO2017092647A1 (en) * | 2015-11-30 | 2017-06-08 | 北京奇虎科技有限公司 | Positioning device positioning mode switching method and system |
| CN109238303A (en) * | 2018-10-25 | 2019-01-18 | 麒麟合盛网络技术股份有限公司 | A kind of exercise data compensation method and device |
| CN111356152A (en) * | 2018-12-20 | 2020-06-30 | 中国移动通信集团辽宁有限公司 | Base station position correction method, device, equipment and medium |
| CN113038599A (en) * | 2021-03-10 | 2021-06-25 | 中体彩科技发展有限公司 | Base station triangulation method and system based on NB-IoT network |
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| WO2017092647A1 (en) * | 2015-11-30 | 2017-06-08 | 北京奇虎科技有限公司 | Positioning device positioning mode switching method and system |
| CN105527643A (en) * | 2015-12-22 | 2016-04-27 | 北京奇虎科技有限公司 | Positioning method for mobile terminal and mobile terminal |
| CN105629283A (en) * | 2015-12-22 | 2016-06-01 | 北京奇虎科技有限公司 | Mobile terminal positioning method and mobile terminal |
| CN105527643B (en) * | 2015-12-22 | 2019-06-04 | 北京奇虎科技有限公司 | The localization method and mobile terminal of mobile terminal |
| CN105527642B (en) * | 2016-01-22 | 2018-03-30 | 北京日月九天科技有限公司 | A kind of single star positioner and method |
| CN105527642A (en) * | 2016-01-22 | 2016-04-27 | 北京日月九天科技有限公司 | Single star positioning device and a method |
| CN106028445A (en) * | 2016-07-04 | 2016-10-12 | 百度在线网络技术（北京）有限公司 | Method and apparatus for determining positioning accuracy |
| CN106504484A (en) * | 2016-11-23 | 2017-03-15 | 成都四威电子有限公司成都星石科技分公司 | A kind of article losing-proof method for tracing |
| CN109238303A (en) * | 2018-10-25 | 2019-01-18 | 麒麟合盛网络技术股份有限公司 | A kind of exercise data compensation method and device |
| CN111356152A (en) * | 2018-12-20 | 2020-06-30 | 中国移动通信集团辽宁有限公司 | Base station position correction method, device, equipment and medium |
| CN111356152B (en) * | 2018-12-20 | 2023-11-21 | 中国移动通信集团辽宁有限公司 | Base station position correction method, device, equipment and medium |
| CN113038599A (en) * | 2021-03-10 | 2021-06-25 | 中体彩科技发展有限公司 | Base station triangulation method and system based on NB-IoT network |
| CN113038599B (en) * | 2021-03-10 | 2022-04-29 | 中体彩科技发展有限公司 | Base station triangulation method and system based on NB-IoT network |
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Application publication date: 20150325 |