CN106646562A - High-precision three-dimensional real scene indoor and outdoor integrated positioning method and device - Google Patents

High-precision three-dimensional real scene indoor and outdoor integrated positioning method and device Download PDF

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CN106646562A
CN106646562A CN201610813895.XA CN201610813895A CN106646562A CN 106646562 A CN106646562 A CN 106646562A CN 201610813895 A CN201610813895 A CN 201610813895A CN 106646562 A CN106646562 A CN 106646562A
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coordinate
indoor
coordinate system
positioning
dimensional
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姚瑶
张雷
郑正奇
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East China Normal University
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East China Normal University
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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
    • G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
    • 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
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation

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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 discloses a high-precision three-dimensional real scene indoor and outdoor integrated positioning method and device. The method comprises the steps that the GPS positioning result is introduced to the indoor, multiple reference points of which the GPS coordinates are measurable are selected in the indoor, and a platform coordinate system is established with the reference points acting as the origins of coordinates; a laser three-dimensional scanner is introduced to the reference points so that indoor three-dimensional point cloud information is acquired, and high-precision indoor scene reconstruction is completed; an optimized coordinate transformation model is constructed according to the relationship between the platform coordinate system and a scanner coordinate system to unify the point cloud to the platform coordinate system; and coordinate transformation is further performed on an ultra-wideband indoor positioning system coordinate system and the coordinate data so that indoor target positioning is completed. The beneficial effects of the positioning method and device are that the point cloud data are introduced on the basis of the indoor positioning system, the high-precision visual indoor three-dimensional scene with geodetic coordinates is obtained by using the optimized coordinate transformation model, and the indoor positioning precision can be the decimeter level; and integration of indoor and outdoor positioning can be realized, and a browsable spatial information management system is provided.

Description

High-precision three-dimensional outdoor scene indoor and outdoor integration localization method and device
Technical field
The present invention relates to communication and navigation positioning and field of location service technology, and in particular to one kind is based on 3 D laser scanning The three-dimensional live indoor and outdoor integration localization method of instrument and gps signal, is conducive to improving indoor position accuracy, realizes indoor three-dimensional Outdoor scene is visualized.
Background technology
Traditional outdoor positioning system is satellite-based positioning.The global position system being widely used at present mainly has GPS system, the Beidou satellite navigation system of China's independent research and Muscovite GLONASS systems.It is in outdoor satellite positioning In system, GNSS receiver module receives the signal of more than four satellites, is realized eventually by pseudorange positioning mode or carrier phase End positioning.However, the alignment system such as the Big Dipper, GPS is positioned using satellite-signal range measurement principle, building and densely covered High-rise can be produced to signal and blocked, indoors in scene, it is impossible to for positioning.But in public places personal management, The aspects such as disaster search and rescue, security protection early warning know that personnel's positional information indoors is again very necessary, it is therefore desirable to search out Simultaneously can indoors with the reasonable effective localization method applied in outdoor scene.
Ultra broadband (UWB) location technology belongs to one kind of wireless location.Wireless location technology is referred to for judging to move use The measuring method and computational methods of family position, i.e. location algorithm.UWB uses TDOA (reaching time-difference positioning) algorithm.Generally, UWB alignment systems set several location reference points (according to actual needs), to receive the Gauss that tested point (quantity is up to a hundred) sends Pulse signal.In order to avoid signal collides, each tested point has the code sequence of oneself.When generation in a Gaussian pulse Code sequence is referenced checks and accepts then, and it will integrate in correlator a time and makees to compare with the current control sequence for producing Compared with.When the displacement for receiving signal matches with control signal, that is, there is the high peak-to-peak signal of correlation.Whether thus easily determine Receive correct code sequence.The pulse train that process is received obtains the reception time, so as to be calculated using TDOA algorithms The coordinate of tested point.However, existing UWB indoor locating systems still suffer from following technological deficiency：1) positioning precision still can not reach To higher standard；2) positioning result is presented on two-dimensional map, it is impossible to show the detail of actual interior of building.
Laser radar uses three-dimensional laser scanning technique, observes data by position, distance, angle etc. and directly and quickly obtains High accuracy three-dimensional spatial coordinated information and digital surface model are obtained, so as to realize the rapid extraction and three-dimensional scenic of earth's surface information Reconstruction.However, although the cloud data of collection includes the positional information of indoor each point, but these positional informations are to sweep Retouch the position coordinates under instrument coordinate system, it is impossible to be applied to indoor positioning.Therefore it is of the invention by three-dimensional laser scanner and UWB The elements of a fix that indoor locating system is obtained combine, and introduce gps coordinate, obtain more accurate geography through Coordinate Conversion and sit Mark.
The content of the invention
It is an object of the invention to propose a kind of based on three-dimensional laser scanner and the three-dimensional live indoor and outdoor of gps signal Integrated localization method, realizes high-precision indoor outside fix integration and three-dimensional live Model Reconstruction, to overcome prior art Defect.
Realizing the concrete technical scheme of the object of the invention is：
A kind of high-precision three-dimensional outdoor scene indoor and outdoor integration localization method, the method includes：
Step 1：Under outdoor environment, survey station carrier wave phase is obtained in real time by the carrier phase difference of GPS satellite navigation system Position data, ask difference to resolve the target positioning that coordinate realizes the exterior space, are output as GPS satellite navigation signal framing result；
Step 2：Under indoor environment, gps coordinate is chosen indoors can measure several datum marks, and datum is placed GPS and connect Receipts machine；In datum indoor scene surface is scanned using laser 3 d scanner, is built by the origin of coordinates of scanning element Vertical scanner coordinate system, obtains three-dimensional coordinate information of the indoor scene under scanner coordinate system, claims cloud data, to a cloud number According to colouration, colour point clouds data are obtained；
Step 3：Platform coordinate system is set up as the origin of coordinates with the datum mark, is sat according to this platform coordinate system and scanner Relation between mark system, builds Coordinate Transformation Models, by the unification of colour point clouds data to platform coordinate system, obtains coordinate；
Step 4：Object is positioned using Indoor Positioning System Using Ultra Wideband Radio, obtains target article coordinate, will be described flat The coordinate that platform coordinate system has been obtained carries coordinate system and is combined with Indoor Positioning System Using Ultra Wideband Radio, using the Coordinate Conversion for having built Model makees further Coordinate Conversion, obtains coordinate of the indoor objects thing under platform coordinate system, completes the room for meeting required precision Interior target positioning, its positioning precision reaches decimeter grade；
Step 5：Make triangulation network planar reconstruction to it using the colour point clouds data of step 2, and by the colour point clouds data And geographic coordinate data fusion, color information fusion and mapped pinup picture are completed, build visual indoor total factor three-dimensional Outdoor scene model, realizes the high-precision three-dimensional outdoor scene indoor and outdoor integration positioning.
The datum mark sets up platform coordinate system for the origin of coordinates：The measurable datum marks of GPS are chosen as scanner Sensing point, this datum can obtain gps signal using GPS, obtain accurate longitude and latitude and elevation information, datum mark Coordinate is (B1,L1,H1), (B2,L2,H2), (B3,L3,H3) ..., set up platform coordinate system by the origin of coordinates of datum mark.
The relation according between platform coordinate system and scanner coordinate system, builds Coordinate Transformation Models, specifically includes Following steps：
Step 21：Indoor GPS signal can measuring point be that datum mark latitude and longitude coordinates are：A1(B1,L1,H1), A2(B2,L2,H2), A3(B3,L3,H3)……；
Step 22：The latitude and longitude coordinates and elevation of the measurable datum mark of indoor GPS are converted to into plane rectangular coordinates, the world The earth longitude and latitude (B, L) and geodetic height (H) of any point of Geodetic Measuring System 84 (WGS 84) ellipsoid be and its three-dimensional straight Angular coordinate (X, Y, Z) expression-form of equal value, its transformation relation：
X=(N+H) cosBcosL
Y=(N+H) cosBsinL
Z=[N (1-e2)+H]sinB
In formula, N is the radius of curvature of ellipsoid prime vertical, and e is the first eccentricity of ellipsoid,
A, b for ellipsoid long semi-minor axis, major semiaxis a=6378140 ± 5 (m) semi-minor axis b=6356755.2882m；
Its inverse transformation formula is
The space coordinates of platform coordinate system origin is obtained, datum mark is A in this coordinate system inner plane rectangular co-ordinate1(x1, y1,z1), A2(x2,y2,z2), A3(x3,y3,z3)……；
Step 23：Using laser 3 d scanner, the coordinate information on indoor scene surface, wherein indoor positioning base station are obtained The coordinate at center, the common point as Coordinate Conversion；Under scanner coordinate system, benchmark point coordinates is L1(xL1,yL1,zL1), L2 (xL2,yL2,zL2), L3(xL3,yL3,zL3) ... locating base station centre coordinate is Br1(xr1,yr1,zr1), Br2(xr2,yr2,zr2), Br3(xr3,yr3,zr3)……；
Base station center and datum mark LiRelative coordinate vector is (Δ xi,Δyi,Δzi), wherein Δ xi=xri-xLi,Δyi =yri-yLi,Δzi=zri-zLiObtaining coordinate of the base station center point under platform coordinate system according to vector correlation is：Bi′(xi,yi, zi)；
Step 24：Coordinate transformation parameter is asked for according to relation of the common point under Two coordinate system；
Step 25：Using Bursa model, conversion of the instrument coordinate system to platform coordinate system is scanned, Two coordinate system is O- XYZ and O '-X ' Y ' Z ', r0For the position vector of the relative O ' of O, dX0,dY0,dZ0, it is translation parameters, θX,θY,θZFor three axles not It is parallel and produce You Lajiao, the scale correction that m is produced for yardstick is inconsistent：
T in formulaX, TY, TZFor the spin matrix of two coordinate systems：
By Two coordinate system origin translation to the position of centre of gravity of known translocation point, rectangular coordinate system in space is established again, make seat Punctuate is uniformly distributed wherein, then solves seven parameters, obtains the Bursa model of transition, solves the coordinate under center of gravity coordinate system, Then translate again and be converted to target-based coordinate system；The model of structure is as follows：
X in formulaCenter of gravity, YCenter of gravity, ZCenter of gravityIt is the barycentric coodinates of common point under target-based coordinate system.
A kind of high-precision three-dimensional outdoor scene indoor and outdoor integration positioner, the device includes：
Outdoor gps satellite locating module, by the carrier phase difference of GPS satellite navigation system survey station carrier wave is obtained in real time Phase data, asks difference to resolve the positioning that coordinate realizes the exterior space, is output as GPS satellite navigation signal framing result；
Indoor UWB locating modules, using TDOA (reaching time-difference positioning) algorithm the positioning of the interior space is carried out, and exports mesh The UWB elements of a fix of mark object；
Indoor scene rebuilds module, and outdoor gps satellite locating module and interior UWB locating modules are connected respectively；Indoor field Scape rebuilds module includes laser 3 d scanner, three-dimension modeling module and data processing module, and three-dimensional laser scanner is used In obtaining intensive interior architecture colour point clouds data and export to three-dimension modeling module and data processing module；Three-dimensional mould Type sets up module and carries out triangulation network planar reconstruction, color using colour point clouds data and the geographic coordinate data in data processing module Multimedia message merges and texture mapping, exports outdoor scene threedimensional model；Data processing module to be input into colour point clouds data, GPS defends The UWB elements of a fix of star navigation signal positioning result and target object carry out Coordinate Conversion process, with reference to outdoor scene threedimensional model Export final positioning result；
Electronic chart display module, connection indoor scene rebuilds module, and the high-resolution in electronic chart display module shows Display screen improves Consumer's Experience by showing positioning result with planar map and three-dimensional building outdoor scene model form.
The electronic chart display module is by positioning result by two dimensional surface map view or three-dimensional live map view User is fed back to, the geographic information data of indoor and outdoor fusion described in two dimensional surface map denotation, including the longitude and latitude under gps coordinate system Degree coordinate；The geographic information data of indoor and outdoor fusion described in three-dimensional live map denotation, including the longitude and latitude seat under gps coordinate system Mark and elevation information.
The invention has the advantages that：It is proposed by the present invention based on three-dimensional laser scanner and the three-dimensional of gps signal Outdoor scene indoor and outdoor integration localization method, on the basis of UWB (ultra broadband) indoor positioning, introduces three-dimensional laser scanner, Using cloud data high density, high accuracy, with geography information the characteristics of, effectively combine gps signal and indoor point cloud coordinate, High accuracy and the indoor threedimensional model with geodetic coordinates are finally given, the precision of indoor positioning is substantially increased, room is realized The integration of interior outside fix, and construct visual indoor three-dimensional scenic, perfect Consumer's Experience.
Description of the drawings
Fig. 1 is the inventive method flow chart；
Fig. 2 is apparatus of the present invention structured flowchart；
Fig. 3 is that indoor scene rebuilds modular structure block diagram in apparatus of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings further description is done to the present invention.
Refering to Fig. 1, the inventive method step is as follows：
Step S10：In an outdoor environment, survey is obtained in real time by the carrier phase difference technology of GPS satellite navigation system Carrier phase of standing data, ask difference to resolve the positioning that coordinate realizes the exterior space, are output as GPS satellite navigation signal framing result；
Step S11：Indoors under environment, the measurable several datum marks of gps coordinate are chosen indoors first, datum is put Put GPS；In datum indoor scene surface is scanned using laser 3 d scanner, with scanning element as coordinate Origin sets up scanner coordinate system, obtains three-dimensional coordinate information of the indoor scene under scanner coordinate system, also referred to as cloud data, To cloud data colouration, colour point clouds data are obtained；
Step S12：Platform coordinate system is set up as the origin of coordinates with the datum mark, according to this platform coordinate system and scanner Relation between coordinate system, builds new Coordinate Transformation Models, by laser point cloud unification to platform coordinate system, obtains coordinate；Its In, setting up platform coordinate system as the origin of coordinates with datum mark is：The measurable datum marks of GPS are chosen as the sensing point of scanner, This datum can obtain gps signal, obtain accurate longitude and latitude and elevation information, and benchmark point coordinates is (B1,L1,H1), (B2, L2,H2), (B3,L3,H3) ... set up platform coordinate system by the origin of coordinates of datum mark；
Step S13：Object is positioned using Indoor Positioning System Using Ultra Wideband Radio, obtains target article coordinate, will be described The coordinate that platform coordinate system has been obtained carries coordinate system and is combined with Indoor Positioning System Using Ultra Wideband Radio, is turned using the coordinate for having built Mold changing type makees further Coordinate Conversion, obtains coordinate of the indoor objects thing under platform coordinate system, completes and meets required precision Indoor objects positioning, positioning precision reaches decimeter grade；
Step S14：Make triangulation network planar reconstruction to it using colour point clouds data, and by the colour point clouds data and geography Coordinate data merges, and completes color information fusion and mapped pinup picture, builds visual indoor total factor three-dimensional live mould Type, realizes the high-precision three-dimensional outdoor scene indoor and outdoor integration positioning；
Wherein：
According to the relation between platform coordinate system and scanner coordinate system described in step S12, Coordinate Transformation Models, tool are built Body is comprised the following steps：
I) indoor GPS signal can measuring point be that datum mark latitude and longitude coordinates are：A1(B1,L1,H1), A2(B2,L2,H2), A3(B3, L3,H3)……；
II) latitude and longitude coordinates and elevation of the measurable datum mark of indoor GPS are converted to into plane rectangular coordinates, world's the earth The earth longitude and latitude (B, L) and geodetic height (H) of any point of measuring system 84 (WGS 84) ellipsoid is sat with its three-dimensional right angle Mark (X, Y, Z) expression-form of equal value, its transformation relation：
X=(N+H) cosBcosL
Y=(N+H) cosBsinL
Z=[N (1-e2]+H]sinB
In formula, N is the radius of curvature of ellipsoid prime vertical, and e is the first eccentricity of ellipsoid,
A, b for ellipsoid long semi-minor axis, major semiaxis a=6378140 ± 5 (m) semi-minor axis b=6356755.2882m；
Its inverse transformation formula is
The space coordinates of platform coordinate system origin is obtained, datum mark is A in this coordinate system inner plane rectangular co-ordinate1(x1, y1,z1), A2(x2,y2,z2), A3(x3,y3,z3)……；
III) laser 3 d scanner is utilized, obtain the coordinate information on indoor scene surface, wherein indoor positioning base station center Coordinate, the common point as Coordinate Conversion；Under scanner coordinate system, benchmark point coordinates is L1(xL1,yL1,zL1), L2(xL2, yL2,zL2), L3(xL3,yL3,zL3) ... locating base station centre coordinate is Br1(xr1,yr1,zr1), Br2(xr2,yr2,zr2), Br3 (xr3,yr3,zr3)……；
Base station center and datum mark LiRelative coordinate vector is (Δ xi,Δyi,Δzi), wherein Δ xi=xri-xLi,Δyi =yri-yLi,Δzi=zri-zLiObtaining coordinate of the base station center point under platform coordinate system according to vector correlation is：Bi′(xi,yi, zi)；
IV) relation according to common point under Two coordinate system asks for coordinate transformation parameter；
V) Bursa model is adopted, conversion of the instrument coordinate system to platform coordinate system is scanned, Two coordinate system is O-XYZ With O '-X ' Y ' Z ', r0For the position vector of the relative O ' of O, dX0,dY0,dZ0, it is translation parameters, θX,θY,θZIt is not parallel for three axles And the You Lajiao for producing, the scale correction that m is produced for yardstick is inconsistent：
T in formulaX, TY, TZFor the spin matrix of two coordinate systems：
There is the error of coordinate itself and the error of transformation model in classical boolean's sand-Wolf.
The inventive method adopts improved boolean's sand-Wolf model, by Two coordinate system origin translation to known translocation point Position of centre of gravity, rectangular coordinate system in space is established again, coordinate points is uniformly distributed wherein, then solve seven parameters, obtain transition Bursa model, solve center of gravity coordinate system under coordinate, then translate again and be converted to target-based coordinate system；The model of structure is such as Under：
X in formulaCenter of gravity, YCenter of gravity, ZCenter of gravityIt is the barycentric coodinates of common point under target-based coordinate system.
UWB indoor positionings are realized in accordance with the following steps described in the inventive method：
I) a number of datum mark is chosen as the base station location point of UWB indoor positionings, datum mark selection standard：Benchmark The gps satellite signal of some strength can be received at point, datum mark can be by three-dimensional laser scanner accurate scan；
II) the UWB indoor positionings terminal receives the ultra-narrow pulse signal that UWB base stations send in same target location；
III) the UWB indoor positionings terminal using TDOA demonstrate ranging localization algorithm, by signal reach time difference, lead to Cross hyperbola to intersect to position；Wherein：
Ranging localization algorithm as GPS pseudorange positioning calculation process, for a positioning terminal, at the same receive During the signal of the locating base station transmitting of four or more, positioning equation is represented by：
Further, the positioning result of UWB indoor locating systems is obtained, coordinate representation is：
B1(xu1,yu1,zu1), B2(xu2,yu2,zu2), B3(xu3,yu3,zu3)……
This result is the relative local coordinate of UWB indoor positioning.
Further, the positioning result B that above-mentioned UWB indoor locating systems can be obtained with similar Coordinate Transformation Models1 (xu1,yu1,zu1), B2(xu2,yu2,zu2), B3(xu3,yu3,zu3) ... to platform coordinate system conversion, obtain final positioning result R1 (xr1,yr1,Zr1), R2(xr2,yr2,zr2), R3(xr3,yr3,zr3) ..., realize the integration of indoor outside fix.
Three-dimensional live Model Reconstruction described in step S14, specifically realizes in accordance with the following steps：
I) high accuracy colouration is carried out to cloud data using photochrome, obtain colour point clouds data；
II) triangulation network reconstruct is carried out to colour point clouds data, point data is converted into into face data, form preliminary three-dimensional mould Type；
III) mapped pinup picture is carried out to threedimensional model using the texture of photochrome acquisition, build visual interior Total factor three-dimensional live model.
Refering to Fig. 2, high-precision three-dimensional outdoor scene indoor and outdoor integration positioner of the present invention includes：
Outdoor gps satellite locating module 1, obtains in real time survey station and carries by the carrier phase difference of GPS satellite navigation system Wave phase data, ask difference to resolve the positioning that coordinate realizes the exterior space, are output as GPS satellite navigation signal framing result；
Indoor UWB locating modules 2, using TDOA (reaching time-difference positioning) algorithm the positioning of the interior space is carried out, output The UWB elements of a fix of target object；
Indoor scene rebuilds module 3, and outdoor gps satellite locating module 1 and interior UWB locating module 2 are connected respectively；It is indoor Scene rebuilding module 3 includes laser 3 d scanner 31, three-dimension modeling module 33 and data processing module 32, three-dimensional laser Scanner 31 is used to obtain intensive interior architecture colour point clouds data and export at three-dimension modeling module 33 and data Reason module 32；Three-dimension modeling module 33 is carried out using colour point clouds data and the geographic coordinate data in data processing module Triangulation network planar reconstruction, color information fusion and texture mapping, export outdoor scene threedimensional model；32 pairs of inputs of data processing module The UWB elements of a fix of colour point clouds data, GPS satellite navigation signal framing result and target object are carried out at Coordinate Conversion Reason, with reference to outdoor scene threedimensional model final positioning result is exported；
Electronic chart display module 4, connection indoor scene rebuilds module 3, the high-resolution in electronic chart display module 4 Display screen improves Consumer's Experience by showing positioning result with planar map and three-dimensional building outdoor scene model form.
The electronic chart display module 4 of apparatus of the present invention is by positioning result by two dimensional surface map view or three-dimensional live Map view feeds back to user, the geographic information data of indoor and outdoor fusion described in two dimensional surface map denotation, including gps coordinate system Under latitude and longitude coordinates；The geographic information data of indoor and outdoor fusion described in three-dimensional live map denotation, including under gps coordinate system Latitude and longitude coordinates and elevation information.

Claims (5)

1. a kind of high-precision three-dimensional outdoor scene indoor and outdoor integration localization method, it is characterised in that the method includes：
Step 1：Under outdoor environment, survey station carrier phase number is obtained in real time by the carrier phase difference of GPS satellite navigation system According to, ask difference to resolve the target positioning that coordinate realizes the exterior space, it is output as GPS satellite navigation signal framing result；
Step 2：Under indoor environment, gps coordinate is chosen indoors can measure several datum marks, and datum places GPS； In datum indoor scene surface is scanned using laser 3 d scanner, is set up as the origin of coordinates with scanning element and scanned Instrument coordinate system, obtains three-dimensional coordinate information of the indoor scene under scanner coordinate system, claims cloud data, and cloud data is assigned Color, obtains colour point clouds data；
Step 3：Platform coordinate system is set up as the origin of coordinates with the datum mark, according to this platform coordinate system and scanner coordinate system Between relation, build Coordinate Transformation Models, by the unification of colour point clouds data to platform coordinate system, obtain coordinate；
Step 4：Object is positioned using Indoor Positioning System Using Ultra Wideband Radio, obtains target article coordinate, the platform is sat The coordinate that mark system has obtained carries coordinate system and is combined with Indoor Positioning System Using Ultra Wideband Radio, using the Coordinate Transformation Models for having built Make further Coordinate Conversion, obtain coordinate of the indoor objects thing under platform coordinate system, complete the indoor mesh for meeting required precision Position is demarcated, its positioning precision reaches decimeter grade；
Step 5：Make triangulation network planar reconstruction to it using the colour point clouds data of step 2, and by the colour point clouds data and ground Reason coordinate data fusion, completes color information fusion and mapped pinup picture, builds visual indoor total factor three-dimensional live Model, realizes the high-precision three-dimensional outdoor scene indoor and outdoor integration positioning.
2. localization method according to claim 1, it is characterised in that the datum mark sets up platform coordinate for the origin of coordinates System is：The measurable datum marks of GPS are chosen as the sensing point of scanner, this datum can obtain GPS letters using GPS Number, accurate longitude and latitude and elevation information are obtained, benchmark point coordinates is (B1,L1,H1), (B2,L2,H2), (B3,L3,H3) ..., Platform coordinate system is set up by the origin of coordinates of datum mark.
3. localization method according to claim 1, it is characterised in that described according to platform coordinate system and scanner coordinate system Between relation, build Coordinate Transformation Models, specifically include following steps：
Step 21：Indoor GPS signal can measuring point be that datum mark latitude and longitude coordinates are：A1(B1, L1, H1), A2(B2,L2, H2), A3 (B3,L3,H3)……；
Step 22：The latitude and longitude coordinates and elevation of the measurable datum mark of indoor GPS are converted to into plane rectangular coordinates, world's the earth The earth longitude and latitude B, L and geodetic height H of any point of the ellipsoid of measuring system 84 is of equal value with its three-dimensional rectangular coordinate (X, Y, Z) Expression-form, its transformation relation：
X=(N+H) cosBcosL
Y=(N+H) cosBsinL
Z=[N (1-e2)+H]sinB
In formula, N is the radius of curvature of ellipsoid prime vertical, and e is the first eccentricity of ellipsoid,
e = a 2 - b 2 a
A, b for ellipsoid long semi-minor axis, major semiaxis a=6378140 ± 5 (m) semi-minor axis b=6356755.2882m；
N = a 1 - e 2 sin 2 B
Its inverse transformation formula is
L = tan - 1 ( Y X )
B = tan - 1 { Z ( N + H ) X 2 + Y 2 [ N ( 1 - e 2 ) + H ] }
H = Z sin B - B ( 1 - e 2 )
The space coordinates of platform coordinate system origin is obtained, datum mark is A in this coordinate system inner plane rectangular co-ordinate1(x1,y1, z1), A2(x2,y2,z2), A3(x3,y3,z3)……；
Step 23：Using laser 3 d scanner, the coordinate information on indoor scene surface, wherein indoor positioning base station center are obtained Coordinate, the common point as Coordinate Conversion；Under scanner coordinate system, benchmark point coordinates is L1(xL1,yL1,zL1), L2(xL2, yL2,zL2), L3(xL3,yL3,zL3) ... locating base station centre coordinate is Br1(xr1,yr1,zr1), Br2(xr2,yr2,zr2), Br3 (xr3, yr3,zr3)……；
Base station center and datum mark LiRelative coordinate vector is (Δ xi,Δyi,Δzi), wherein Δ xi=xri-xLi,Δyi=yri- yLi,Δzi=zri-zLiObtaining coordinate of the base station center point under platform coordinate system according to vector correlation is：Bi′(xi,yi,zi)；
Step 24：Coordinate transformation parameter is asked for according to relation of the common point under Two coordinate system；
Step 25：Using Bursa model, conversion of the instrument coordinate system to platform coordinate system is scanned, Two coordinate system is O-XYZ With O '-X ' Y ' Z ', r0For the position vector of the relative O ' of O, dX0,dY0,dZ0, it is translation parameters, θX,θY,θZIt is not parallel for three axles And the You Lajiao for producing, the scale correction that m is produced for yardstick is inconsistent：
X ′ Y ′ Z ′ = d X 0 dY 0 dZ 0 + ( 1 + m ) T X T Y T Z X Y Z
T in formulaX, TY, TZFor the spin matrix of two coordinate systems：
T X = 1 0 0 0 cosθ X sinθ X 0 - sinθ X cosθ X
T Y = cosθ Y 0 - sinθ Y 0 1 0 sinθ Y 0 cosθ Y
T Z = cosθ Z sinθ Z 0 - sinθ Z cosθ Y 0 0 0 1
By Two coordinate system origin translation to the position of centre of gravity of known translocation point, rectangular coordinate system in space is established again, make coordinate points It is uniformly distributed wherein, then solves seven parameters, obtain the Bursa model of transition, solves the coordinate under center of gravity coordinate system, then Translate again and be converted to target-based coordinate system；The model of structure is as follows：
X in formulaCenter of gravity, YCenter of gravity, ZCenter of gravityIt is the barycentric coodinates of common point under target-based coordinate system.
4. a kind of high-precision three-dimensional outdoor scene indoor and outdoor integration positioner, it is characterised in that the device includes：
Outdoor gps satellite locating module, by the carrier phase difference of GPS satellite navigation system survey station carrier phase is obtained in real time Data, ask difference to resolve the positioning that coordinate realizes the exterior space, are output as GPS satellite navigation signal framing result；
Indoor UWB locating modules, using arrival time difference positioning algorithm the positioning of the interior space is carried out, and exports target object The UWB elements of a fix；
Indoor scene rebuilds module, and outdoor gps satellite locating module and interior UWB locating modules are connected respectively；Indoor scene weight Modeling block includes laser 3 d scanner, three-dimension modeling module and data processing module, and three-dimensional laser scanner is used to obtain Take intensive interior architecture colour point clouds data and export to three-dimension modeling module and data processing module；Threedimensional model is built Formwork erection block carries out triangulation network planar reconstruction, color letter using colour point clouds data and the geographic coordinate data in data processing module Breath fusion and texture mapping, export outdoor scene threedimensional model；Data processing module to be input into colour point clouds data, gps satellite leads The UWB elements of a fix of boat signal framing result and target object carry out Coordinate Conversion process, with reference to the output of outdoor scene threedimensional model Final positioning result；
Electronic chart display module, connection indoor scene rebuilds module, the sharpness screen in electronic chart display module By showing positioning result with planar map and three-dimensional building outdoor scene model form, Consumer's Experience is improved.
5. positioner according to claim 4, it is characterised in that the electronic chart display module leads to positioning result Cross two dimensional surface map view or three-dimensional live map view feeds back to user, indoor and outdoor fusion described in two dimensional surface map denotation Geographic information data, including latitude and longitude coordinates under gps coordinate system；The ground of indoor and outdoor fusion described in three-dimensional live map denotation Latitude and longitude coordinates and elevation information under reason information data, including gps coordinate system.
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