CN106873015A - Indoor and outdoor seamless positioning system and localization method that CSS is combined with GPS - Google Patents
Indoor and outdoor seamless positioning system and localization method that CSS is combined with GPS Download PDFInfo
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- CN106873015A CN106873015A CN201710058524.XA CN201710058524A CN106873015A CN 106873015 A CN106873015 A CN 106873015A CN 201710058524 A CN201710058524 A CN 201710058524A CN 106873015 A CN106873015 A CN 106873015A
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- indoor
- css
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Classifications
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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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The indoor and outdoor seamless positioning system and localization method being combined with GPS the invention discloses a kind of CSS, including outdoor gps satellite module, interior CSS locating module, indoor outside fix fusion handover module and positioning result display module；Wherein outdoor satellite locating module utilizes GPS satellite navigation；Indoor CSS locating modules carry out indoor ranging process using based on SDS TWR (symmetrical two-sided bidirectional ranging), recycle Kalman filtering to optimize treatment to positioning distance measuring data, the indoor location of indoor positioning module is finally obtained using the side location algorithm of geometry three；Indoor outside fix merges handover module according to the intensity of indoor and outdoor positioning and communicating signal, indoor and outdoor positioning method is merged, is switched and integrated, to realize that it is excessive that indoor and outdoor determine that result smooths；Positioning result display module shows positioning result based on outdoor Two-dimensional electron map and indoor plane figure.Compared with existing alignment system, the present invention is combined using GPS satellite navigation technology and CSS technologies, realizes the pinpoint seamless connection in indoor and outdoor.
Description
Technical field
The present invention relates to a kind of indoor and outdoor seamless positioning technology, particularly a kind of integrated GPS satellite navigation and CSS technology phases
With reference to indoor and outdoor seamless positioning system.
Background technology
Increasingly mature with the global positioning satellite navigation positioning system such as GPS, the Big Dipper, GLONASS, people enjoy and defend
The fast and accurately positioning service that star alignment system is brought in outdoor activity.For outdoor spacious environment, the whole world is fixed
Position system (Global Positioning System, GPS) is widely used, and under many indoor environments, due to by cement
Stop of wall etc. influences, and satellite-signal will cannot be realized positioning and navigation function indoors by deep fades.
For the orientation problem under indoor environment, have been developed at present using infrared ray, ultrasonic wave, RFID, bluetooth, ultra-wide
Band, Zigbee and wireless Wifi etc. as medium indoor positioning technologies.But still have many problems need solve, such as：System
System positioning complexity is high, cost of implementation is high, low precision etc..
The content of the invention
The present invention is in view of the shortcomings of the prior art, it is proposed that the indoor and outdoor seamless positioning system that a kind of CSS is combined with GPS
And localization method, realize the seamless switching of indoor navigation positioning.
Indoor and outdoor seamless positioning system and localization method that a kind of CSS is combined with GPS, including an outdoor gps satellite are determined
Position module, an interior CSS locating module, an indoor outside fix fusion handover module and one position result display module；Outdoor GPS
Satellite positioning module merges the input signal end of handover module with the output signal end of interior CSS locating modules with indoor outside fix
Connection, the output signal of indoor outside fix fusion handover module terminates the signal input part of positioning result display module.
The outdoor gps satellite locating module is used to carry out exterior space positioning by GPS satellite navigation system, its system
Very perfect, output is GPS satellite navigation signal framing data；
The indoor CSS locating modules carry out indoor ranging process using based on SDS-TWR (symmetrical two-sided bidirectional ranging),
Recycle Kalman filtering to optimize treatment to positioning distance measuring data, finally obtain indoor fixed using the side location algorithm of geometry three
The indoor location of position module, output is CSS signal framing data；
The indoor outside fix fusion handover module, is set up and is determined with CSS based on the GPS satellite navigation signal framing data
The Fusion Model of position data, merges to indoor and outdoor positioning method；
The positioning result display module, outdoor by Two-dimensional electron map indoors then by indoor plane figure come
Display indoor and outdoor positioning result.
Further, present invention also offers a kind of integrated GPS satellite navigation and the indoor and outdoor seamless positioning of CSS technologies
Method, realizes in accordance with the following steps：
Step (1), the intensity that GPS navigation satellite signal is received according to outdoor gps satellite locating module or interior CSS determine
The intensity of the CSS signals of communication that position module is received, selects the positioning method of the alignment system；If the outdoor gps satellite is determined
The GPS navigation satellite signal that position module is received is stronger, then be transferred to step (2)；If the indoor CSS locating modules receive room
The CSS signals of communication that the CSS anchor nodes of interior laying send are stronger, then be transferred to step (3)；If the outdoor gps satellite positioning mould
The CSS anchor nodes that the GPS navigation satellite signal intensity that block is received receives indoor deployments with the indoor CSS locating modules are sent out
The CSS communication signal strengths for going out are identical, then be transferred to step (4)；
Step (2), the outdoor gps satellite locating module carry out outdoor positioning by GPS satellite navigation system, output
The location data of GPS satellite navigation signal, and it is transferred to step (6)；
Step (3), the indoor CSS locating modules detect the signal of communication that each CSS anchor node sends, using SDS-
TWR (symmetrical two-sided bidirectional ranging) obtains the distance of the alignment system and each CSS anchor node, and uses Kalman filter
Distance value to acquired described indoor CSS locating modules and each CSS anchor node is filtered optimization processing, then using several
What three side location algorithm obtains the indoor location of interior CSS locating modules, exports CSS signal of communication location datas, completes indoor
Space orientation, and it is transferred to step (6)；
Step (4), the outdoor gps satellite locating module carry out outdoor positioning by GPS satellite navigation system, output
The location data of GPS satellite navigation signal；The indoor CSS locating modules detect the signal of communication that each CSS anchor node sends,
The distance of the indoor CSS locating modules and each CSS anchor node is obtained using SDS-TWR, and uses Kalman filter pair
Acquired described indoor CSS locating modules are filtered optimization processing with the distance value of each CSS anchor node, then using geometry
Three side location algorithms obtain the indoor location of indoor locating system, export CSS signal of communication location datas, complete the interior space and determine
Position, and it is transferred to step (5)；SDS-TWR is symmetrical two-sided bidirectional ranging；
Step (5), the indoor outside fix fusion handover module, merged by indoor and outdoors location data,
Switch and integrated, so that seamlessly transitting for indoor and outdoor is completed, to improve the positioning precision of shown alignment system；And it is transferred to step
(6),
The location data of GPS satellite navigation signal, CSS signals of communication are positioned number by step (6), positioning result display module
According to or step (5) Fusion Module fusion, switching and the integrated positioning data that export show indoor and outdoor positioning result, return to step
Suddenly (1).
Compared to prior art, the invention has the advantages that：A kind of CSS and GPS phases proposed by the invention are tied
The indoor and outdoor seamless positioning system and localization method of conjunction, based on CSS positioning nodes, can greatly reduce answering for alignment system realization
Miscellaneous degree problem, processes the indoor position accuracy that optimization is improved, by combining by carrying out Kalman filtering to CSS location datas
GPS satellite navigation realizes the indoor and outdoor positioning function of integration, and merging handover module by indoor outside fix processes outdoor defending
Star is positioned and indoor CSS location datas so that indoor and outdoor navigation positioning data is seamlessly transitted, and is solved conventional mobile device and is existed
Cannot be positioned in heavy construction or problem that positioning precision is low, seeking position etc. specifically for warehouse storage, indoor navigation, garage provides more
Accurate location-based service.
Brief description of the drawings
Fig. 1 is that integrated GPS satellite navigation of the invention shows with modules in the indoor and outdoor seamless positioning system of CSS technologies
It is intended to；
Fig. 2 is the room indoor and outdoor seamless positioning system positioning method of integrated GPS satellite navigation of the invention and CSS technologies
Flow chart.
Specific embodiment
Technical scheme is described in detail below in conjunction with accompanying drawing.
Integral Thought of the invention is used based on gps satellite outdoor positioning scheme and the indoor positioning scheme based on CSS,
Realize indoor and outdoor seamless positioning function.The present invention includes two kinds of localization methods, i.e.,：Based on GPS satellite navigation localization method and base
In CSS indoor orientation methods；Outdoor navigation module is equipped in vehicle mounted guidance, and indoor positioning module is equipped on indoor CSS and determines
On the module receiver of position.
It is an object of the invention to provide a kind of integrated GPS satellite navigation and the indoor and outdoor seamless positioning system of CSS technologies,
As shown in figure 1, including：One outdoor gps satellite locating module, an interior CSS locating module, an indoor outside fix fusion switch mould
Block and a positioning result display module；
The outdoor gps satellite locating module is used to carry out exterior space positioning by GPS satellite navigation system, its system
Very perfect, output is GPS satellite navigation signal framing data；
The indoor CSS locating modules carry out indoor ranging process using based on SDS-TWR (symmetrical two-sided bidirectional ranging),
Recycle Kalman filtering to optimize treatment to positioning distance measuring data, finally obtain indoor fixed using the side location algorithm of geometry three
The indoor location of position module, output is CSS signal framing data；
The indoor outside fix fusion handover module, is set up and is determined with CSS based on the GPS satellite navigation signal framing data
The Fusion Model of position data, merges to indoor and outdoor positioning method；
The positioning result display module, outdoor by Two-dimensional electron map indoors then by indoor plane figure come
Display indoor and outdoor positioning result.
Further, in this example, defended skilled in the art realises that inventing a kind of integrated GPS for being proposed to allow
The alignment system that star navigates with the indoor and outdoor parking positioning of CSS technologies, also provides a kind of integrated GPS satellite navigation and CSS technologies
Indoor and outdoor seamless positioning localization method, as shown in Fig. 2 realizing in accordance with the following steps：
Step (1), the intensity that GPS navigation satellite signal is received according to outdoor gps satellite locating module or interior CSS determine
The intensity of the CSS signals of communication that position module is received, selects the positioning method of the alignment system；If the outdoor gps satellite is determined
The GPS navigation satellite signal that position module is received is stronger, then be transferred to step (2)；If the indoor CSS locating modules receive room
The CSS signals of communication that the CSS anchor nodes of interior laying send are stronger, then be transferred to step (3)；If the outdoor gps satellite positioning mould
The CSS anchor nodes that the GPS navigation satellite signal intensity that block is received receives indoor deployments with the indoor CSS locating modules are sent out
The CSS communication signal strengths for going out are identical, then be transferred to step (4)；
Step (2), the outdoor gps satellite locating module carry out outdoor positioning by GPS satellite navigation system, output
The location data of GPS satellite navigation signal, and it is transferred to step (6)；
Step (3), the indoor CSS locating modules detect the signal of communication that each CSS anchor node sends, using SDS-
TWR (symmetrical two-sided bidirectional ranging) obtains the distance of the alignment system and each CSS anchor node, and uses Kalman filter
Distance value to acquired described indoor CSS locating modules and each CSS anchor node is filtered optimization processing, then using several
What three side location algorithm obtains the indoor location of interior CSS locating modules, exports CSS signal of communication location datas, completes indoor
Space orientation, and it is transferred to step (6)；
Step (4), the outdoor gps satellite locating module carry out outdoor positioning by GPS satellite navigation system, output
The location data of GPS satellite navigation signal；The indoor CSS locating modules detect the signal of communication that each CSS anchor node sends,
The distance of the indoor CSS locating modules and each CSS anchor node is obtained using SDS-TWR, and uses Kalman filter pair
Acquired described indoor CSS locating modules are filtered optimization processing with the distance value of each CSS anchor node, then using geometry
Three side location algorithms obtain the indoor location of indoor locating system, export CSS signal of communication location datas, complete the interior space and determine
Position, and it is transferred to step (5)；SDS-TWR is symmetrical two-sided bidirectional ranging；
Step (5), the indoor outside fix fusion handover module, merged by indoor and outdoors location data,
Switch and integrated, so that seamlessly transitting for indoor and outdoor is completed, to improve the positioning precision of shown alignment system；And it is transferred to step
(6),
The location data of GPS satellite navigation signal, CSS signals of communication are positioned number by step (6), positioning result display module
According to or step (5) Fusion Module fusion, switching and the integrated positioning data that export show indoor and outdoor positioning result, return to step
Suddenly (1).
It is as follows that the embodiment of the present invention is applicable flow：When automobile is travelled in an outdoor environment, outdoor satellite GPS location this moment
What module was received is GPS navigation satellite signal, then carry out outdoor traveling navigation by vehicle mounted guidance, exports GPS satellite navigation
The location data of signal；When automobile will sail underground garage into, if the GPS that the outdoor satellite d GPS locating module is received
The CSS communications that the CSS anchor nodes that navigation satellite signal and the indoor CSS locating modules receiving terminal receive indoor deployments send
Signal, this moment described outdoor GPS satellite navigation module exports the location data of GPS satellite navigation signal, at the same time the room
Interior CSS locating modules receiving terminal starts to export CSS signal of communication location datas, and the indoor outside fix merges handover module to room
Interior and outdoor positioning data are merged, switched and integrated, and the navigation positioning data for completing indoor and outdoor is seamlessly transitted；Work as automobile
When sailing underground parking inside into completely, the indoor CSS locating modules receiving terminal detects what each CSS anchor node sent
CSS signals of communication, by filtering process and location algorithm, finally export CSS signal of communication location datas, complete automobile in garage
Positioning function.
Above is presently preferred embodiments of the present invention, all changes made according to technical solution of the present invention, produced function work
During with scope without departing from technical solution of the present invention, protection scope of the present invention is belonged to.
Claims (2)
- The indoor and outdoor seamless positioning system that 1.CSS is combined with GPS, including an outdoor gps satellite locating module, an interior CSS Locating module, an indoor outside fix fusion handover module and a positioning result display module；The letter of outdoor gps satellite locating module The signal input part that number output end, the signal output part of interior CSS locating modules merges handover module with indoor outside fix is connected, The output signal of indoor outside fix fusion handover module terminates the signal input part of positioning result display module；The outdoor gps satellite locating module is used to carry out exterior space positioning by GPS satellite navigation system, and output is GPS satellite navigation signal framing data；The indoor CSS locating modules are used carries out indoor ranging process based on SDS-TWR, recycles Kalman filtering to positioning Ranging data optimizes treatment, and the indoor location of indoor positioning module, output are finally obtained using the side location algorithm of geometry three Be CSS signal framing data, SDS-TWR is symmetrical two-sided bidirectional ranging；The indoor outside fix fusion handover module, sets up and positions number with CSS based on the GPS satellite navigation signal framing data According to Fusion Model, indoor and outdoor positioning method is merged；The positioning result display module, is then shown by indoor plane figure indoors in outdoor by Two-dimensional electron map Indoor and outdoor positioning result.
- 2. the method for the positioning of the indoor and outdoor seamless positioning system that CSS according to claim 1 is combined with GPS, according to Following steps are realized：Step (1), the intensity that GPS navigation satellite signal is received according to outdoor gps satellite locating module or interior CSS positioning moulds The intensity of the CSS signals of communication that block is received, selects the positioning method of the alignment system；If the outdoor gps satellite positioning mould The GPS navigation satellite signal that block is received is stronger, then be transferred to step (2)；If the indoor CSS locating modules receive indoor cloth If the CSS signals of communication that send of CSS anchor nodes it is stronger, then be transferred to step (3)；If the outdoor gps satellite locating module connects What the CSS anchor nodes that the GPS navigation satellite signal intensity for receiving receives indoor deployments with the indoor CSS locating modules sent CSS communication signal strengths are identical, then be transferred to step (4)；Step (2), the outdoor gps satellite locating module carry out outdoor positioning by GPS satellite navigation system, and output GPS is defended The location data of star navigation signal, and it is transferred to step (6)；Step (3), the indoor CSS locating modules detect the signal of communication that each CSS anchor node sends, (right using SDS-TWR Claim two-sided bidirectional ranging) distance of the alignment system and each CSS anchor node is obtained, and using Kalman filter to being obtained The described indoor CSS locating modules for taking are filtered optimization processing with the distance value of each CSS anchor node, then using the side of geometry three Location algorithm obtains the indoor location of interior CSS locating modules, exports CSS signal of communication location datas, completes the interior space and determines Position, and it is transferred to step (6)；Step (4), the outdoor gps satellite locating module carry out outdoor positioning by GPS satellite navigation system, and output GPS is defended The location data of star navigation signal；The indoor CSS locating modules detect the signal of communication that each CSS anchor node sends, and use SDS-TWR obtains the distance of the indoor CSS locating modules and each CSS anchor node, and using Kalman filter to being obtained The described indoor CSS locating modules for taking are filtered optimization processing with the distance value of each CSS anchor node, then using the side of geometry three Location algorithm obtains the indoor location of indoor locating system, exports CSS signal of communication location datas, completes interior space positioning, And it is transferred to step (5)；SDS-TWR is symmetrical two-sided bidirectional ranging；Step (5), the indoor outside fix fusion handover module, are merged by indoor and outdoors location data, are switched With it is integrated, and be transferred to step (6),Step (6), positioning result display module by the location data of GPS satellite navigation signal, CSS signals of communication location data or The fusion of step (5) Fusion Module output, switching and integrated positioning data show indoor and outdoor positioning result, return to step (1)。
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| CN108827298A (en) * | 2018-03-23 | 2018-11-16 | 杭州电子科技大学 | A kind of indoor large parking lot Vehicular navigation system and application method |
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| CN110996258A (en) * | 2019-11-18 | 2020-04-10 | 贵州彩数网络技术有限公司 | Seamless switching indoor and outdoor combined positioning method and system |
| CN111610308A (en) * | 2020-04-27 | 2020-09-01 | 杭州电子科技大学 | Double-layer landslide monitoring system and method based on RTK technology |
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