CN107024709A - A kind of indoor and outdoor seamless positioning system and method - Google Patents
A kind of indoor and outdoor seamless positioning system and method Download PDFInfo
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- CN107024709A CN107024709A CN201710392674.4A CN201710392674A CN107024709A CN 107024709 A CN107024709 A CN 107024709A CN 201710392674 A CN201710392674 A CN 201710392674A CN 107024709 A CN107024709 A CN 107024709A
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- uwb
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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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/10—Position of receiver fixed by co-ordinating a plurality of position lines defined by path-difference measurements, e.g. omega or decca systems
Abstract
The invention discloses a kind of indoor and outdoor seamless positioning system and method, seamless positioning system includes data processing centre's subsystem and the Big Dipper base station subsystem being connected respectively with data processing centre subsystem, indoor UWB positions subsystem, the Big Dipper/UWB movement stations subsystem and system monitoring subsystem, the implement current position coordinates that the Big Dipper is positioned and UWB positioning is determined are sent to the progress visualization of system monitoring subsystem and shown by data processing centre's subsystem, simultaneously implement and entrance identification point are calculated according to implement current position coordinates, export identification point and the spatial relation of switching judging tag slot, realize the bidirectional self-adaptive switching of indoor and outdoor integrated positioning.Compared with prior art, the positive effect of the present invention is：Positioned by Beidou navigation, the fusion of ultra-wideband real-time positioning system, the consecutive tracking of indoor and outdoor plant equipment is realized, so as to realize the uninterrupted positioning of plant equipment and monitoring.
Description
Technical field
The present invention relates to the indoor and outdoor seamless positioning system that a kind of Beidou navigation is combined with UWB (Ultra Wideband) technology
System and method.
Background technology
In the market increasingly increases indoor and outdoor seamless positioning technical need in recent years at present.Along with market indoor positioning and
The development of pilotless automobile, the market of indoor and outdoor seamless positioning will be broken out.The Big Dipper is solved by indoor and outdoor location technology to lead
Boat positioning, RFID positioning, Zigbee positioning etc. are only used for the deficiency of indoor or outdoors location technology, by its several composition one
Organic whole, can be applied to various environment scenes.For dissipating general cargo wharf, there is implement outer high accuracy indoors
Consecutive tracking demand.
Beidou satellite navigation system (Beidou NavigationSatellites System, BDS) is that China is real
Independent development capability, the GPS of independent operating applied, are country's slightly great space fundamental facilities of property.In harbor navigating
In, satellite fix is high by its precision, and operation and maintenance is simple, the factor such as is not influenceed by outside climatic condition, using extremely general
Time.But harbor navigating conventional at present is both for gps system, and progressively construction with Beidou satellite navigation system with it is complete
Kind, application conditions of the big-dipper satellite in harbor navigating are also gradually ripe.The Beidou satellite navigation system independently built using China
System, the accurate reliable navigator fix of realization are significant to the safety guarantee at harbour.
Ultra-wideband real-time positioning system, including the part such as sensor, the network switch, location processor, netting twine.Its
In, sensor is the most important components of positioning unit, and point for having master and slave sensor in software platform, master reference leads to
The time line synchro of mistake is connected to every from sensor, every time synchronizing signal from sensor reception master reference.From sensing
Location data is transferred to master reference and is jointly processed by data by device, each has time line synchro to be connected to main sensing from sensor
Device.Transducer position unit be by one or more sensor groups into region.The label registered in positioning unit enters fixed
During bit location, the UWB signal that label is sent can be received by one or more sensors, from sensor decoder UWB signal and transmission
The angle and time difference information of arrival, and by these data transfers to master reference, master reference, which collects all data, finally to be counted
Calculate the positional information of label.
It is generally in the market outdoor positioning for the mechanical high accuracy positioning of bulk cargo terminals, not for the company of indoor and outdoor
Continuous high accuracy positioning product.
The content of the invention
In order to overcome the disadvantages mentioned above of prior art, the invention provides a kind of indoor and outdoor seamless positioning system and method,
Positioned using Beidou navigation, the state-of-the-art technology of ultra-wideband real-time positioning system, with reference to the implement real time job of indoor and outdoor, purport
Solving problems with：
(1) indoor implement real-time high-precision positioning application；
(2) outdoor implement real-time high-precision positioning application；
(3) the continuous real-time high-precision positioning application of the implement of indoor and outdoor.
The technical solution adopted for the present invention to solve the technical problems is：A kind of indoor and outdoor seamless positioning system, including number
The Big Dipper base station subsystem that is connected according to processing center subsystem and respectively with data processing centre subsystem, interior UWB are positioned
Subsystem, the Big Dipper/UWB movement stations subsystem and system monitoring subsystem, wherein：
The Big Dipper base station subsystem is used to receive big-dipper satellite location observation data, generates differential corrections, and lead to
Cross data processing centre's subsystem and be transmitted to the Big Dipper/UWB movement station subsystems；
The indoor UWB positioning subsystem is used to determine UWB label positions, and is forwarded by data processing centre's subsystem
To the Big Dipper/UWB movement station subsystems；
The data that the Big Dipper/UWB movement stations subsystem receives data processing centre's subsystem forwarding realize that the Big Dipper is positioned
With UWB positioning functions, implement current position coordinates are determined, and coordinate is sent to data processing centre's system；
Data processing centre's subsystem sends out the implement current position coordinates that the Big Dipper is positioned and UWB positioning is determined
Give the progress visualization of system monitoring subsystem to show, while calculating implement with entering according to implement current position coordinates
The spatial relation of mouthful identification point, outlet identification point and switching judging tag slot, realize indoor and outdoor integrated positioning it is two-way from
Adapt to switching.
Present invention also offers a kind of indoor and outdoor seamless positioning method, comprise the following steps：
Step 1: indoor and outdoor spaces coordinate system is unified to WGS-84 coordinate systems；
Step 2: according to indoor outside fix covering and Zone switched feature, it is determined that the entrance mark in positioning handoff procedure
Point, outlet identification point and switching judging tag slot；
Step 3: the implement current location determined according to Big Dipper positioning function module or UWB localization function modules is sat
Mark calculates implement and entrance identification point or the distance value of outlet identification point；
Step 4: judging that operation is set according to the distance value variation tendency of implement and entrance identification point or outlet identification point
It is standby whether progressively from outdoor to indoor or from interior to outdoor operation, when it is determined that implement is from outdoor to indoor or from room
When running outside interior room, then continue to judge distance when whether the distance value is less than from outdoor to interior or from interior to outdoor switches
Threshold values, if it is less, judging that implement will then be carried out outdoor interior of arriving and determined from outdoor to interior or from interior to outdoor
Position or the indoor automatic switchover for arriving outdoor positioning.
Compared with prior art, the positive effect of the present invention is：Positioned by Beidou navigation, ultra-wideband real-time positioning system
Fusion, the consecutive tracking of indoor and outdoor plant equipment is realized, so as to realize the uninterrupted positioning of plant equipment and monitoring.Specific table
It is now as follows：
1. indoor high accuracy positioning is realized using UWB technology；
2. outdoor high accuracy positioning is realized using Beidou navigation location technology；
3. realize that indoor and outdoor continuous seamless is positioned with Beidou navigation location technology using UWB.
Brief description of the drawings
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein：
Fig. 1 is the structural representation of this indoor and outdoor seamless positioning system；
Fig. 2 is indoor ultra-wideband alignment system schematic diagram；
Fig. 3 is that WGS84 coordinate systems define schematic diagram.
Embodiment
The indoor and outdoor seamless positioning system combined based on Beidou navigation with UWB technology, as shown in figure 1, including Big Dipper benchmark
Stand subsystem, data processing centre's subsystem, the Big Dipper/UWB movement stations subsystem, interior UWB positioning subsystem, system monitoring point
System.
Big Dipper base station subsystem equipment mainly includes Big Dipper reference receiver, Beidou antenna and power module.The Big Dipper
Reference receiver is from high-precision Beidou receiver；Power module is converted to 220V electric mains the dc source of voltage stabilizing,
Powered to Big Dipper reference receiver.Big Dipper benchmark station antenna is arranged on open place, such as harbour office building roof.Should during installation
Ensure there is no the higher electromagnetic interference source for blocking thing and influence Big Dipper normal work around it in the range of 200 meters.Realize high-precision
The base station difference coverage about 10Km of RTK positioning is spent, a base station can meet the difference needs in whole dock operation area.
The Big Dipper/UWB movement stations include the Big Dipper positioning with UWB positioning functions, mainly comprising register control, Beidou antenna,
UWB positioning label, power module etc., the integrated high-precision Big Dipper board of register control and ALU, memory cell and
WIFI communication module.The Big Dipper/UWB movement stations receive the differential corrections of data processing centre's system forwards, determine current location
Coordinate, and coordinate is sent to data processing centre's system.
Indoor UWB positioning subsystem comprising multiple distributing installations build indoors ceiling UWB locating signal receivers and
There are one UWB location processor, location processor multiple Ethernet interfaces to be connected with signal receiver netting twine, and with data
Reason is connected centrally through network.UWB locating signal receivers are used for calibration position and receive UWB positioning label signals, and will letter
Breath is sent to UWB location processors.UWB location processor combination UWB locating signal receivers positions and UWB positioning label letters
Breath, determines that UWB positions label position, and send it to data processing centre's system.
System monitoring subsystem is deployed in harbour Central Control Room, for the visualization display Big Dipper/UWB movements on harbour map
Station location.
Data processing centre's subsystem is deployed in harbour computer room, by harbour industrial network and Big Dipper base station subsystem,
The Big Dipper/UWB movement stations subsystem, interior UWB positioning subsystem, the connection of system monitoring subsystem, responsible data forwarding and the Big Dipper/
UWB location data fusion treatments, are the core processing units of system.
First, Big Dipper positioning (outdoor positioning)
Big Dipper base station receives big-dipper satellite location observation data, using known base station accurate coordinates, with observation
It is compared, so as to draw amendment number, i.e. differential corrections, and is moved by data processing centre's system forwards to the Big Dipper/UWB
Stand.
The register control of the Big Dipper/UWB movement stations realizes that wireless network is connected by WiFi technology, receives Big Dipper base station
The Big Dipper differential datas such as observation data and survey station coordinate information that subsystem is broadcast, and it is transmitted to the high accuracy north inside movement station
Strickle card, the observation that high-precision Big Dipper board is received after differential corrections with itself is compared, and is eliminated most of error, is obtained
To high accuracy positioning data, including longitude, latitude, height, so as to realize Big Dipper high accuracy positioning.
2nd, UWB positions (indoor positioning)
After implement is got in, real-time high-precision positioning can not use Satellite Navigation Technique, and RFID, WIFI etc.
Positioning means are unable to reach the requirement of decimeter grade positioning precision.So using Beidou navigation and ultra-wideband wireless location technology knot
Close.
UWB locating signal receivers are disposed with trellis on ceiling indoors, and by the UWB labels in the Big Dipper/UWB movement stations
Implement upper top is fixed on, by the information of location receivers real-time reception label, and UWB location processors is forwarded to and enters
Row processing, by receiving at least three receiver positional information of label position information, distance and angle information to label,
The real-time three-dimensional position of wherein each label can be calculated, then according to the position of all labels on vehicle, work is calculated in real time
The position of industry equipment and attitude data, so as to realize the positioning of movement station indoors.
Location receivers are arranged under ceiling, 50 meters is spaced and forms trellis distribution, receiver is protected using dust cover, and
And be fixed on an installation case, install and power-supply device is placed in case, each live location receivers use shielded cable string
Connection connection, is eventually connected to the location processor at scene.28 receivers are substantially installed in 100MX460M canopy.It is active fixed
Position label：The top that active location label is installed on to implement facilitates position, large-scale implement such as stacker-reclaimer
Deng, can big machine tail end, put one for every 10 meters or so on machine top, cantilever, so effectively carry out position detection.Label is complete
Closing encapsulation, is installed very easy.Every big machine can install 4-5 label.As shown in Figure 2.
3rd, indoor and outdoor seamless positioning
1st, indoor and outdoor spaces coordinate system is unified
System needs the unified indoor spatial coordinate system with outdoor, in order to the visualization table to indoor and outdoor terrestrial object information
Reach and provide precondition for machinery positioning.System is used as coordinate system benchmark using WGS-84 coordinate systems (such as Fig. 3).By means of
Indoor locating system and other mapping equipments and instrument, are realized under different positioning methods, different coordinate-systems to the outdoor Big Dipper
The uniform spaces information representation of alignment system and indoor positioning, is that indoor outside fix switching and service provide precondition.System
Indoor local coordinate system is converted in real time, and rotated, makes two coordinate system directions consistent.Simultaneously by the original of indoor coordinate system
Point is moved to WGS-84 coordinate origin.
2nd, indoor and outdoor integrated positioning switches
Indoor outside fix switching is the effective conversion for realizing positioning method between interior and outdoor.Determine for outdoor and interior
For the system of position, different positioning signal overlay areas determines respective positioning action scope, and positioning switching by opening respectively
Open and realized with closing processing from a kind of positioning method to the transition of another positioning method, while merging these sphere of actions, propped up
Hold the positioning service integrated system for adapting to indoor and outdoor wider region.System is determined according to current positioning signal situation
Using a kind of mode of which kind of location technology.
According to indoor outside fix covering and Zone switched feature, the entrance identification point in positioning handoff procedure is set, exported
Identification point and switching judging tag slot.
By indoor and outdoor locating module, judge that current location is indoors or outdoor, and obtain mechanical real time position letter
Breath, calculates current location and the spatial relation of entrance identification point, outlet identification point and switching judging tag slot, and will be above-mentioned
Relation is used as the foundation for switching localization method.
The spatial relationship currently calculated and its quantized value are compared with switching threshold set in advance, according to indoor and outdoor
Switching law is positioned, the bidirectional self-adaptive switching of indoor and outdoor integrated positioning is realized.
(1) it is outdoor to indoor positioning switching
System obtains current dipper system space coordinate, judges current location and indoor entrance mark, the space of tag slot
Whether the spatial relationship of position, records three groups of data, judge machinery progressively to indoor operation according to distance value variation tendency.As just
To indoor operation, then being compared apart from threshold values during by the distance value calculated with switching from outdoor to interior, as sentencing
Whether fixed machinery just intends to enter the mark of interior.Such as judge that machinery has been enter into interior, then system opens UWB indoor positioning moulds
Formula, closes Big Dipper positioning, completes the outdoor automatic switchover for arriving indoor positioning.
(2) it is indoor to outdoor positioning switching
System obtains current UWB system position coordinates, judges current location and indoor outlet mark, the space bit of tag slot
Whether the spatial relationship put, records three groups of data, judge machinery progressively to outdoor operation according to distance value variation tendency.As
To outdoor operation, then being compared apart from threshold values during by the distance value calculated with switching from interior to outdoor uses judge
Whether machinery just intends to enter the mark of outdoor.Such as judge that machinery has been enter into outdoor, then system opens outdoor Big Dipper positioning mould
Formula, closes UWB positioning, completes the indoor automatic switchover for arriving outdoor positioning.
Claims (7)
1. a kind of indoor and outdoor seamless positioning system, it is characterised in that：Including data processing centre's subsystem and respectively with data
The Big Dipper base station subsystem of reason center subsystem connection, interior UWB position subsystem, the Big Dipper/UWB movement stations subsystem and are
System monitoring subsystem, wherein：
The Big Dipper base station subsystem is used to receive big-dipper satellite location observation data, generates differential corrections, and pass through number
The Big Dipper/UWB movement station subsystems are transmitted to according to processing center subsystem；
The indoor UWB positioning subsystem is used to determine UWB label positions, and is transmitted to north by data processing centre's subsystem
Bucket/UWB movement station subsystems；
The data that the Big Dipper/UWB movement stations subsystem receives data processing centre's subsystem forwarding realize Big Dipper positioning and UWB
Positioning function, determines implement current position coordinates, and coordinate is sent into data processing centre's system；
The implement current position coordinates that the Big Dipper is positioned and UWB positioning is determined are sent to by data processing centre's subsystem
System monitoring subsystem carries out visualization and shown, while calculating implement and entrance mark according to implement current position coordinates
Know the spatial relation of point, outlet identification point and switching judging tag slot, realize the bidirectional self-adaptive of indoor and outdoor integrated positioning
Switching.
2. a kind of indoor and outdoor seamless positioning system according to claim 1, it is characterised in that：The Big Dipper base station divides
The antenna of system nothing in the range of 200 meters around open place, installation site blocks thing and electromagnetic interference source.
3. a kind of indoor and outdoor seamless positioning system according to claim 1, it is characterised in that：The indoor UWB positioning point
System builds the UWB locating signal receivers and a UWB location processor of ceiling comprising multiple distributing installations indoors, described
UWB location processors are connected by Ethernet interface with UWB locating signal receiver netting twines, and pass through the network switch and data
Processing center subsystem is connected.
4. a kind of indoor and outdoor seamless positioning system according to claim 3, it is characterised in that：The UWB positioning signals connect
Receive 50 meters of device interval and form trellis distribution, each UWB locating signal receivers are protected using dust cover, and are fixed on a peace
In vanning, install and power-supply device is placed in case, each UWB locating signal receivers are connected in series using shielded cable.
5. a kind of indoor and outdoor seamless positioning method, it is characterised in that：Comprise the following steps：
Step 1: indoor and outdoor spaces coordinate system is unified to WGS-84 coordinate systems；
Step 2: according to indoor outside fix covering and Zone switched feature, it is determined that positioning the entrance identification point in handoff procedure, going out
Mouth identification point and switching judging tag slot；
Step 3: the implement current position coordinates meter determined according to Big Dipper positioning function module or UWB localization function modules
Calculate implement and entrance identification point or the distance value of outlet identification point；
Step 4: judging that implement is according to the distance value variation tendency of implement and entrance identification point or outlet identification point
It is no progressively from outdoor to indoor or from interior to outdoor operation, when it is determined that implement is from outdoor to indoor or from indoor room
During outer operation, then continue to judge the distance value whether be less than from outdoor to interior or when switching from interior to outdoor apart from valve
Value, if it is less, judging that implement will then be carried out outdoor to indoor positioning from outdoor to interior or from interior to outdoor
Or the indoor automatic switchover for arriving outdoor positioning.
6. a kind of indoor and outdoor seamless positioning method according to claim 5, it is characterised in that：The Big Dipper positioning function mould
Block determines that the method for implement current position coordinates is：Big Dipper base station receives big-dipper satellite location observation data, using
Base station accurate coordinates and the observation known are compared, so as to draw differential corrections, and are by data processing centre point
System is forwarded to the Big Dipper/UWB movement stations；The observation that the Big Dipper/UWB movement stations are received after differential corrections with itself is compared,
Obtain including longitude, latitude and altitude location data after eliminating error, so as to realize the outdoor positioning of implement.
7. a kind of indoor and outdoor seamless positioning method according to claim 5, it is characterised in that：The UWB positioning functions mould
Block determines that the method for implement current position coordinates is：UWB locating signal receiver real-time receptions are fixed on implement
The information of UWB labels in the Big Dipper at top/UWB movement stations, and be forwarded to UWB location processors and handled, at UWB positioning
Reason device by receive at least three UWB locating signal receivers of label position information positional information and its to label away from
From and angle information, the real-time three-dimensional position of each UWB labels is calculated, then according to all UWB labels on implement
Position, calculates the real time position and attitude data of implement in real time, so as to realize the indoor positioning of implement.
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| CN108919328A (en) * | 2018-07-13 | 2018-11-30 | 桂林电子科技大学 | A kind of indoor and outdoor seamless positioning system and localization method |
| CN109031383A (en) * | 2018-07-23 | 2018-12-18 | 重庆市勘测院 | Indoor and outdoor navigation seamless handover method and control system |
| CN109283565A (en) * | 2018-09-21 | 2019-01-29 | 国网江苏省电力有限公司镇江供电分公司 | Indoor and outdoor positioning system and method based on UWB fusion GPS and inertial navigation |
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