CN107040891A - A kind of auxiliary accurate navigation method and system based on LoRa - Google Patents
A kind of auxiliary accurate navigation method and system based on LoRa Download PDFInfo
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- CN107040891A CN107040891A CN201710208936.7A CN201710208936A CN107040891A CN 107040891 A CN107040891 A CN 107040891A CN 201710208936 A CN201710208936 A CN 201710208936A CN 107040891 A CN107040891 A CN 107040891A
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- lora
- navigation system
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- navigation
- navigations
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Classifications
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- 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
-
- 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
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/50—Network services
- H04L67/52—Network services specially adapted for the location of the user terminal
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention provides a kind of auxiliary accurate navigation method based on LoRa and system, the auxiliary accurate navigation method includes：LoRa personal navigation endpoint registration certification networking LoRa navigation system；LoRa personal navigations terminal is communicated with third party's navigation system by LoRa plug-in units；LoRa personal navigations terminal broadcast location protocol bag is to LoRa navigation system；LoRa personal navigations terminal receives the geographical position for the amendment that LoRa navigation system is sended over；The geographical position of amendment is transferred to third party's navigation system by LoRa personal navigations terminal, corrects navigation error；Judge whether to continue to navigate, if, then location protocol packet broadcast step is performed, is otherwise terminated.The beneficial effects of the invention are as follows：The present invention is due to using LoRa technologies, so power consumption and cost can accomplish, than relatively low, to make navigation more accurate, so as to make people's life more convenient.
Description
Technical field
The present invention relates to field of navigation technology, more particularly to a kind of auxiliary accurate navigation method and system based on LoRa.
Background technology
Although the Baidu map and Gao De map navigation systems of current main-stream can give us navigation band in daily life
Carry out great convenience, but because positioning is not very precisely, not enough and inconvenience still to be had in some cases, such as：
1. when we drive to travel on highway, us may be caused to miss a road because of the error of navigator
Mouthful, cause to detour more, lose time, waste of resource；
2. in the range of compared with facet, at this moment Baidu map and Gao De map navigation systems are just difficult to provide navigation to us
Help.
The content of the invention
The invention provides a kind of auxiliary accurate navigation method based on LoRa, including following steps are performed successively：
Registration step：LoRa personal navigation endpoint registration certification networking LoRa navigation system；
Networking judgment step：Judge to network and whether succeed, if, then communication Connection Step is performed, is otherwise continued executing with
Registration step；
Communicate Connection Step：LoRa personal navigations terminal is communicated with third party's navigation system by LoRa plug-in units；
Location protocol packet broadcast step：LoRa personal navigations terminal broadcast location protocol bag is to LoRa navigation system；
Correct geographical position receiving step：LoRa personal navigations terminal receives the amendment that LoRa navigation system is sended over
Geographical position；
Send amendment step：The geographical position of amendment is transferred to third party's navigation system by LoRa personal navigations terminal, is repaiied
Positive navigation error；
Navigation judgment step：Judge whether to continue to navigate, if, then location protocol packet broadcast step is performed, is otherwise tied
Beam.
As a further improvement on the present invention, in the registration step, comprise the following steps：
Log-on message forwarding step：Log-on message is packaged as application networking protocol package and broadcasted by LoRa personal navigations terminal
Go out；
Apply for networking protocol package forwarding step：LoRa device nodes receive application networking protocol package after, forwarding apply into
FidonetFido bag is to LoRa gateways, and LoRa gateways will apply for that networking protocol package is sent to LoRa Cloud Servers and is authenticated license；
Networking result forwarding step：LoRa Cloud Servers will apply for that networking result is sent to LoRa personal navigation terminals.
As a further improvement on the present invention, the location protocol packet broadcast step and the amendment geographical position receive step
Also include geographical position between rapid and correct step；
In the location protocol packet broadcast step, LoRa personal navigations terminal beats log-on message, geographical location information
It is bundled into location protocol bag and is broadcasted by fixed RSSI intensity；
In the geographical position, amendment step includes：
Location protocol bag forwards step：The location protocol bag is added RSSI by the LoRa device nodes for receiving location protocol bag
Value is packaged into new positioning association bag, is then sent to LoRa gateways；
Correct step：LoRa gateways choose several suitable LoRa device nodes by comparing, from its location protocol bag
In take RSSI value, according to RSSI algorithms, then calculate position of the LoRa personal navigations terminal in LoRa navigation system, finally
With reference to the geographical position of LoRa device nodes, the geographical position for the LoRa personal navigation terminals accurately corrected；
Forwarding step：The geographical position of the LoRa personal navigation terminals of amendment is sent to LoRa personal navigations by LoRa gateways
Terminal.
As a further improvement on the present invention, the auxiliary accurate navigation method also builds step including LoRa navigation system
Suddenly：
LoRa device node typing steps：Arrangement installs LoRa device nodes, the essence of the good each LoRa device nodes of registration
True geographical location information, and bound with LoRa ID, the accurate geographic position Data Enter of LoRa device nodes to LoRa clouds is taken
Business device；
LoRa gateway typing steps：According to LoRa device node deployment scenarios, arrangement installs LoRa gateways, makes its communication good
It is good, and by LoRa gateway geographical location information typings to LoRa Cloud Servers；
Shared step：Geographical location information in LoRa Cloud Servers is shared to the backstage of third party's navigation system；
Plug-in unit writes step：The LoRa plug-in units of third party's navigation system are write, so as to complete to build.
As a further improvement on the present invention, the log-on message includes device id and the user of LoRa personal navigation terminals
ID, third party's navigation system includes Baidu map navigation system, high moral map navigation system, Tengxun's map navigation system.
Present invention also offers a kind of auxiliary precision navigation system based on LoRa, including following module is performed successively：
Registering modules：LoRa personal navigation endpoint registration certification networking LoRa navigation system；
Networking judge module：Judge to network and whether succeed, if, then communication link block is performed, is otherwise continued executing with
Registering modules；
Communicate link block：LoRa personal navigations terminal is communicated with third party's navigation system by LoRa plug-in units；
Location protocol packet broadcast module：LoRa personal navigations terminal broadcast location protocol bag is to LoRa navigation system；
Correct geographical position receiving module：LoRa personal navigations terminal receives the amendment that LoRa navigation system is sended over
Geographical position；
Send correcting module：The geographical position of amendment is transferred to third party's navigation system by LoRa personal navigations terminal, is repaiied
Positive navigation error；
Navigate judge module：Judge whether to continue to navigate, if, then location protocol packet broadcast module is performed, is otherwise tied
Beam.
As a further improvement on the present invention, in the Registering modules, including：
Log-on message sending module：Log-on message is packaged as application networking protocol package and broadcasted by LoRa personal navigations terminal
Go out；
Apply for networking protocol package sending module：LoRa device nodes receive application networking protocol package after, forwarding apply into
FidonetFido bag is to LoRa gateways, and LoRa gateways will apply for that networking protocol package is sent to LoRa Cloud Servers and is authenticated license；
Networking result sending module：LoRa Cloud Servers will apply for that networking result is sent to LoRa personal navigation terminals.
As a further improvement on the present invention, the location protocol packet broadcast module and the amendment geographical position receive mould
Also include geographical position correcting module between block；
In the location protocol packet broadcast module, LoRa personal navigations terminal beats log-on message, geographical location information
It is bundled into location protocol bag and is broadcasted by fixed RSSI intensity；
Include in the geographical position correcting module：
Location protocol packet forward module：The location protocol bag is added RSSI by the LoRa device nodes for receiving location protocol bag
Value is packaged into new positioning association bag, is then sent to LoRa gateways；
Correcting module：LoRa gateways choose several suitable LoRa device nodes by comparing, from its location protocol bag
In take RSSI value, according to RSSI algorithms, then calculate position of the LoRa personal navigations terminal in LoRa navigation system, finally
With reference to the geographical position of LoRa device nodes, the geographical position for the LoRa personal navigation terminals accurately corrected；
Sending module：The geographical position of the LoRa personal navigation terminals of amendment is sent to LoRa personal navigations by LoRa gateways
Terminal.
As a further improvement on the present invention, the auxiliary precision navigation system also builds mould including LoRa navigation system
Block：
LoRa device node typing modules：Arrangement installs LoRa device nodes, the essence of the good each LoRa device nodes of registration
True geographical location information, and bound with LoRa ID, the accurate geographic position Data Enter of LoRa device nodes to LoRa clouds is taken
Business device；
LoRa gateway typing modules：According to LoRa device node deployment scenarios, arrangement installs LoRa gateways, makes its communication good
It is good, and by LoRa gateway geographical location information typings to LoRa Cloud Servers；
Sharing module：Geographical location information in LoRa Cloud Servers is shared to the backstage of third party's navigation system；
Plug-in unit writes module：The LoRa plug-in units of third party's navigation system are write, so as to complete to build.
As a further improvement on the present invention, the log-on message includes device id and the user of LoRa personal navigation terminals
ID, third party's navigation system includes Baidu map navigation system, high moral map navigation system, Tengxun's map navigation system.
The beneficial effects of the invention are as follows：The present invention is due to using LoRa technologies, so power consumption and cost can accomplish to compare
It is low, make navigation more accurate, so as to make people's life more convenient.
Brief description of the drawings
Fig. 1 is the schematic diagram of the LoRa navigation system of the present invention.
Fig. 2 is the LoRa personal navigation terminal structure schematic diagrames of the present invention.
Fig. 3 is the flow chart of the auxiliary accurate navigation method of the present invention.
Fig. 4 is the LoRa personal navigation endpoint registration certification networking flow charts of the present invention.
Fig. 5 is the position correction flow chart of the present invention.
Embodiment
The present invention is by LoRa navigation system, LoRa personal navigations terminal, smart mobile phone, Baidu map or high moral digital map navigation
System, RSSI location algorithms etc. are constituted.LoRa navigation system is made up of LoRa Cloud Servers, LoRa gateways, LoRa device nodes.
LoRa gateways include central processing unit, LoRa communication modules, power module, ethernet module or GSM/GPRS modules or 3G/4G/
5G modules or WIFI module, peripheral interface etc..LoRa device nodes include central processing unit, LoRa modules, power module.
LoRa personal navigations terminal include central processing unit, LoRa modules, power module, Micro USB interfaces or Mini USB or
USB-C (USB Type-C) interface.Central processing unit can be 8 MCU, the MCU of 16,32 MCU, DSP, FPGA or many
Core processor, power module can be all types of lithium batteries, battery, power supply, solar powered, wind power supply etc..
Peripheral interface can be ISP, UART, I 2C, GPIO, USB, HDMI, VGA, Type C interface etc..Smart mobile phone is can
Run Baidu map app and Gao De map app and the smart mobile phone with positioning function.Baidu map provides for baidu company
A whole set of navigation system, including Baidu map app and Baidu map background server etc..High moral map is Gao De software companys
A whole set of navigation system provided, including high moral map app and high moral map background server etc..RSSI location algorithms are to appoint
A kind of what algorithm for the position that target can be calculated by the changing value of RSSI intensity.
In LoRa navigation system, personal hand-held is through Micro USB or Mini USB or USB-C (USB Type-C) interface
The smart mobile phone of LoRa personal navigation terminals is inserted with, cell phone network (wifi, 3G or 4G etc.) is opened, Baidu map or Gao De is opened
Map app, then whole navigation starts.Navigation principle is：The first step, first Baidu map or high moral map app obtain mobile phone
The geographical position at place, the then LoRa of more than 3 by the positional information by LoRa personal navigations terminal broadcast to surrounding
Device node, while each LoRa device nodes are by the RSSI value of acquisition, LoRa device node ID, LoRa device nodes geographical position
LoRa gateways are sent to etc. information package；Second step, LoRa gateways choose the RSSI value of several LoRa device nodes, calculate
Position of the LoRa personal navigations terminal in LoRa navigation system, in conjunction with the geographical location information of corresponding LoRa device nodes,
Calculate the geographical position for the LoRa personal navigation terminals corrected；3rd step, LoRa gateways are by the LoRa personal navigations of amendment
The geographical position of terminal is issued to LoRa personal navigation terminals, and Baidu is sent to by Baidu map or high moral map app plug-in units
Map or high moral map app, carry out position correction, so as to reach more accurate navigation.
As shown in figure 1, arrange several LoRa gateways, a large amount of LoRa device nodes in city, then with LoRa cloud services
Device sets up a LoRa navigation system together.Personal hand-held is inserted with the smart mobile phone of LoRa personal navigation terminals, open Baidu or
High moral map app, then LoRa navigation system just can be to the personal accurate navigation for providing auxiliary.
As shown in Fig. 2 LoRa personal navigations terminal is mainly made up of 3 parts, including LoRa antennas, terminal fuselage and one
Micro USB or Mini USB or USB-C interfaces.The LoRa personal navigations terminal by Micro USB or Mini USB or
USB-C interfaces carry out data exchange with smart mobile phone, pass through LoRa modules and LoRa device talks.
As shown in figure 3, the invention discloses a kind of auxiliary accurate navigation method based on LoRa, including perform successively as follows
Step：
Registration step：LoRa personal navigation endpoint registration certification networking LoRa navigation system；
Networking judgment step：Judge to network and whether succeed, if, then communication Connection Step is performed, is otherwise continued executing with
Registration step；
Communicate Connection Step：LoRa personal navigations terminal is communicated with third party's navigation system by LoRa plug-in units；
Location protocol packet broadcast step：LoRa personal navigations terminal broadcast location protocol bag is to LoRa navigation system；
Correct geographical position receiving step：LoRa personal navigations terminal receives the amendment that LoRa navigation system is sended over
Geographical position；
Send amendment step：The geographical position of amendment is transferred to third party's navigation system by LoRa personal navigations terminal, is repaiied
Positive navigation error；
Navigation judgment step：Judge whether to continue to navigate, if, then location protocol packet broadcast step is performed, is otherwise tied
Beam.
As shown in figure 4, in the registration step, comprising the following steps：
Log-on message forwarding step：Log-on message is packaged as application networking protocol package and broadcasted by LoRa personal navigations terminal
Go out；
Apply for networking protocol package forwarding step：LoRa device nodes receive application networking protocol package after, forwarding apply into
FidonetFido bag is to LoRa gateways, and LoRa gateways will apply for that networking protocol package is sent to LoRa Cloud Servers and is authenticated license；
Networking result forwarding step：LoRa Cloud Servers will apply for that networking result is sent to LoRa personal navigation terminals.
Fig. 5 is position correction flow chart, the location protocol packet broadcast step and amendment geographical position receiving step
Between also include geographical position correct step；
In the location protocol packet broadcast step, LoRa personal navigations terminal beats log-on message, geographical location information
It is bundled into location protocol bag and is broadcasted by fixed RSSI intensity；
In the geographical position, amendment step includes：
Location protocol bag forwards step：The location protocol bag is added RSSI by the LoRa device nodes for receiving location protocol bag
Value is packaged into new positioning association bag, is then sent to LoRa gateways；
Correct step：LoRa gateways choose several suitable LoRa device nodes by comparing, from its location protocol bag
In take RSSI value, according to RSSI algorithms, then calculate position of the LoRa personal navigations terminal in LoRa navigation system, finally
With reference to the geographical position of LoRa device nodes, the geographical position for the LoRa personal navigation terminals accurately corrected；
Forwarding step：The geographical position of the LoRa personal navigation terminals of amendment is sent to LoRa personal navigations by LoRa gateways
Terminal.
The auxiliary accurate navigation method also builds step including LoRa navigation system：
LoRa device node typing steps：First according to landform, LoRa device nodes are installed along street arrangement, registration is good each
The accurate geographic position information of LoRa device nodes, and bound with LoRa ID, the accurate geographic position of LoRa device nodes is believed
Typing is ceased to LoRa Cloud Servers；
LoRa gateway typing steps：According to LoRa device node deployment scenarios, arrangement installs LoRa gateways, makes its communication good
It is good, and by LoRa gateway geographical location information typings to LoRa Cloud Servers；
Shared step：Geographical location information in LoRa Cloud Servers is shared to the backstage of third party's navigation system；
Plug-in unit writes step：Third party's navigation system (Baidu map or high moral map app) LoRa plug-in units are write, so that
Completion is built.
In the present invention, the log-on message includes the device id and ID of LoRa personal navigation terminals, the described 3rd
Square navigation system includes Baidu map navigation system, high moral map navigation system, Tengxun's map navigation system.
LoRa navigation steps：
1 opens mobile phone, inserts LoRa personal navigation terminals, opening network.
2 open Baidu map or high moral map app with LoRa personal navigation terminating cards.
3 enter LoRa navigation system networks, you can navigation.
The invention discloses a kind of auxiliary precision navigation system based on LoRa, including following module is performed successively：
Registering modules：LoRa personal navigation endpoint registration certification networking LoRa navigation system；
Networking judge module：Judge to network and whether succeed, if, then communication link block is performed, is otherwise continued executing with
Registering modules；
Communicate link block：LoRa personal navigations terminal is communicated with third party's navigation system by LoRa plug-in units；
Location protocol packet broadcast module：LoRa personal navigations terminal broadcast location protocol bag is to LoRa navigation system；
Correct geographical position receiving module：LoRa personal navigations terminal receives the amendment that LoRa navigation system is sended over
Geographical position；
Send correcting module：The geographical position of amendment is transferred to third party's navigation system by LoRa personal navigations terminal, is repaiied
Positive navigation error；
Navigate judge module：Judge whether to continue to navigate, if, then location protocol packet broadcast module is performed, is otherwise tied
Beam.
In the Registering modules, including：
Log-on message sending module：Log-on message is packaged as application networking protocol package and broadcasted by LoRa personal navigations terminal
Go out；
Apply for networking protocol package sending module：LoRa device nodes receive application networking protocol package after, forwarding apply into
FidonetFido bag is to LoRa gateways, and LoRa gateways will apply for that networking protocol package is sent to LoRa Cloud Servers and is authenticated license；
Networking result sending module：LoRa Cloud Servers will apply for that networking result is sent to LoRa personal navigation terminals.
Also repaiied between the location protocol packet broadcast module and amendment geographical position receiving module including geographical position
Positive module；
Also repaiied between the location protocol packet broadcast module and amendment geographical position receiving module including geographical position
Positive module；
Include in the geographical position correcting module：
Location protocol packet forward module：The location protocol bag is added RSSI by the LoRa device nodes for receiving location protocol bag
Value is packaged into new positioning association bag, is then sent to LoRa gateways；
Correcting module：LoRa gateways choose several suitable LoRa device nodes by comparing, from its location protocol bag
In take RSSI value, according to RSSI algorithms, then calculate position of the LoRa personal navigations terminal in LoRa navigation system, finally
With reference to the geographical position of LoRa device nodes, the geographical position for the LoRa personal navigation terminals accurately corrected；
Sending module：The geographical position of the LoRa personal navigation terminals of amendment is sent to LoRa personal navigations by LoRa gateways
Terminal.
The auxiliary precision navigation system also builds module including LoRa navigation system：
LoRa device node typing modules：Arrangement installs LoRa device nodes, the essence of the good each LoRa device nodes of registration
True geographical location information, and bound with LoRa ID, the accurate geographic position Data Enter of LoRa device nodes to LoRa clouds is taken
Business device；
LoRa gateway typing modules：According to LoRa device node deployment scenarios, arrangement installs LoRa gateways, makes its communication good
It is good, and by LoRa gateway geographical location information typings to LoRa Cloud Servers；
Sharing module：Geographical location information in LoRa Cloud Servers is shared to the backstage of third party's navigation system；
Plug-in unit writes module：The LoRa plug-in units of third party's navigation system are write, so as to complete to build.
The log-on message includes the device id and ID of LoRa personal navigation terminals, third party's navigation system bag
Include Baidu map navigation system, high moral map navigation system, Tengxun's map navigation system.
The present invention is using LoRa, mobile phone, Baidu or high moral navigation system, RSSI wireless location algorithms, big data analysis knot
The scheme of conjunction, using LoRa low-power consumption, long range and low price feature, LoRa RSSI wireless locations and Baidu or Gao De are led
The characteristics of boat system obtains navigation information, the accurate air navigation aid and system of one auxiliary of construction that can be at lower cost, energy
Bigger facility is brought to our daily lifes.
To sum up, the present invention is due to using LoRa technologies, so power consumption and cost can accomplish, than relatively low, to make navigation more smart
Really, so as to make people's life more convenient.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (10)
1. a kind of auxiliary accurate navigation method based on LoRa, it is characterised in that including performing following steps successively：
Registration step：LoRa personal navigation endpoint registration certification networking LoRa navigation system；
Networking judgment step：Judge to network and whether succeed, if, then communication Connection Step is performed, registration is otherwise continued executing with
Step；
Communicate Connection Step：LoRa personal navigations terminal is communicated with third party's navigation system by LoRa plug-in units；
Location protocol packet broadcast step：LoRa personal navigations terminal broadcast location protocol bag is to LoRa navigation system；
Correct geographical position receiving step：LoRa personal navigations terminal receives the geography for the amendment that LoRa navigation system is sended over
Position；
Send amendment step：The geographical position of amendment is transferred to third party's navigation system by LoRa personal navigations terminal, and amendment is led
Boat error；
Navigation judgment step：Judge whether to continue to navigate, if, then location protocol packet broadcast step is performed, is otherwise terminated.
2. auxiliary accurate navigation method according to claim 1, it is characterised in that in the registration step, including such as
Lower step：
Log-on message forwarding step：Log-on message is packaged as application networking protocol package and broadcast out by LoRa personal navigations terminal
Go；
Apply for networking protocol package forwarding step：LoRa device nodes are received after application networking protocol package, and forwarding application, which networks, assists
View bag is to LoRa gateways, and LoRa gateways will apply for that networking protocol package is sent to LoRa Cloud Servers and is authenticated license；
Networking result forwarding step：LoRa Cloud Servers will apply for that networking result is sent to LoRa personal navigation terminals.
3. auxiliary accurate navigation method according to claim 1, it is characterised in that the location protocol packet broadcast step and
Also include geographical position between the receiving step of the amendment geographical position and correct step；
In the location protocol packet broadcast step, log-on message, geographical location information are packaged into by LoRa personal navigations terminal
Location protocol bag is simultaneously broadcasted by fixed RSSI intensity；
In the geographical position, amendment step includes：
Location protocol bag forwards step：The LoRa device nodes for receiving location protocol bag beat the location protocol bag plus RSSI value
New positioning association bag is bundled into, LoRa gateways are then sent to；
Correct step：LoRa gateways are chosen several suitable LoRa device nodes, taken from its location protocol bag by comparing
RSSI value, according to RSSI algorithms, then calculates position of the LoRa personal navigations terminal in LoRa navigation system, finally combines
The geographical position of LoRa device nodes, the geographical position for the LoRa personal navigation terminals accurately corrected；
Forwarding step：It is whole that the geographical position of the LoRa personal navigation terminals of amendment is sent to LoRa personal navigations by LoRa gateways
End.
4. auxiliary accurate navigation method according to claim 1, it is characterised in that the auxiliary accurate navigation method also includes
LoRa navigation system builds step：
LoRa device node typing steps：Arrangement installs LoRa device nodes, and the good each LoRa device nodes of registration are accurately
Positional information is managed, and is bound with LoRa ID, by the accurate geographic position Data Enter of LoRa device nodes to LoRa cloud services
Device；
LoRa gateway typing steps：According to LoRa device node deployment scenarios, arrangement installs LoRa gateways, makes its communication good,
And by LoRa gateway geographical location information typings to LoRa Cloud Servers；
Shared step：Geographical location information in LoRa Cloud Servers is shared to the backstage of third party's navigation system；
Plug-in unit writes step：The LoRa plug-in units of third party's navigation system are write, so as to complete to build.
5. the auxiliary accurate navigation method according to any one of claim 2 to 4, it is characterised in that the log-on message bag
The device id and ID of LoRa personal navigation terminals are included, third party's navigation system includes Baidu map navigation system, height
Moral map navigation system, Tengxun's map navigation system.
6. a kind of auxiliary precision navigation system based on LoRa, it is characterised in that including performing following module successively：
Registering modules：LoRa personal navigation endpoint registration certification networking LoRa navigation system；
Networking judge module：Judge to network and whether succeed, if, then communication link block is performed, registration is otherwise continued executing with
Module；
Communicate link block：LoRa personal navigations terminal is communicated with third party's navigation system by LoRa plug-in units；
Location protocol packet broadcast module：LoRa personal navigations terminal broadcast location protocol bag is to LoRa navigation system；
Correct geographical position receiving module：LoRa personal navigations terminal receives the geography for the amendment that LoRa navigation system is sended over
Position；
Send correcting module：The geographical position of amendment is transferred to third party's navigation system by LoRa personal navigations terminal, and amendment is led
Boat error；
Navigate judge module：Judge whether to continue to navigate, if, then location protocol packet broadcast module is performed, is otherwise terminated.
7. auxiliary precision navigation system according to claim 6, it is characterised in that in the Registering modules, including：
Log-on message sending module：Log-on message is packaged as application networking protocol package and broadcast out by LoRa personal navigations terminal
Go；
Apply for networking protocol package sending module：LoRa device nodes are received after application networking protocol package, and forwarding application, which networks, assists
View bag is to LoRa gateways, and LoRa gateways will apply for that networking protocol package is sent to LoRa Cloud Servers and is authenticated license；
Networking result sending module：LoRa Cloud Servers will apply for that networking result is sent to LoRa personal navigation terminals.
8. auxiliary precision navigation system according to claim 6, it is characterised in that the location protocol packet broadcast module and
Also include geographical position correcting module between the receiving module of the amendment geographical position；
In the location protocol packet broadcast module, log-on message, geographical location information are packaged into by LoRa personal navigations terminal
Location protocol bag is simultaneously broadcasted by fixed RSSI intensity；
Include in the geographical position correcting module：
Location protocol packet forward module：The LoRa device nodes for receiving location protocol bag beat the location protocol bag plus RSSI value
New positioning association bag is bundled into, LoRa gateways are then sent to；
Correcting module：LoRa gateways are chosen several suitable LoRa device nodes, taken from its location protocol bag by comparing
RSSI value, according to RSSI algorithms, then calculates position of the LoRa personal navigations terminal in LoRa navigation system, finally combines
The geographical position of LoRa device nodes, the geographical position for the LoRa personal navigation terminals accurately corrected；
Sending module：It is whole that the geographical position of the LoRa personal navigation terminals of amendment is sent to LoRa personal navigations by LoRa gateways
End.
9. auxiliary precision navigation system according to claim 6, it is characterised in that the auxiliary precision navigation system also includes
LoRa navigation system builds module：
LoRa device node typing modules：Arrangement installs LoRa device nodes, and the good each LoRa device nodes of registration are accurately
Positional information is managed, and is bound with LoRa ID, by the accurate geographic position Data Enter of LoRa device nodes to LoRa cloud services
Device；
LoRa gateway typing modules：According to LoRa device node deployment scenarios, arrangement installs LoRa gateways, makes its communication good,
And by LoRa gateway geographical location information typings to LoRa Cloud Servers；
Sharing module：Geographical location information in LoRa Cloud Servers is shared to the backstage of third party's navigation system；
Plug-in unit writes module：The LoRa plug-in units of third party's navigation system are write, so as to complete to build.
10. the auxiliary precision navigation system according to any one of claim 7 to 9, it is characterised in that the log-on message bag
The device id and ID of LoRa personal navigation terminals are included, third party's navigation system includes Baidu map navigation system, height
Moral map navigation system, Tengxun's map navigation system.
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