CN107643535A - A kind of indoor and outdoor Position Fixing Navigation System and method - Google Patents
A kind of indoor and outdoor Position Fixing Navigation System and method Download PDFInfo
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- CN107643535A CN107643535A CN201710707599.6A CN201710707599A CN107643535A CN 107643535 A CN107643535 A CN 107643535A CN 201710707599 A CN201710707599 A CN 201710707599A CN 107643535 A CN107643535 A CN 107643535A
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Abstract
The present invention relates to a kind of indoor and outdoor Position Fixing Navigation System and method, indoor and outdoor Position Fixing Navigation System includes terminal board, transmitting device and server, and terminal board obtains angular velocity data, acceleration information and geomagnetic data；Satellite-signal is obtained simultaneously, carrying out Differential positioning to satellite-signal obtains Differential positioning data；Angular velocity data, acceleration information, geomagnetic data and Differential positioning data are transmitted to server through transmitting device, and stored；Server obtains indoor precise position information and outdoor positioning information；Cartographic information is obtained, indoor precise position information, outdoor positioning information and cartographic information are combined, positioning map information is obtained and is transmitted by transmitting device to end plaste card and shown.Compared with the prior art, angular velocity data, acceleration information, geomagnetic data and Differential positioning data are transmitted to server and matched by the present invention by transmitting device, are realized precise positioning, are easy to the use of free personnel, avoid the occurrence of the situation of heading effect.
Description
Technical field
The present invention relates to field of navigation technology, more particularly to a kind of indoor and outdoor Position Fixing Navigation System and method.
Background technology
With the development of society, indoor and outdoor navigation is always a more and more popular topic with positioning, outdoor satellite is led
Boat is constantly ripe with location technology, can be provided for us reliably position, test the speed, the function such as time service.Indoor localization method is more
Sample.
Indoor and outdoor airmanship of the prior art is only suitable for managing people concentratedly, it is necessary to arrange a large amount of signal nodes in advance
Used in the case of member, be unfavorable for the use of free personnel.Furthermore outdoor GPS location is used, in the case of no gps signal
Using PDR reckonings position, but do not account for single d GPS locating module precision only in the range of 3-5 rice, and
The accumulation of error occurs in PDR reckonings, avoids the occurrence of the situation of heading effect.
The content of the invention
It is an object of the invention to provide a kind of indoor and outdoor Position Fixing Navigation System and method, technical problem to be solved is：
Need to arrange a large amount of signal nodes in advance, be only suitable for using in the case of centralized management staff, be unfavorable for the use of free personnel；
Precision is only in the range of 3-5 rice, and the accumulation of error occurs in PDR reckonings, avoids the occurrence of the situation of heading effect.
The technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of indoor and outdoor Position Fixing Navigation System, including terminal
Board, transmitting device and server, the terminal board are connected with the transmitting device, the transmitting device and the server
Wireless connection；
The terminal board, for detecting rotational angular velocity and acceleration, angular velocity data is generated respectively and accelerates the number of degrees
According to, while obtain the geomagnetic data of position；Satellite-signal is obtained, Differential positioning is carried out to satellite-signal, difference is obtained and determines
Position data；By angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer to transmitting device, and deposited
Storage；It is additionally operable to show positioning map information；
The transmitting device, for by angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer extremely
Server；It is additionally operable to positioning map information transfer to terminal board；
The server, for obtaining localization region geomagnetic data, with reference to angular velocity data, acceleration information and ground magnetic number
According to being handled, indoor precise position information is drawn；It is additionally operable to receive the satellite-signal that base station observes, satellite-signal is entered
Differential correction data is calculated in row, and differential correction data and Differential positioning data are carried out into matching treatment, obtains outdoor positioning letter
Breath；Cartographic information is obtained, indoor precise position information, outdoor positioning information and cartographic information are combined, obtain positioning map information
Transmitted by transmitting device to terminal board.
The beneficial effects of the invention are as follows：Terminal board detects angular velocity data, acceleration information, geomagnetic data and difference in real time
Point location data, and by angular velocity data, acceleration information, geomagnetic data and Differential positioning data by transmitting device transmit to
Server is matched, and realizes precise positioning, is avoided arranging a large amount of signal nodes, is easy to the use of free personnel；Pass through earth magnetism
Matching, can lift precision, avoid the occurrence of the situation of heading effect.
On the basis of above-mentioned technical proposal, the present invention can also do following improvement.
Further, the terminal board includes nine axle identification loops, GPS/BD modules and main control module；
The nine axles identification loop, for detecting rotational angular velocity and acceleration, angular velocity data and acceleration are generated respectively
Degrees of data, while obtain the geomagnetic data of position；
The GPS/BD modules, for obtaining satellite-signal, Differential positioning is carried out to satellite-signal, obtains Differential positioning number
According to；
The main control module, for by angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer extremely
Transmitting device.
It is using the above-mentioned further beneficial effect of scheme：Pass through nine axle identification loops, GPS/BD modules and main control module
Angular velocity data, acceleration information, geomagnetic data and Differential positioning data can be obtained in real time, are convenient for running fix, are avoided
A large amount of signal nodes are arranged, are easy to the use of free personnel.
Further, the nine axles identification loop includes three-axis gyroscope, three axis accelerometer and three axle magnetometer, and described three
Axle gyroscope is used to detect rotational angular velocity, generates angular velocity data；The three axis accelerometer is used to detect acceleration, generates
Angular velocity data；The three axle magnetometer is used for the geomagnetic data for obtaining position.
It is using the above-mentioned further beneficial effect of scheme：Pass through three-axis gyroscope, three axis accelerometer and three axle magnetic force
Meter can obtain angular velocity data, acceleration information, geomagnetic data in real time, lift the convenience of data acquisition, lift positioning precision.
Further, the terminal board also includes memory module, and the memory module is used for angular velocity data, acceleration
Data, geomagnetic data and Differential positioning data are stored.
It is using the above-mentioned further beneficial effect of scheme：Memory module energy real-time storage angular velocity data, accelerate the number of degrees
According to, geomagnetic data and Differential positioning data, it is easy to data later use to analyze.
Further, the terminal board also includes display module, and the display module is used to carry out positioning map information
Display.
It is using the above-mentioned further beneficial effect of scheme：Display module is easy to user, and viewing is fixed in real time on terminal board
Position cartographic information, lifts convenience.
Further, the terminal board also includes power supply module, the power supply module respectively with the main control module, nine axles
Identification loop, GPS/BD modules, memory module and display module are by connection, to the main control module, nine axle Inertial Modes
Block, GPS/BD modules, memory module and display module transmission electric energy.
It is using the above-mentioned further beneficial effect of scheme：Power supply module can be main control module, nine axle identification loops, GPS/
BD modules, memory module and display module transmission electric energy, ensure main control module, nine axle identification loops, GPS/BD modules, storage mould
Block and display module stable operation.
Further, the transmitting device includes GPRS module and bluetooth module, the GPRS module and the terminal board
Connection, the GPRS module and the server wireless connection；The bluetooth module is connected with the terminal board, the bluetooth
Module passes through intelligent terminal and the server wireless connection.
It is using the above-mentioned further beneficial effect of scheme：Two kinds of transmission modes of GPRS module and bluetooth module, lifting is just
Profit.
Further, the server includes earth magnetism module, processing module, differential corrections module and mapping module；
The earth magnetism module, for obtaining the geomagnetic data of localization region, earth magnetism fingerprint base is established according to geomagnetic data；
The processing module is used for angular velocity data, acceleration information and geomagnetic data and carries out PDR computings, obtains indoor
Rough location information；To rough location information using two step-lengths as earth magnetism region of search, geomagnetic data in region of search is obtained,
Geomagnetic data in region of search and earth magnetism fingerprint base are obtained into optimal match point by geomagnetic matching algorithm, draw indoor accurate position
Confidence ceases；
The differential corrections module, the satellite-signal observed for receiving base station, is calculated satellite-signal
Differential correction data is obtained, differential correction data and Differential positioning data are subjected to matching treatment, obtain outdoor positioning information；
The mapping module, for obtaining cartographic information, indoor precise position information, outdoor positioning information and map are believed
Breath combines, and obtains positioning map information and is transmitted by transmitting device to terminal board.
It is using the above-mentioned further beneficial effect of scheme.
Another technical scheme that the present invention solves above-mentioned technical problem is as follows：A kind of indoor and outdoor positioning navigation method, including
Following steps：By earth magnetism module, processing module, differential corrections module and mapping module coordinate operation, matching school can be carried out
Standard, lift positioning precision.
Step 1. terminal board detects rotational angular velocity and acceleration, generates angular velocity data and acceleration information respectively,
The geomagnetic data of position is obtained simultaneously；Satellite-signal is obtained, Differential positioning is carried out to satellite-signal, obtains Differential positioning number
According to；By angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer to transmitting device, and stored；
Step 2. transmitting device extremely takes angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer
Business device；
Step 3. server obtains localization region geomagnetic data, with reference to angular velocity data, acceleration information and geomagnetic data
Handled, draw indoor precise position information；The satellite-signal that base station observes also is received, satellite-signal is calculated
Differential correction data is obtained, differential correction data and Differential positioning data are subjected to matching treatment, obtain outdoor positioning information；Obtain
Cartographic information, indoor precise position information, outdoor positioning information and cartographic information are combined, obtain positioning map information transfer to biography
Defeated device；
Step 4. transmitting device is by positioning map information transfer to terminal board；Terminal board is carried out to positioning map information
Display.
The beneficial effects of the invention are as follows：Terminal board detects angular velocity data, acceleration information, geomagnetic data and difference in real time
Point location data, and by angular velocity data, acceleration information, geomagnetic data and Differential positioning data by transmitting device transmit to
Server is matched, and realizes precise positioning, is avoided arranging a large amount of signal nodes, is easy to the use of free personnel；Pass through earth magnetism
Matching, can lift precision, avoid the occurrence of the situation of heading effect.
Brief description of the drawings
Fig. 1 is a kind of module frame chart of indoor and outdoor Position Fixing Navigation System of the present invention；
Fig. 2 is the module frame chart of terminal board of the present invention；
Fig. 3 is the module frame of server of the present invention；
Fig. 4 is a kind of flow chart of indoor and outdoor positioning navigation method of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows：
1st, terminal board, 101, nine axle identification loops, 102, GPS/BD modules, 103, main control module, 104, memory module,
105th, display module, 106, power supply module；
2nd, transmitting device；
3rd, server, 301, earth magnetism module, 302, processing module, 303, differential corrections module, 304, mapping module.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in figure 1, a kind of indoor and outdoor Position Fixing Navigation System, including terminal board 1, transmitting device 2 and server 3, institute
State terminal board 1 to be connected with the transmitting device 2, the transmitting device 2 and the wireless connection of server 3；
The terminal board 1, for detecting rotational angular velocity and acceleration, angular velocity data is generated respectively and accelerates the number of degrees
According to, while obtain the geomagnetic data of position；Satellite-signal is obtained, Differential positioning is carried out to satellite-signal, difference is obtained and determines
Position data；By angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer to transmitting device 2, and deposited
Storage；It is additionally operable to show positioning map information；
The transmitting device 2, for by angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer
To server 3；It is additionally operable to positioning map information transfer to terminal board 1；
The server 3, for obtaining localization region geomagnetic data, with reference to angular velocity data, acceleration information and earth magnetism
Data are handled, and draw indoor precise position information；It is additionally operable to receive the satellite-signal that base station observes, to satellite-signal
Carry out that differential correction data is calculated, differential correction data and Differential positioning data are subjected to matching treatment, obtain outdoor positioning
Information；Cartographic information is obtained, indoor precise position information, outdoor positioning information and cartographic information are combined, obtains positioning map letter
Breath is transmitted to terminal board 1 by transmitting device 2.
Terminal board 1 detects angular velocity data, acceleration information, geomagnetic data and Differential positioning data in real time, and by angle
Speed data, acceleration information, geomagnetic data and Differential positioning data are transmitted to server 3 by transmitting device 2 to be matched,
Precise positioning is realized, avoids arranging a large amount of signal nodes, is easy to the use of free personnel；By geomagnetic matching, precision can be lifted,
Avoid the occurrence of the situation of heading effect.
In above-described embodiment, as shown in Fig. 2 the terminal board 1 includes nine axle identification loops 101, GPS/BD modules 102
With main control module 103；
The nine axles identification loop 101, for detecting rotational angular velocity and acceleration, angular velocity data is generated respectively and is added
Speed data, while obtain the geomagnetic data of position；
The GPS/BD modules 102, for obtaining satellite-signal, Differential positioning is carried out to satellite-signal, difference is obtained and determines
Position data；
The main control module 103, for angular velocity data, acceleration information, geomagnetic data and Differential positioning data to be passed
Transport to transmitting device 2.
Angular velocity data can be obtained in real time by nine axle identification loops 101, GPS/BD modules 102 and main control module 103, added
Speed data, geomagnetic data and Differential positioning data, are convenient for running fix, avoid arranging a large amount of signal nodes, are easy to certainly
By the use of personnel.
In above-described embodiment, as shown in Fig. 2 the nine axles identification loop 101 includes three-axis gyroscope, three axis accelerometer
And three axle magnetometer, the three-axis gyroscope are used to detect rotational angular velocity, generate angular velocity data；The three axis accelerometer
For detecting acceleration, angular velocity data is generated；The three axle magnetometer is used for the geomagnetic data for obtaining position.
Angular velocity data can be obtained in real time by three-axis gyroscope, three axis accelerometer and three axle magnetometer, accelerate the number of degrees
According to, geomagnetic data, the convenience of data acquisition is lifted, lifts positioning precision.
In above-described embodiment, as shown in Fig. 2 the terminal board 1 also includes memory module 104, the memory module 104
Stored for angular velocity data, acceleration information, geomagnetic data and Differential positioning data.
The energy real-time storage of memory module 104 angular velocity data, acceleration information, geomagnetic data and Differential positioning data, just
Analyzed in data later use.
In above-described embodiment, as shown in Fig. 2 the terminal board 1 also includes display module 105, the display module 105
For being shown to positioning map information.
Display module 105 is easy to user to watch positioning map information in real time on terminal board 1, lifts convenience.
In above-described embodiment, as shown in Fig. 2 the terminal board 1 also includes power supply module 106, the power supply module 106
Respectively with the main control module 103, nine axle identification loops 101, GPS/BD modules 102, memory module 104 and display module 105
By connection, to the main control module 103, nine axle identification loops 101, GPS/BD modules 102, memory module 104 and show
Show that module 105 transmits electric energy.
Power supply module 106 can be main control module 103, nine axle identification loops 101, GPS/BD modules 102, memory module 104
Electric energy is transmitted with display module 105, ensures main control module 103, nine axle identification loops 101, GPS/BD modules 102, memory module
104 and the stable operation of display module 105.
In above-described embodiment, the transmitting device 2 includes GPRS module and bluetooth module, the GPRS module and the end
End plate card 1 connects, the GPRS module and the wireless connection of server 3；The bluetooth module connects with the terminal board 1
Connect, the bluetooth module passes through intelligent terminal and the wireless connection of server 3.
Two kinds of transmission modes of GPRS module and bluetooth module, lift convenience.
In above-described embodiment, change as shown in figure 3, the server 3 includes earth magnetism module 301, processing module 302, difference
Positive number module 303 and mapping module 304；
The earth magnetism module 301, for obtaining the geomagnetic data of localization region, earth magnetism fingerprint is established according to geomagnetic data
Storehouse；
The processing module 302 is used for angular velocity data, acceleration information and geomagnetic data and carries out PDR computings, obtains
Indoor rough location information；To rough location information using two step-lengths as earth magnetism region of search, earth magnetism in region of search is obtained
Data, geomagnetic data in region of search and earth magnetism fingerprint base are obtained into optimal match point by geomagnetic matching algorithm, draw interior
Precise position information；
The differential corrections module 303, the satellite-signal observed for receiving base station, is counted to satellite-signal
Calculation obtains differential correction data, and differential correction data and Differential positioning data are carried out into matching treatment, obtain outdoor positioning information；
The mapping module 304, for obtaining cartographic information, by indoor precise position information, outdoor positioning information and ground
Figure information combines, and obtains positioning map information and is transmitted by transmitting device 2 to terminal board 1.
Pass through earth magnetism module 301, processing module 302, differential corrections module 303 and the coordinate operation of mapping module 304, energy
Matching calibration is carried out, lifts positioning precision.
As shown in figure 4, a kind of indoor and outdoor positioning navigation method, comprises the following steps：
Step 1. terminal board 1 detects rotational angular velocity and acceleration, generates angular velocity data and acceleration information respectively,
The geomagnetic data of position is obtained simultaneously；Satellite-signal is obtained, Differential positioning is carried out to satellite-signal, obtains Differential positioning number
According to；By angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer to transmitting device 2, and stored；
Step 2. transmitting device 2 extremely takes angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer
Business device 3；
Step 3. server 3 obtains localization region geomagnetic data, with reference to angular velocity data, acceleration information and geomagnetic data
Handled, draw indoor precise position information；The satellite-signal that base station observes also is received, satellite-signal is calculated
Differential correction data is obtained, differential correction data and Differential positioning data are subjected to matching treatment, obtain outdoor positioning information；Obtain
Cartographic information, indoor precise position information, outdoor positioning information and cartographic information are combined, positioning map information is obtained and passes through transmission
Device 2 is transmitted to terminal board 1；
Step 4. transmitting device 2 is by positioning map information transfer to terminal board 1；Positioning map information transfer is obtained to transmission
Device 2.
In above-described embodiment, as shown in Fig. 2 the terminal board 1 includes nine axle identification loops 101, GPS/BD modules 102
With main control module 103；
The nine axles identification loop 101, for detecting rotational angular velocity and acceleration, angular velocity data is generated respectively and is added
Speed data, while obtain the geomagnetic data of position；
The GPS/BD modules 102, for obtaining satellite-signal, Differential positioning is carried out to satellite-signal, difference is obtained and determines
Position data；
The main control module 103, for angular velocity data, acceleration information, geomagnetic data and Differential positioning data to be passed
Transport to transmitting device 2.
Angular velocity data can be obtained in real time by nine axle identification loops 101, GPS/BD modules 102 and main control module 103, added
Speed data, geomagnetic data and Differential positioning data, are convenient for running fix, avoid arranging a large amount of signal nodes, are easy to certainly
By the use of personnel.
In above-described embodiment, as shown in Fig. 2 the nine axles identification loop 101 includes three-axis gyroscope, three axis accelerometer
And three axle magnetometer, the three-axis gyroscope are used to detect rotational angular velocity, generate angular velocity data；The three axis accelerometer
For detecting acceleration, angular velocity data is generated；The three axle magnetometer is used for the geomagnetic data for obtaining position.
Angular velocity data can be obtained in real time by three-axis gyroscope, three axis accelerometer and three axle magnetometer, accelerate the number of degrees
According to, geomagnetic data, the convenience of data acquisition is lifted, lifts positioning precision.
In above-described embodiment, as shown in Fig. 2 the terminal board 1 also includes memory module 104, the memory module 104
Stored for angular velocity data, acceleration information, geomagnetic data and Differential positioning data.
The energy real-time storage of memory module 104 angular velocity data, acceleration information, geomagnetic data and Differential positioning data, just
Analyzed in data later use.
In above-described embodiment, as shown in Fig. 2 the terminal board 1 also includes display module 105, the display module 105
For being shown to positioning map information.
Display module 105 is easy to user to watch positioning map information in real time on terminal board 1, lifts convenience.
In above-described embodiment, as shown in Fig. 2 the terminal board 1 also includes power supply module 106, the power supply module 106
Respectively with the main control module 103, nine axle identification loops 101, GPS/BD modules 102, memory module 104 and display module 105
By connection, to the main control module 103, nine axle identification loops 101, GPS/BD modules 102, memory module 104 and show
Show that module 105 transmits electric energy.
Power supply module 106 can be main control module 103, nine axle identification loops 101, GPS/BD modules 102, memory module 104
Electric energy is transmitted with display module 105, ensures main control module 103, nine axle identification loops 101, GPS/BD modules 102, memory module
104 and the stable operation of display module 105.
In above-described embodiment, the transmitting device 2 includes GPRS module and bluetooth module, the GPRS module and the end
End plate card 1 connects, the GPRS module and the wireless connection of server 3；The bluetooth module connects with the terminal board 1
Connect, the bluetooth module passes through intelligent terminal and the wireless connection of server 3.
Two kinds of transmission modes of GPRS module and bluetooth module, lift convenience.
In above-described embodiment, change as shown in figure 3, the server 3 includes earth magnetism module 301, processing module 302, difference
Positive number module 303 and mapping module 304；
The earth magnetism module 301, for obtaining the geomagnetic data of localization region, earth magnetism fingerprint is established according to geomagnetic data
Storehouse；
The processing module 302 is used for angular velocity data, acceleration information and geomagnetic data and carries out PDR computings, obtains
Indoor rough location information；To rough location information using two step-lengths as earth magnetism region of search, earth magnetism in region of search is obtained
Data, geomagnetic data in region of search and earth magnetism fingerprint base are obtained into optimal match point by geomagnetic matching algorithm, draw interior
Precise position information；
The differential corrections module 303, the satellite-signal observed for receiving base station, is counted to satellite-signal
Calculation obtains differential correction data, and differential correction data and Differential positioning data are carried out into matching treatment, obtain outdoor positioning information；
The mapping module 304, for obtaining cartographic information, by indoor precise position information, outdoor positioning information and ground
Figure information combines, and obtains positioning map information and is transmitted by transmitting device 2 to terminal board 1.
Pass through earth magnetism module 301, processing module 302, differential corrections module 303 and the coordinate operation of mapping module 304, energy
Matching calibration is carried out, lifts positioning precision.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (9)
- A kind of 1. indoor and outdoor Position Fixing Navigation System, it is characterised in that：Including terminal board (1), transmitting device (2) and server (3), the terminal board (1) is connected with the transmitting device (2), and the transmitting device (2) wirelessly connects with the server (3) Connect；The terminal board (1), for detecting rotational angular velocity and acceleration, angular velocity data is generated respectively and accelerates the number of degrees According to, while obtain the geomagnetic data of position；Satellite-signal is obtained, Differential positioning is carried out to satellite-signal, difference is obtained and determines Position data；By angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer to transmitting device (2), and carry out Storage；It is additionally operable to show positioning map information；The transmitting device (2), for by angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer extremely Server (3)；It is additionally operable to positioning map information transfer to terminal board (1)；The server (3), for obtaining localization region geomagnetic data, with reference to angular velocity data, acceleration information and ground magnetic number According to being handled, indoor precise position information is drawn；It is additionally operable to receive the satellite-signal that base station observes, satellite-signal is entered Differential correction data is calculated in row, and differential correction data and Differential positioning data are carried out into matching treatment, obtains outdoor positioning letter Breath；Cartographic information is obtained, indoor precise position information, outdoor positioning information and cartographic information are combined, obtain positioning map information Transmitted by transmitting device (2) to terminal board (1).
- A kind of 2. indoor and outdoor Position Fixing Navigation System according to claim 1, it is characterised in that：The terminal board (1) includes Nine axle identification loops (101), GPS/BD modules (102) and main control module (103)；The nine axles identification loop (101), for detecting rotational angular velocity and acceleration, angular velocity data and acceleration are generated respectively Degrees of data, while obtain the geomagnetic data of position；The GPS/BD modules (102), for obtaining satellite-signal, Differential positioning is carried out to satellite-signal, obtains Differential positioning Data；The main control module (103), for by angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer To transmitting device (2).
- A kind of 3. indoor and outdoor Position Fixing Navigation System according to claim 2, it is characterised in that：The nine axles identification loop (101) three-axis gyroscope, three axis accelerometer and three axle magnetometer are included, the three-axis gyroscope is used to detect angle of rotation speed Degree, generate angular velocity data；The three axis accelerometer is used to detect acceleration, generates angular velocity data；The three axles magnetic force Count the geomagnetic data for obtaining position.
- A kind of 4. indoor and outdoor Position Fixing Navigation System according to claim 2, it is characterised in that：The terminal board (1) is also wrapped Memory module (104) is included, the memory module (104) is determined for angular velocity data, acceleration information, geomagnetic data and difference Position data are stored.
- A kind of 5. indoor and outdoor Position Fixing Navigation System according to claim 3, it is characterised in that：The terminal board (1) is also wrapped Display module (105) is included, the display module (105) is used to show positioning map information.
- A kind of 6. indoor and outdoor Position Fixing Navigation System according to claim 4, it is characterised in that：The terminal board (1) is also wrapped Include power supply module (106), the power supply module (106) respectively with the main control module (103), nine axle identification loops (101), GPS/BD modules (102), memory module (104) and display module (105) by connection, to the main control module (103), Nine axle identification loops (101), GPS/BD modules (102), memory module (104) and display module (105) transmission electric energy.
- 7. according to a kind of any one of claim 1 to 6 indoor and outdoor Position Fixing Navigation System, it is characterised in that：The transmission dress Putting (2) includes GPRS module and bluetooth module, and the GPRS module is connected with the terminal board (1), the GPRS module with Server (3) wireless connection；The bluetooth module is connected with the terminal board (1), and the bluetooth module passes through intelligence Terminal and the server (3) wireless connection.
- A kind of 8. indoor and outdoor Position Fixing Navigation System according to claim 7, it is characterised in that：The server (3) includes ground Magnetic module (301), processing module (302), differential corrections module (303) and mapping module (304)；The earth magnetism module (301), for obtaining the geomagnetic data of localization region, earth magnetism fingerprint base is established according to geomagnetic data；The processing module (302) is used for angular velocity data, acceleration information and geomagnetic data and carries out PDR computings, obtains room Interior rough location information；To rough location information using two step-lengths as earth magnetism region of search, ground magnetic number in region of search is obtained According to geomagnetic data in region of search and earth magnetism fingerprint base are obtained into optimal match point by geomagnetic matching algorithm, draw indoor essence True positional information；The differential corrections module (303), the satellite-signal observed for receiving base station, calculates satellite-signal Differential correction data is obtained, differential correction data and Differential positioning data are subjected to matching treatment, obtain outdoor positioning information；The mapping module (304), for obtaining cartographic information, by indoor precise position information, outdoor positioning information and map Information combines, and obtains positioning map information and is transmitted by transmitting device (2) to terminal board (1).
- 9. a kind of indoor and outdoor positioning navigation method, it is characterised in that comprise the following steps：Step 1. terminal board (1) detects rotational angular velocity and acceleration, generates angular velocity data and acceleration information respectively, together When obtain position geomagnetic data；Satellite-signal is obtained, Differential positioning is carried out to satellite-signal, obtains Differential positioning number According to；By angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer to transmitting device (2), and deposited Storage；Step 2. transmitting device (2) extremely services angular velocity data, acceleration information, geomagnetic data and Differential positioning data transfer Device (3)；Step 3. server (3) obtains localization region geomagnetic data, enters with reference to angular velocity data, acceleration information and geomagnetic data Row processing, draws indoor precise position information；The satellite-signal that base station observes also is received, satellite-signal calculate To differential correction data, differential correction data and Differential positioning data are subjected to matching treatment, obtain outdoor positioning information；Obtain ground Figure information, indoor precise position information, outdoor positioning information and cartographic information are combined, obtain positioning map information transfer to transmission Device (2)；Step 4. transmitting device (2) is by positioning map information transfer to terminal board (1)；Terminal board (1) is believed positioning map Breath is shown.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110285809A (en) * | 2019-07-15 | 2019-09-27 | 李素敏 | A kind of integrated integrated positioning device of indoor and outdoor |
| CN110307849A (en) * | 2019-07-15 | 2019-10-08 | 李素敏 | A kind of personnel's indoor positioning and indoor and outdoor integration localization method |
| CN111412912A (en) * | 2020-04-14 | 2020-07-14 | 上海华测导航技术股份有限公司 | Navigation board, multi-source data fusion method for navigation board and carrier |
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