CN110487261A - Indoor and outdoor integrated navigation positioning system and method - Google Patents
Indoor and outdoor integrated navigation positioning system and method Download PDFInfo
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- CN110487261A CN110487261A CN201910651327.8A CN201910651327A CN110487261A CN 110487261 A CN110487261 A CN 110487261A CN 201910651327 A CN201910651327 A CN 201910651327A CN 110487261 A CN110487261 A CN 110487261A
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 14
- 230000001105 regulatory effect Effects 0.000 claims abstract description 14
- 230000004807 localization Effects 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 238000013461 design Methods 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims description 4
- 230000001133 acceleration Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000037452 priming Effects 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 230000006870 function Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 230000010354 integration Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
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- 238000010295 mobile communication Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- 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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- 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
- 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
- G01S19/49—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 whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
Abstract
The present invention provides a kind of indoor and outdoor integrated navigation positioning system and methods, module and electronic map display module are obtained including CPU processing module, BD/GPS module, UWB module, 4G module, posture information, the BD/GPS module, UWB module, 4G module, posture information obtain module and electronic map display module is separately connected CPU processing module.The present invention realizes external position in regulatory target room by hardware module, decision criteria and location navigation algorithm, the real-time tracking of posture is positioned and determined, keeps control more safe and efficient.The present invention devises a kind of indoor and outdoor regional determination criterion, and corresponding location algorithm is used according to determining region, seamless indoor and outdoor navigator fix may be implemented according to this criterion, it avoids making the locating and tracking of important regulatory target have more continuity and reliability because of BD/GPS dropout or bring locating and tracking loses problem due to decrease indoors.
Description
Technical field
The present invention relates to, and in particular, to a kind of indoor and outdoor integrated navigation positioning system and method.
Background technique
80% information is related with " position " in people's life, and position and navigation Service concern national security, economic development
With the social people's livelihood, there is very important and indispensable status in generation information technology.In application scenes, no
Only need real-time and precise grasp positioning target location information, further include the supervision of convict in its posture information, such as prison,
The tracking of concerning security matters carrier or important equipment.
BD/GPS solves outdoor navigation positioning problems substantially, can provide and compare accurately and conveniently outdoor navigator fix clothes
Business.But for it is indoor, inferior place, the signal of BD/GPS can be blocked or weaken, be difficult to meet the positioning need of varying environment
It asks.Occur the indoor navigation positioning system based on technologies such as earth-magnetism navigation, WIFI, FRID, BT, mobile communication networks thus,
Also occurs indoor and outdoor integrated navigation system on this basis.It is currently able to solve the synthesis of indoor and outdoor seamless positioning navigation Service
Position Fixing Navigation System is less, is largely independent dedicated chamber or outdoor navigator fix application system, and have application system
Less to the posture situation concern of positioning target, indoor position accuracy is lower, is unable to satisfy the positioning of some important regulatory targets
Tracking problem.
The patent document of Publication No. CN107806878A discloses a kind of based on smart phone indoor and outdoor integration positioning
With the method for navigation, include the following steps: step 1: location information obtains and location information pretreatment, using built in smart phone
Function extracts information, then is pre-processed to obtain location identification by algorithm；Step 2: setting GPS threshold coefficient and judgement
Present position is indoor or outdoor；Step 3: if taking high moral API form to carry out outdoor precise positioning as outdoor, if
Interior, then the indoor integration technology method developed using mobile phone sensor based on oneself, then with arbitrarily extracting oneself mobile phone EMS memory
Figure carries out indoor precise positioning, to reach indoor and outdoor precise positioning and navigation integration.Indoor and outdoor positioning can be achieved in the present invention
It integration and timely updates cartographic information, improve location information and positioning accuracy and enhances the convenient of positioning and navigation
Degree.The program only can be realized position positioning, can not achieve the acquisition of posture information, and positioning accuracy is not high.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide a kind of indoor and outdoor integrated navigation positioning system and sides
Method.
According to an aspect of the present invention, a kind of indoor and outdoor integrated navigation positioning system is provided, including CPU processing module,
BD/GPS module, UWB module, 4G module, posture information obtain module and electronic map display module, the BD/GPS mould
Block, UWB module, 4G module, posture information obtain module and electronic map display module is separately connected CPU processing module.
Preferably, including two kinds of location navigation modes: indoor navigation mode and outdoor navigation mode；
When being in indoor mode, enables UWB module and obtain locating navigation information；
When in outdoor mode, enables BD/GPS module and 4G module obtains locating navigation information.
Preferably, indoor and outdoor region is determined according to BD/GPS signal detection combination access control system, is opened when for room area
With indoor mode, outdoor mode is enabled when for outdoor area.
Preferably, the UWB module has distance measurement function, is more than to be set to distance threshold alarm when measuring distance.
According to another aspect of the present invention, a kind of indoor and outdoor integrated navigation localization method is provided, is included the following steps:
Step 1: integrated navigation positioning system inside and outside priming chamber carries out module initialization, location information initialization, posture letter
Breath initialization；
Step 2: carrying out posture information acquisition, believed according to the height of the angle of inertial navigation, speed, acceleration and baroceptor
Breath calls pose discrimination criterion and algorithm to determine current pose, the posture include it is static, move, tilt, standing, lie down shape
State；
Step 3: indoor exterior domain being carried out based on indoor and outdoor regional determination criterion and is determined, and is determined according to region using different
Position algorithm realizes positioning and navigation；The indoor and outdoor regional determination criterion is true according to BD/GPS signal detection combination access control system
It is fixed；
Step 4: calling different algorithms to carry out location information according to determining region and determine: if room area, being then based on
Inertial navigation, UWB mixed positioning algorithm calculate and obtain current location information；It is if outdoor area, then fixed based on BD/GPS, 4G mixing
Position algorithm calculates and obtains current location information；
Step 5: obtaining final position, posture information, be used for subsequent processing or display.
Preferably, the pose discrimination criterion and algorithm pass through according to different regulatory requirements models and simulated training mechanism
It obtains.
Preferably, if regional determination is that outdoor but BD/GPS signal strength is unsatisfactory for positioning requirements, the mobile fortune of starting 4G
It seeks quotient's network and carries out auxiliary positioning, while super distance threshold warning function is designed based on UWB distance measurement function.
Preferably, indoor and outdoor integrated navigation positioning is carried out using the indoor and outdoor integrated navigation positioning system.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, the present invention is based on inertial navigations, UWB, BD/GPG and 4G, real by hardware module, decision criteria and location navigation algorithm
The real-time tracking positioning and determination for showing external position in regulatory target room, posture, keep control more safe and efficient.
2, the present invention devises a kind of indoor and outdoor regional determination criterion, and is calculated according to determining region using corresponding positioning
Method, it is outdoor that regulatory target positioning and tracking are realized by the mixed positioning algorithm based on BD/GPS and 4G, interior by inertial navigation,
UWB realizes positioning and information transmission, and seamless indoor and outdoor navigator fix may be implemented according to this criterion, avoid indoors because of BD/
GPS signal is lost or is weakened and bring locating and tracking loss problem, and the locating and tracking of important regulatory target is made to have more continuity
And reliability.
3, the present invention devises the posture based on inertial navigation and pressure-altitude sensor and determines criterion and algorithm, can position
While precisely obtain the posture information of regulatory target, such as movement, it is static, stand, lie down posture, it is possible to provide more fully supervise
Pipe information keeps supervision more comprehensively reliable.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the structural schematic block diagram of indoor and outdoor integrated navigation positioning system of the present invention.
Fig. 2 is the flow chart of indoor and outdoor integrated navigation localization method of the present invention.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
The present invention proposes a kind of based on inertial navigation, UWB, BD/ for important regulatory target real-time monitoring and locating and tracking demand
The indoor and outdoor integrated navigation positioning system and method for GPS and 4G is realized in regulatory target room by hardware module and location algorithm
The real-time tracking positioning and determination of external position, posture, keep supervision more safe and efficient；It determines, leads to for the posture of regulatory target
The mixing decision criteria and algorithm that design is crossed based on inertial navigation and pressure-altitude sensor determine personage's posture situation, make regulator more
Add and accurately controls monitoring objective state；It decision criteria and is used for indoor and outdoor seamless positioning navigation problem, inside and outside design office
Different algorithm realizes location navigation: it is outdoor by the mixed positioning algorithm based on BD/GPS and 4G realize regulatory target positioning and
Tracking, interior realize positioning and information transmission by inertial navigation, UWB, keep positioning more convenient and accurate.
Indoor and outdoor integrated navigation positioning system of the invention is hardware module, is at the correlation such as location navigation, posture information
The hardware support platform of reason obtains for the acquisition and processing of indoor and outdoor location information, posture information and processing, algorithm process provides
Hardware and physical support.Indoor and outdoor integrated navigation localization method of the invention is software-based judgment criterion and location algorithm,
Realize the processing such as indoor and outdoor regional determination, posture determination, the parsing of location data and calculating.
According to an aspect of the present invention, a kind of indoor and outdoor integrated navigation positioning system is provided, as shown in Figure 1, including CPU
Processing module, BD/GPS module, UWB module, 4G module, posture information obtain module and electronic map display module, described
BD/GPS module, UWB module, 4G module, posture information obtain module and electronic map display module is separately connected CPU processing
Module.Including two kinds of location navigation modes: indoor navigation mode and outdoor navigation mode；When being in indoor mode, UWB is enabled
Module obtains locating navigation information；When in outdoor mode, enables BD/GPS module and 4G module obtains locating navigation information.
According to BD/GPS signal detection combination access control system determine indoor and outdoor region, indoor mode is enabled when for room area, when for
Outdoor mode is enabled when outdoor area.The UWB module has distance measurement function, when measuring distance is more than to be set to distance threshold
Alarm.The form of indoor and outdoor integrated navigation positioning system hardware equipment can according to supervision Demand Design at different structures outside
Shape, such as portable wearable device, miniaturization attaching apparatus.
According to another aspect of the present invention, a kind of indoor and outdoor integrated navigation localization method is provided, as shown in Fig. 2, including
Following steps:
Step 1: integrated navigation positioning system inside and outside priming chamber carries out module initialization, location information initialization, posture letter
Breath initialization；The location information initialization is that initial position is calculated and determined, the posture information initialization is initial attitude
It calculates and determines；
Step 2: carrying out posture information acquisition, believed according to the height of the angle of inertial navigation, speed, acceleration and baroceptor
Breath calls pose discrimination criterion and algorithm to determine current pose, the posture include it is static, move, tilt, standing, lie down shape
State；The pose discrimination criterion and algorithm are obtained according to different regulatory requirements by modeling and simulated training mechanism；
Step 3: indoor exterior domain being carried out based on indoor and outdoor regional determination criterion and is determined, and is determined according to region using different
Position algorithm realizes positioning and navigation；The indoor and outdoor regional determination criterion is true according to BD/GPS signal detection combination access control system
It is fixed；
Step 4: calling different algorithms to carry out location information according to determining region and determine: if room area, being then based on
Inertial navigation, UWB mixed positioning algorithm calculate and obtain current location information；It is if outdoor area, then fixed based on BD/GPS, 4G mixing
Position algorithm calculates and obtains current location information；If regional determination is that outdoor but BD/GPS signal strength is unsatisfactory for positioning requirements
When, starting 4G mobile operator network carries out auxiliary positioning, while designing super distance threshold alarm function based on UWB distance measurement function
Energy；
Step 5: obtaining final position, posture information, be used for subsequent processing or display, it is preferable that obtain position to the end
It sets, posture information is used for transmission, show or navigation is handled.
Preferably, indoor and outdoor integrated navigation positioning is carried out using the indoor and outdoor integrated navigation positioning system.
One skilled in the art will appreciate that in addition to realizing system provided by the invention in a manner of pure computer readable program code
It, completely can be by the way that method and step be carried out programming in logic come so that provided by the invention other than system, device and its modules
System, device and its modules are declined with logic gate, switch, specific integrated circuit, programmable logic controller (PLC) and insertion
The form of controller etc. realizes identical program.So system provided by the invention, device and its modules may be considered that
It is a kind of hardware component, and the knot that the module for realizing various programs for including in it can also be considered as in hardware component
Structure；It can also will be considered as realizing the module of various functions either the software program of implementation method can be Hardware Subdivision again
Structure in part.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (8)
1. a kind of indoor and outdoor integrated navigation positioning system, which is characterized in that including CPU processing module, BD/GPS module, UWB mould
Block, 4G module, posture information obtain module and electronic map display module, the BD/GPS module, UWB module, 4G module,
Posture information obtains module and electronic map display module is separately connected CPU processing module.
2. indoor and outdoor integrated navigation positioning system according to claim 1, which is characterized in that including two kinds of location navigation moulds
Formula: indoor navigation mode and outdoor navigation mode；
When being in indoor mode, enables UWB module and obtain locating navigation information；
When in outdoor mode, enables BD/GPS module and 4G module obtains locating navigation information.
3. indoor and outdoor integrated navigation positioning system according to claim 2, which is characterized in that according to BD/GPS signal detection
Indoor and outdoor region is determined in conjunction with access control system, indoor mode is enabled when for room area, is enabled when for outdoor area outdoor
Mode.
4. indoor and outdoor integrated navigation positioning system according to claim 1, which is characterized in that the UWB module, which has, to be surveyed
It is more than to be set to distance threshold alarm when measuring distance away from function.
5. a kind of indoor and outdoor integrated navigation localization method, which comprises the steps of:
Step 1: integrated navigation positioning system inside and outside priming chamber, at the beginning of carrying out module initialization, location information initialization, posture information
Beginningization；
Step 2: posture information acquisition is carried out, according to the elevation information of the angle of inertial navigation, speed, acceleration and baroceptor,
Pose discrimination criterion and algorithm is called to determine current pose, the posture includes static, movement, inclination, standing, state of couching；
Step 3: indoor exterior domain being carried out based on indoor and outdoor regional determination criterion and is determined, and is calculated according to region using different positioning
Method realizes positioning and navigation；The indoor and outdoor regional determination criterion is determined according to BD/GPS signal detection combination access control system；
Step 4: according to determining that region calls different algorithm to carry out location information and determine: if room area, then based on inertial navigation,
UWB mixed positioning algorithm calculates and obtains current location information；If outdoor area, then calculated based on BD/GPS, 4G mixed positioning
Method calculates and obtains current location information；
Step 5: obtaining final position, posture information, be used for subsequent processing or display.
6. indoor and outdoor integrated navigation localization method according to claim 5, which is characterized in that the pose discrimination criterion and
Algorithm is obtained according to different regulatory requirements by modeling and simulated training mechanism.
7. indoor and outdoor integrated navigation localization method according to claim 5, which is characterized in that if regional determination be it is outdoor but
When BD/GPS signal strength is unsatisfactory for positioning requirements, starting 4G mobile operator network carries out auxiliary positioning, while being surveyed based on UWB
Surpass distance threshold warning function away from Functional Design.
8. indoor and outdoor integrated navigation localization method according to claim 5, which is characterized in that appointed using claim 1-4
Indoor and outdoor integrated navigation positioning system described in one carries out indoor and outdoor integrated navigation positioning.
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| CN201910651327.8A CN110487261A (en) | 2019-07-18 | 2019-07-18 | Indoor and outdoor integrated navigation positioning system and method |
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Application publication date: 20191122 |