CN111007546A - Indoor and outdoor fusion positioning technology based on Beidou pseudorange difference and wireless - Google Patents
Indoor and outdoor fusion positioning technology based on Beidou pseudorange difference and wireless Download PDFInfo
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- CN111007546A CN111007546A CN201911154833.2A CN201911154833A CN111007546A CN 111007546 A CN111007546 A CN 111007546A CN 201911154833 A CN201911154833 A CN 201911154833A CN 111007546 A CN111007546 A CN 111007546A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
Abstract
The invention discloses an indoor and outdoor fusion positioning technology based on Beidou pseudo range difference and wireless, which relates to the technical field of wireless positioning and comprises a Beidou pseudo range differential correction module, a wireless distance measurement positioning module, a fusion positioning module, a mobile terminal and a background server, wherein the Beidou pseudo range differential correction module consists of a differential reference station, a ground control center and a mobile station, pseudo range correction values of a plurality of reference stations are calculated, and pseudo range correction values are interpolated by adopting an inverse distance weighting method so as to correct a pseudo range equation from the terminal to a satellite and realize pseudo range differential positioning. The method has the advantages that the optimal beacon combination is selected by utilizing the multi-attribute cost function, pseudo-range correction is carried out by adopting multi-base-station pseudo-range difference based on reverse distance weighting, optimal positioning estimation is carried out on the fused pseudo-range equation of the BD and the WiFi by utilizing Taylor iteration, terminal fused positioning is realized, the positioning precision of a single system is effectively improved, the problem of positioning blind areas is solved, and the positioning precision and the usability are improved.
Description
Technical Field
The invention relates to the technical field of wireless positioning, in particular to an indoor and outdoor fusion positioning technology based on Beidou pseudo range difference and wireless.
Background
At present, the Beidou and the wireless module are widely applied to mobile phone terminals, and possibility is provided for fusion positioning of the Beidou and the wireless module. In the prior art, the satellite positioning is assisted by a radio frequency signal, and the positioning accuracy and the feasibility are verified, but the positioning application is restricted by the ranging range and the layout problem of a reader-writer; the seamless positioning of the differential GPS and the ultra-wideband can ensure high-precision positioning, but the ultra-wideband has higher requirement on time synchronization, and the positioning application is restricted by the cost and the complexity; the usability of GPS and wireless fingerprint indoor and outdoor seamless positioning is improved, but the wireless fingerprint positioning has the problem of large acquisition workload of an offline database; the existing BD/wireless sensor network fusion realizes indoor and outdoor positioning, but the BD positioning only considers clock error and does not consider other influencing factors, and the positioning precision is not high.
Based on the problems, an indoor and outdoor seamless fusion positioning technology is designed to improve positioning accuracy and usability and solve the problems based on Beidou pseudorange difference and wireless indoor and outdoor fusion positioning technology.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides an indoor and outdoor fusion positioning technology based on Beidou pseudo range difference and wireless.
In order to achieve the purpose, the invention adopts the following technical scheme:
an indoor and outdoor fusion positioning technology based on Beidou pseudorange difference and wireless comprises a Beidou pseudorange difference correction module, a wireless ranging positioning module, a fusion positioning module, a mobile terminal and a background server, wherein,
the Beidou pseudo range differential correction module consists of a differential reference station, a ground control center and a mobile station, pseudo range correction values of a plurality of reference stations are calculated, and the pseudo range correction values are interpolated by adopting an inverse distance weighting method, so that a pseudo range equation from a terminal to a satellite is corrected, and pseudo range differential positioning is realized;
the wireless ranging positioning module corrects and selects parameters of the Huacheng indoor path loss model by adopting the measured data so that the wireless ranging positioning model is more in line with the actual positioning environment;
the fusion positioning module is used for preferably selecting beacon combinations participating in positioning according to the signal intensity and the signal-to-noise ratio;
the mobile terminal is used for receiving the Beidou positioning signals in real time, storing pseudo-range correction values of all the reference stations, and receiving and storing measured data measured on the wireless ranging positioning module;
and the background server performs indoor and outdoor fusion positioning on the Beidou-wireless system through the optimized beacon according to the pseudo-range differential positioning and wireless ranging positioning model so as to obtain a real-time positioning system of the mobile terminal and send the real-time positioning system to the mobile terminal.
Further, the mobile terminal is electrically connected to the background server.
Further, the reference station and the mobile terminal are in spatial correlation, and multi-reference station pseudo range difference is adopted to weaken ephemeris error and atmospheric error.
Further, the Beidou pseudo range differential correction module interpolates the pseudo range correction value of the mobile terminal to the Beidou through inverse distance weighting according to the pseudo range correction value of the base station to the Beidou and the distance between the mobile terminal and the base station, the pseudo range equation after differential correction is used as a satellite pseudo range equation for fusion positioning to participate in positioning calculation, and the background server is used for realizing positioning calculation.
Further, when the beacon combination is optimized, normalization processing is performed on the Beidou pseudorange differential correction module and the wireless ranging positioning module.
Compared with the prior art, the invention has the beneficial effects that: in the invention, the selection of the optimal beacon combination is realized by utilizing the multi-attribute cost function, pseudo-range correction is carried out by adopting multi-reference station pseudo-range difference based on reverse distance weighting, optimal positioning estimation is carried out on the Beidou and wireless fused pseudo-range equation by utilizing Taylor iteration, and terminal fused positioning is realized.
Drawings
FIG. 1 is a schematic diagram of a positioning simulation environment according to the present invention;
FIG. 2 is a schematic diagram of a fitting curve of a WiFi ranging model and measured data in the invention;
FIG. 3 is a diagram illustrating the influence of the cost function value weight W1 on the error in the present invention;
FIG. 4 is a schematic diagram illustrating the influence of the number of beacon nodes participating in positioning on the positioning error according to the present invention;
FIG. 5 is a scatter plot of the positioning results of the present invention;
FIG. 6 is a graph of cumulative probability distribution of positioning errors according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-6, the indoor and outdoor fusion positioning technology based on Beidou pseudo range difference and wireless comprises a Beidou pseudo range differential correction module, a wireless ranging positioning module, a fusion positioning module, a mobile terminal and a background server, wherein the Beidou pseudo range differential correction module consists of a differential reference station, a ground control center and a mobile station, pseudo range correction values are interpolated by calculating pseudo range correction values of a plurality of reference stations and adopting an inverse distance weighting method, and pseudo range equations from the terminal to a satellite are corrected so as to realize pseudo range differential positioning; the wireless ranging positioning module corrects and selects parameters of the Huacheng indoor path loss model by adopting the measured data so that the wireless ranging positioning model is more in line with the actual positioning environment; the fusion positioning module is used for preferably selecting beacon combinations participating in positioning according to the signal intensity and the signal-to-noise ratio; the mobile terminal is used for receiving the Beidou positioning signals in real time, storing pseudo-range correction values of all the reference stations, and receiving and storing measured data measured on the wireless ranging positioning module; and the background server performs indoor and outdoor fusion positioning on the Beidou-wireless system through the optimized beacon according to the pseudo-range differential positioning and wireless ranging positioning model so as to obtain a real-time positioning system of the mobile terminal and send the real-time positioning system to the mobile terminal. Therefore, indoor and outdoor seamless fusion positioning is carried out on the BD-WiFi system through the optimized beacon through the Beidou pseudo-range differential correction module and the wireless ranging positioning module, positioning accuracy and usability are improved, and the real-time positioning system of the mobile terminal is obtained through the background server, so that the method is convenient to implement and operate.
The mobile terminal is electrically connected to the background server.
The reference station and the mobile terminal are in spatial correlation, and multi-reference station pseudo range difference is adopted to weaken ephemeris error and atmospheric error.
The specific implementation mode of the indoor and outdoor fusion positioning technology based on the Beidou pseudorange difference and the wireless communication comprises the following steps:
1. the specific implementation manner of the Beidou pseudorange differential correction module is as follows: the Beidou pseudo range differential correction module interpolates the pseudo range correction value of the mobile terminal to the Beidou through inverse distance weighting according to the pseudo range correction value of the base station to the Beidou and the distance between the mobile terminal and the base station, uses the pseudo range equation after differential correction as a satellite pseudo range equation for fusion positioning to participate in positioning calculation, and uses a background server to realize positioning calculation.
The BD wide-area pseudo-range differential positioning is a differential positioning system consisting of a differential reference station, a ground control center and a mobile station. The pseudo-range differential positioning time is short, the efficiency is high, and high-precision positioning can be guaranteed.
In order to overcome the defects that the pseudo-range differential positioning precision of a single base station is not high and gradually becomes worse along with the increase of the distance, BD multi-base station pseudo-range differential positioning is adopted. Pseudo-range correction values of a plurality of reference stations are calculated, and the pseudo-range correction values are interpolated by adopting an inverse distance weighting method, so that a pseudo-range equation from a terminal to a satellite is corrected, and pseudo-range differential positioning is realized.
Let the satellite j coordinate be (X)j,Yj,Zj) The BD reference station has i coordinates of (X)i,Yi,Zi) The pseudo-range observation equation from the satellite j to the reference station i is
The pseudorange correction for the reference station i to the satellite j is then
In the formula
The geometric distance of the satellite to the reference station; t is tiReceiver clock error for the reference station; t is tjIn order to be the clock error of the satellite,
respectively the ionosphere refraction correction number and the troposphere refraction correction number of the satellite j on the reference station i; epsiloniPseudo-range observation noise of a reference station; and c is the speed of light.
By utilizing the spatial correlation between the reference station and the mobile terminal, ephemeris error and atmospheric error can be weakened by adopting multi-reference-station pseudo range difference, but the receiver clock error cannot be improved. To reduce the effect of the reference station receiver clock error on the positioning accuracy, the following modifications are made to the reference station receiver clock error estimation
According to the pseudo-range correction value of the reference station i to the satellite j and the distance between the terminal and the reference station i, the pseudo-range correction value of the mobile terminal M to the satellite j is obtained through inverse distance weighted interpolation
In the formula
Is the distance between the mobile terminal M and the reference station i.
The pseudo-range equation of the mobile terminal for the satellite j after being corrected by the formula (4) is
In the formula tM，εMRespectively, the mobile terminal receiver clock error and the pseudo-range observation noise. The pseudorange equation after differential correction can be used as a satellite pseudorange equation for fusion positioning to participate in positioning calculation, so that the fusion positioning precision is improved.
2. The specific implementation of the wireless ranging and positioning module is as follows: in order to realize the fusion positioning of WiFi and BD, the distance-fading model is adopted for establishing a distance measurement positioning equation in WiFi indoor positioning. In order to make the model more conform to the actual positioning environment, the measured data is adopted to correct the Huacheng indoor path loss model and select parameters, and the model expression is
Wherein the WiFi carrier frequency f is 2.4 GHz; path loss exponent n is 3; barrier penetration loss Pm＝6；XσIs a slow fading residual value Xσ～N(0，σ2) (ii) a The empirical wear correction is chosen to be 28.
Let WiFi beacon i coordinate be (x)i，yi，zi) According to the Huaji correction model, the distance measurement equation set of the WiFi beacon which can participate in positioning is as follows
3. The specific fusion positioning algorithm of the fusion positioning module is as follows: when beacon combination optimization is carried out, normalization processing is carried out on the Beidou pseudo range differential correction module and the wireless ranging positioning module.
The signal quality has a large influence on the positioning performance, the beacon combination participating in positioning needs to be optimized according to the signal strength and the signal-to-noise ratio in the fusion positioning, and the BD and the WiFi belong to heterogeneous networks, so that the signal strength and the signal-to-noise ratio of the BD and the WiFi need to be normalized firstly in the beacon optimization. The normalized function expression is
In the formula RB/WAnd SB/WRespectively obtaining BD/WiFi signal intensity and signal-to-noise ratio normalized values; RSS (really simple syndication) data base)iAnd SNRiReceived signal strength and signal to noise ratio; RSS (really simple syndication) data base)thAnd SNRthSignal strength and signal-to-noise ratio thresholds, respectively; RSS (really simple syndication) data base)maxAnd SNRmaxRespectively, maximum received power and signal-to-noise ratio maximum.
And (3) carrying out weighted calculation on the signal quality cost function values of the WiFi beacon and the BD beacon according to the signal intensity and the signal-to-noise ratio normalized value of the formula (8)
CB/W＝w1lgRB/W+w2lgSB/W(9)
In the formula CB/WA cost function for BD/WiFi; w is a1，w2The empirical weight coefficients of the signal intensity and the signal-to-noise ratio are respectively determined through experiments.
In the BD and WiFi fusion positioning mode, sorting is carried out, and a value C larger than the average cost function is selectedmThe constellation or the beacon participates in the fusion positioning to determine the optimal constellation or the beacon combination
CM＝(CB+CW)/N (10)
Let k be the sum of the determined WiFi beacons participating in positioning and the satellite number (k is more than or equal to 4). Then k pseudo-range observation equations for simultaneous participation in fusion positioning are
Wherein n and m are the satellite number and the WiFi beacon number participating in positioning respectively (m + n ═ k);
Dsi＝Ri-ρi，
ρiobtaining a pseudo range observation value from the terminal to a satellite i; c is the speed of light, tMClock error of a terminal receiver; dwiThe distance of the terminal from the WiFi beacon.
In the positioning resolving process, firstlyEstimating initial value (X) of to-be-positioned point by Chan algorithm0，Y0，Z0) And Taylor expansion of equation (11) at the initial value
V＝A×δX-L (12)
In the formula
ai1＝(xi-x)/Ri，ai2＝(yi-y)/Ri，ai3＝(zi-z)/Ri，bi1＝(xi-x)/Ri，bi2＝(yi-y)/Ri，bi3＝(zi-z)/Ri。
Performing loop iteration through a Taylor algorithm, finishing the iteration when the delta X meets a convergence threshold value, and obtaining a correction [ delta X, delta y, delta z ] of the positioning position, wherein the expression is
The positioning result of the terminal coordinate can be obtained as follows:
in order to verify the positioning performance of the fusion positioning method, performance simulation comparison is respectively carried out on Beidou single positioning, WiFi single positioning and BD-WiFi fusion positioning. The positioning environment is as shown in fig. 1. Uniformly deploying 6 WiFi beacons in an indoor environment of 20m by 15m by 3m, wherein the transmitting power is 20dBm, and signals can cover a positioning area; and 3 Beidou satellites are used as an outdoor BD positioning simulation environment outdoors.
In order to verify the correctness of the WiFi ranging positioning model in the actual environment, the model is compared with the actually measured data. The height of the beacon node is 1.7m under the actual measurement environment, the transmitting power is 20dBm, and actual measurement collection is carried out on the signal intensity of the AP node by using XCOM V2.0 collection software. The RSSI curve of the different models versus the measured data is shown in fig. 2. Therefore, the fitting degree of the signal intensity of the model and the actually measured data is the best after correction, and therefore the WiFi ranging equation based on the model can truly represent the relation characteristic of actual signal fading and distance.
Empirical weight coefficients w1 and w2 for signal strength and signal-to-noise ratio are determined experimentally, w1 e (0,1), and w1+ w2 1. The variation of the positioning error with w1 in the experiment is shown in FIG. 3. It can be seen that when w1 is 0.8 and w2 is 0.2, the positioning performance tends to be optimal, because the signal strength weight w1 is used as the main parameter for selecting the beacon/constellation, and the signal-to-noise ratio is used as the secondary parameter, which is more suitable for positioning practice, and better positioning performance can be obtained.
To verify the optimal number of beacons k participating in the fusion positioning, the average value of the constellation and beacon cost function calculated by equation (10) is 0.397, and the number of beacons greater than the average value is 6. And randomly selecting test points in the positioning area to perform 300 simulation tests, wherein the positioning result is shown in fig. 4, and the highest positioning accuracy (root mean square error is only 2.20m) can be obtained when the beacon number k is 6 in the positioning result. The positioning accuracy is gradually reduced as the number of the beacons increases, because the more the beacons participate in positioning, the more the constellation with poor health degree and the larger the influence of the beacons on the positioning performance, the lower the positioning accuracy.
Randomly selecting any positioning point in the positioning area, and respectively performing 50 positioning experiments on 3 methods of WiFi, BD independent positioning and BD-WiFi fusion positioning. As shown in fig. 5, it can be seen that the dispersion of the positioning results is large, and the position estimates of the WiFi and satellite single positioning estimates are concentrated near the actual position point, that is, the spherical space area with the actual position point as the center and the average error of 2.03m as the radius. The probability of a BD-WiFi fused positioning error being within the region is 96%, while the probability of WiFi and BD alone positioning is 47% and 78%, respectively. It can be seen that the positioning accuracy of the BD-WiFi fusion positioning is obviously better than that of the BD and WiFi single positioning.
In order to verify the positioning performance of the fusion algorithm, 1000 random positions are randomly selected in a positioning area, the BD single positioning effect, the WiFi single positioning effect and the BD-WiFi fusion positioning effect are respectively simulated and compared, each 10 random positioning points form a group of statistical root mean square errors, the BD-WiFi fusion positioning average root mean square error is 1.963m, the positioning accuracy is respectively improved by 1.288m and 0.615 compared with the positioning accuracy of the WiFi and BD single positioning methods, and the positioning accuracy is superior to that of the other 2 positioning methods. According to the comparison of the average positioning error and the maximum value (4.359 m for BD, 5.573m for WiFi and 3.838m for BD-WiFi) and the minimum value (0.145 m for BD, 1.201m for WiFi and 0.118m for BD-WiFi) of the positioning error, the positioning performance and stability of the BD-WiFi fusion positioning method are superior to those of BD and WiFi single positioning.
The cumulative distribution function curve of the cumulative probability distribution of the positioning errors in the 3 positioning modes is shown in fig. 6. Under the 95% confidence probability, the positioning accuracy of the BD-WiFi fusion algorithm is better than 2.50m, the single positioning accuracy of WiFi is 3.88m, and the positioning accuracy of BD is 3.30 m. It can be seen that the accuracy and robustness of the BD-WiFi fusion positioning algorithm are superior to those of BD and WiFi single positioning.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (5)
1. Indoor and outdoor fusion positioning technology based on Beidou pseudorange difference and wireless is characterized by comprising a Beidou pseudorange difference correction module, a wireless ranging positioning module, a fusion positioning module, a mobile terminal and a background server, wherein,
the Beidou pseudo range differential correction module consists of a differential reference station, a ground control center and a mobile station, pseudo range correction values of a plurality of reference stations are calculated, and the pseudo range correction values are interpolated by adopting an inverse distance weighting method, so that a pseudo range equation from a terminal to a satellite is corrected, and pseudo range differential positioning is realized;
the wireless ranging positioning module corrects and selects parameters of the Huacheng indoor path loss model by adopting the measured data so that the wireless ranging positioning model is more in line with the actual positioning environment;
the fusion positioning module is used for preferably selecting beacon combinations participating in positioning according to the signal intensity and the signal-to-noise ratio;
the mobile terminal is used for receiving the Beidou positioning signals in real time, storing pseudo-range correction values of all the reference stations, and receiving and storing measured data measured on the wireless ranging positioning module;
and the background server performs indoor and outdoor fusion positioning on the Beidou-wireless system through the optimized beacon according to the pseudo-range differential positioning and wireless ranging positioning model so as to obtain a real-time positioning system of the mobile terminal and send the real-time positioning system to the mobile terminal.
2. The Beidou pseudorange differential and wireless based indoor and outdoor fusion positioning technology according to claim 1, wherein the mobile terminal is electrically connected to a background server.
3. The Beidou pseudorange differential and wireless based indoor and outdoor fusion positioning technology according to claim 1, characterized in that the reference station and the mobile terminal are in spatial correlation, and multi-reference station pseudorange differential is adopted for weakening ephemeris error and atmospheric error.
4. The indoor and outdoor fusion positioning technology based on Beidou pseudorange difference and wireless according to claim 1, characterized in that the Beidou pseudorange difference correction module interpolates the pseudorange correction value of the mobile terminal to Beidou through inverse distance weighting according to the pseudorange correction value of the base station to Beidou and the distance between the mobile terminal and the base station, utilizes a pseudorange equation after difference correction as a satellite pseudorange equation of fusion positioning to participate in positioning resolving, and utilizes the background server to realize positioning resolving.
5. The indoor and outdoor fusion positioning technology based on Beidou pseudorange difference and wireless according to claim 1, characterized in that when the beacon combination is optimized, the Beidou pseudorange difference correction module and the wireless ranging positioning module are normalized.
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Application publication date: 20200414 |