CN112285755A - Finding-missing seamless positioning system and positioning method - Google Patents
Finding-missing seamless positioning system and positioning method Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- 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
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- 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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- 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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Abstract
The invention discloses a finding loss seamless positioning system and a positioning method, wherein the system comprises a system terminal device and a position service monitoring platform, wherein the system terminal device comprises a power supply module, a geomagnetic module, an RFID (radio frequency identification) module, a satellite navigation module, an inertial navigation module and a pressure conductive module; the power supply module supplies power to the system terminal device; the inertial navigation module calculates the real-time position, speed and course angle of the system terminal device; the geomagnetic module assists the inertial navigation module to accurately find lost position indoors, detect geomagnetic signals and match the geomagnetic signals with geomagnetic fingerprint database data; the RFID module assists the inertial navigation module to accurately find lost positioning underwater, and detects RFID signals to measure and calculate distance and position; the satellite navigation module receives satellite signals for positioning; the pressure conducting module detects and judges whether the system terminal device is underwater; the position service monitoring platform monitors positioning data information uploaded by a system terminal device in real time, switches a scene positioning mode, stores, manages, analyzes and positions data and responds to an alarm.
Description
Technical Field
The invention relates to the technical field of positioning, in particular to a finding seamless positioning system and a positioning method.
Background
The current missing technology relies mainly on the global positioning system, which is a network of 24 orbiting satellites, a ground control system and receivers used by users to achieve the positioning and navigation functions of the target. A limitation of satellite positioning is the need to maintain line-of-sight between the positioning target and the orbiting satellite. When the positioning target is in an indoor building or underwater, the wireless signal cannot be directly transmitted with the positioning target client, the positioning accuracy is lowered, and the requirements of indoor positioning loss, drowning early warning and underwater positioning of personnel cannot be met. On the other hand, the position data of the positioning target requires enough safety consideration, for example, the position information of children, old people and the like must be monitored safely, and the safe storage and the safe analysis of the data are ensured.
The indoor positioning technology is rich and diverse in method, and has advantages and disadvantages, such as high ultrasonic positioning precision, high cost and high cost, the base station positioning operation is simple but depends on the distribution density of reference points, the inertial navigation positioning data is stable and does not depend on, and the problem that errors are accumulated along with the increase of time exists.
The underwater searching mainly comprises active searching and rescuing and exploration and salvage of a searching party, and the searching party often has no capability of actively sending signals. According to the requirements, an underwater mode of configuring the seamless positioning system for the target party is provided, and when the configuration is detected to be an underwater environment, the underwater mode is switched to send the positioning information of the positioning target in real time.
Namely, the inertial navigation technology of the RFID is combined and the positioning data of the satellite navigation is fused. Once danger occurs, the alarm is actively triggered as required, and after the alarm is given at the first time, the search and rescue party drives the rescue according to the real-time positioning place of the positioning target in the position service monitoring platform.
Disclosure of Invention
The invention aims to provide a finding seamless positioning system and a positioning method aiming at the problems that the current finding technical method is single, and finding efficiency can not meet the requirements of short time, high efficiency and less manpower.
The technical scheme for realizing the purpose of the invention is as follows:
a lost finding seamless positioning system comprises a system terminal device and a position service monitoring platform, wherein the system terminal device comprises a power supply module, a geomagnetic module, an RFID module, a satellite navigation module, an inertial navigation module and a pressure conductive module;
the power supply module is used for supplying power to the system terminal device;
the inertial navigation module is used for calculating the real-time position, speed and course angle of the system terminal device;
the geomagnetic module is used for assisting the inertial navigation module in accurately searching for lost positioning indoors, detecting geomagnetic signals and matching with geomagnetic fingerprint database data;
the RFID module is used for assisting the inertial navigation module in accurately finding lost positioning underwater and detecting RFID signals to measure and calculate distance and position;
the satellite navigation module is used for outdoor lost-finding positioning and receiving satellite signals for positioning;
the pressure conducting module is used for detecting and judging whether the system terminal device is positioned underwater or not;
the position service monitoring platform is used for monitoring positioning data information uploaded by a system terminal device in real time, switching scene positioning modes, storing, managing, analyzing and responding to alarm.
The method for positioning by using the finding seamless positioning system comprises the following steps:
1) setting a system terminal device on a positioning target, and initializing the system terminal device;
2) the pressure conducting module of the system terminal device detects whether the system terminal device is in an underwater state, if the system terminal device is in the underwater state, the RFID module positions an initial position, a sensor of the inertial navigation module acquires data, and the real-time traveling position of a positioning target is calculated; meanwhile, the RFID module transmits electromagnetic wave signals to calculate the distance of a positioning target, and the positioning data of the inertial navigation module is calibrated and corrected; when the positioning target is in an accident in water, an alarm is actively triggered, and a search and rescue team goes to rescue according to real-time positioning;
3) if the system terminal device is in a non-underwater state, the geomagnetic module further detects geomagnetic signals, and if the geomagnetic signals exceed a preset threshold value, the system terminal device is judged to be indoors; if the positioning target is indoor, the geomagnetic module detects a geomagnetic signal and matches the geomagnetic signal with position data in a geomagnetic fingerprint database to determine current initial positioning, when the positioning target moves, a sensor in the inertial navigation module acquires data, calculates the position of the positioning target, and carries out time interval, the position is compared with the data in the geomagnetic fingerprint database according to the latest position, and the geomagnetic positioning and the inertial navigation positioning are combined to carry out fusion settlement to generate the position of the specific positioning target;
4) if the system terminal device is located outdoors, the position service monitoring platform switches the scene into an outdoor satellite navigation mode, and the satellite navigation module generates accurate positioning for a positioning target through a GPS or Beidou navigation system;
5) and 3) transmitting the positioning data generated in the step 3) and the step 4) to a position service monitoring platform, and storing and managing the positioning data in different modules by the position service monitoring platform according to the received data and analyzing the positioning data.
Step 3), detecting whether the system terminal device is indoors or not, specifically, when detecting that the strength of the geomagnetic signal exceeds a set threshold value, switching the position service monitoring platform into an indoor mode, and matching inertial navigation positioning data by using a geomagnetic fingerprint database to obtain indoor positioning result data; and when the geomagnetic signal data is detected to be lower than the set threshold, positioning the positioning target according to the satellite navigation system by using the outdoor mode according to the step 4).
The inertial navigation module comprises a triaxial accelerometer used for measuring and calculating triaxial linear acceleration values, a triaxial gyroscope used for measuring and calculating triaxial angular acceleration values, and an introduced magnetometer used for measuring and correcting system errors.
The system has various application scenes, does not have a process of transmitting energy outwards in the process of obtaining fusion positioning data by indoor and outdoor seamless positioning, and has the advantages of high concealment, lower cost, no time limit, small volume of a system terminal device, high precision and strong anti-interference capability.
Drawings
Fig. 1 is a flowchart of a lost seamless positioning system.
Detailed Description
The invention will be further elucidated with reference to the drawings and examples, without however being limited thereto.
A lost finding seamless positioning system comprises a system terminal device and a position service monitoring platform, wherein the system terminal device comprises a power supply module, a geomagnetic module, an RFID module, a satellite navigation module, an inertial navigation module and a pressure conductive module; the working principle of the system device is shown in figure 1,
the power supply module is used for supplying power to the system terminal device;
the inertial navigation module is used for calculating the real-time position, speed and course angle of the system terminal device;
the geomagnetic module is used for assisting the inertial navigation module in accurately searching for lost positioning indoors, detecting geomagnetic signals and matching with geomagnetic fingerprint database data;
the RFID module is used for assisting the inertial navigation module in accurately finding lost positioning underwater and detecting RFID signals to measure and calculate distance and position;
the satellite navigation module is used for outdoor lost-finding positioning and receiving satellite signals for positioning;
the pressure conducting module is used for detecting and judging whether the system terminal device is positioned underwater or not;
the position service monitoring platform is used for monitoring positioning data information uploaded by a system terminal device in real time, switching scene positioning modes, storing, managing, analyzing and responding to alarm.
The method for positioning by using the finding seamless positioning system comprises the following steps:
1) setting a system terminal device on a positioning target, and initializing the system terminal device;
2) the pressure conducting module of the system terminal device detects whether the system terminal device is in an underwater state, if the system terminal device is in the underwater state, the RFID module positions an initial position, a sensor of the inertial navigation module acquires data, and the real-time traveling position of a positioning target is calculated; meanwhile, the RFID module transmits electromagnetic wave signals to calculate the distance of a positioning target, and the positioning data of the inertial navigation module is calibrated and corrected; when the positioning target is in an accident in water, an alarm is actively triggered, and a search and rescue team goes to rescue according to real-time positioning;
3) if the system terminal device is in a non-underwater state, the geomagnetic module further detects geomagnetic signals, and if the geomagnetic signals exceed a preset threshold value, the system terminal device is judged to be indoors; if the positioning target is indoor, the geomagnetic module detects a geomagnetic signal and matches the geomagnetic signal with position data in a geomagnetic fingerprint database to determine current initial positioning, when the positioning target moves, a sensor in the inertial navigation module acquires data, calculates the position of the positioning target, and carries out time interval, the position is compared with the data in the geomagnetic fingerprint database according to the latest position, and the geomagnetic positioning and the inertial navigation positioning are combined to carry out fusion settlement to generate the position of the specific positioning target;
4) if the system terminal device is located outdoors, the position service monitoring platform switches the scene into an outdoor satellite navigation mode, and the satellite navigation module generates accurate positioning for a positioning target through a GPS or Beidou navigation system;
5) and 3) transmitting the positioning data generated in the step 3) and the step 4) to a position service monitoring platform, and storing and managing the positioning data in different modules by the position service monitoring platform according to the received data and analyzing the positioning data.
Step 3), detecting whether the system terminal device is indoors or not, specifically, when detecting that the strength of the geomagnetic signal exceeds a set threshold value, switching the position service monitoring platform into an indoor mode, and matching inertial navigation positioning data by using a geomagnetic fingerprint database to obtain indoor positioning result data; and when the geomagnetic signal data is detected to be lower than the set threshold, positioning the positioning target according to the satellite navigation system by using the outdoor mode according to the step 4).
The inertial navigation module comprises a triaxial accelerometer used for measuring and calculating triaxial linear acceleration values, a triaxial gyroscope used for measuring and calculating triaxial angular acceleration values, and an introduced magnetometer used for measuring and correcting system errors.
Example 1
A method for positioning by using a lost seamless positioning system comprises the following steps:
the method comprises the following steps: the system terminal device is initialized, the current system device is detected to be positioned in an underwater environment through the pressure conductive module, and the conductivity judgment basis in the pressure conductive module is as follows: the detection result in the atmosphere is non-conductive, and the detection result under the water is conductive. The pressure sensor judges whether the environment is a hydraulic environment or a non-hydraulic environment according to the acquired pressure signal;
step two: the position service monitoring service platform is switched to an underwater mode, the RFID module generates a current initial positioning position, the inertial navigation module collects data of each sensor, the data and the RFID module are fused to generate current positioning target underwater position data, and the current positioning target underwater position data are sent to the position service monitoring platform to be stored and analyzed. The inertial navigation module respectively collects the measurement of the triaxial gyroscope, the triaxial accelerometer inertial measurement unit and the magnetometer, and the common coordinate system comprises a geocentric inertial system, a terrestrial coordinate system, a geographic coordinate system, a navigation coordinate system and a carrier coordinate system, and the specific process is as follows:
s1, posture updating: resolving the position by adopting a quaternion method, wherein the quaternion consists of a real number part and three imaginary number parts, and expressing the three-dimensional attitude of the carrier as the rotation of the carrier around a fixed point;
and S2, updating the speed and the position. The inertial navigation system velocity equation is as follows:
the speed and location update information is:
step three: the RFID module generates the positioning basis by combining the parameters of the received signal strength, the phase and the like of the RFID signal and finishing the calculation of the distance and the direction by utilizing a positioning algorithm.
Step four: and when the underwater positioning target is in accident, an alarm is actively triggered, alarm information is transmitted to the position monitoring service platform, and the platform responds.
Example 2
A method for positioning by using a lost seamless positioning system comprises the following steps:
the method comprises the following steps: and initializing the system device, and detecting that the current system device is positioned in a non-underwater environment through the pressure conductive module.
Step two: the geomagnetic module detects that geomagnetic signals exceed a threshold set by the position service monitoring platform: SG > STh, position service monitoring service platform switches into indoor mode, and initial positioning information of positioning target is generated by earth magnetism module, and inertial navigation module gathers sensor data and earth magnetism module positioning data and fuses and solve, generates the current position data of indoor positioning target and sends position service monitoring platform to store and analyze. Wherein the earth magnetism module: the geomagnetic intensity is used as the characteristic quantity of the geomagnetism, the correlation matching algorithm adopts a minimum distance measurement method, and the minimum value of the difference between the actually measured geomagnetic information and the geomagnetic information in the geomagnetic fingerprint database is used as the matching criterion.
Example 3
A method for positioning by using a lost seamless positioning system comprises the following steps:
the method comprises the following steps: and initializing the system device, and detecting that the current system device is positioned in a non-underwater environment through the pressure conductive module.
Step two: the geomagnetic module detects that a geomagnetic signal is lower than a threshold set by the position service monitoring platform: and SG < STh, switching the position service monitoring service platform into an outdoor mode, generating positioning information of a positioning target by the satellite navigation module, and sending the positioning data to the position service monitoring platform for storage and analysis.
Claims (4)
1. A lost finding seamless positioning system is characterized by comprising a system terminal device and a position service monitoring platform, wherein the system terminal device comprises a power supply module, a geomagnetic module, an RFID (radio frequency identification) module, a satellite navigation module, an inertial navigation module and a pressure conductive module;
the power supply module is used for supplying power to the system terminal device;
the inertial navigation module is used for calculating the real-time position, speed and course angle of the system terminal device;
the geomagnetic module is used for assisting the inertial navigation module in accurately searching for lost positioning indoors, detecting geomagnetic signals and matching with geomagnetic fingerprint database data;
the RFID module is used for assisting the inertial navigation module in accurately finding lost positioning underwater and detecting RFID signals to measure and calculate distance and position;
the satellite navigation module is used for outdoor lost-finding positioning and receiving satellite signals for positioning;
the pressure conducting module is used for detecting and judging whether the system terminal device is positioned underwater or not;
the position service monitoring platform is used for monitoring positioning data information uploaded by a system terminal device in real time, switching scene positioning modes, storing, managing, analyzing and responding to alarm.
2. The inertial navigation module of claim 1, comprising a three-axis accelerometer for measuring three-axis linear acceleration values, a three-axis gyroscope for measuring three-axis angular acceleration values, and an incoming magnetometer for correcting systematic errors.
3. A method of performing position location using a lost seamless position location system of claim 1, comprising the steps of:
1) setting a system terminal device on a positioning target, and initializing the system terminal device;
2) the pressure conducting module of the system terminal device detects whether the system terminal device is in an underwater state, if the system terminal device is in the underwater state, the RFID module positions an initial position, a sensor of the inertial navigation module acquires data, and the real-time traveling position of a positioning target is calculated; meanwhile, the RFID module transmits electromagnetic wave signals to calculate the distance of a positioning target, and the positioning data of the inertial navigation module is calibrated and corrected; when the positioning target is in an accident in water, an alarm is actively triggered, and a search and rescue team goes to rescue according to real-time positioning;
3) if the system terminal device is in a non-underwater state, the geomagnetic module further detects geomagnetic signals, and if the geomagnetic signals exceed a preset threshold value, the system terminal device is judged to be indoors; if the positioning target is indoor, the geomagnetic module detects a geomagnetic signal and matches the geomagnetic signal with position data in a geomagnetic fingerprint database to determine current initial positioning, when the positioning target moves, a sensor in the inertial navigation module acquires data, calculates the position of the positioning target, and carries out time interval, the position is compared with the data in the geomagnetic fingerprint database according to the latest position, and the geomagnetic positioning and the inertial navigation positioning are combined to carry out fusion settlement to generate the position of the specific positioning target;
4) if the system terminal device is located outdoors, the position service monitoring platform switches the scene into an outdoor satellite navigation mode, and the satellite navigation module generates accurate positioning for a positioning target through a GPS or Beidou navigation system;
5) and 3) transmitting the positioning data generated in the step 3) and the step 4) to a position service monitoring platform, and storing and managing the positioning data in different modules by the position service monitoring platform according to the received data and analyzing the positioning data.
4. The method according to claim 3, wherein in step 3), it is detected whether the system terminal device is indoors or not, by switching the location service monitoring platform to an indoor mode when detecting that the intensity of the geomagnetic signal exceeds a set threshold, and obtaining indoor positioning result data by using the geomagnetic fingerprint database to match the inertial navigation positioning data; and when the geomagnetic signal data is detected to be lower than the set threshold, positioning the positioning target according to the satellite navigation system by using the outdoor mode according to the step 4).
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113124865A (en) * | 2021-04-20 | 2021-07-16 | 中山大学 | Underwater vehicle navigation positioning system and control method |
| CN113406311A (en) * | 2021-06-03 | 2021-09-17 | 桂林慧谷人工智能产业技术研究院 | Embedded concrete quality monitoring model based on BDS |
| CN113959438A (en) * | 2021-10-20 | 2022-01-21 | 广东电力通信科技有限公司 | Navigation positioning method based on multi-source data fusion and storage medium |
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