CN114323014A - Indoor and outdoor integrated navigation method, electronic equipment, storage medium, program product and system - Google Patents
Indoor and outdoor integrated navigation method, electronic equipment, storage medium, program product and system Download PDFInfo
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Abstract
The invention provides an indoor and outdoor combined navigation method, which comprises the following steps: setting a satellite cut-off height angle, and setting the satellite cut-off height angle of the BDS high-precision module through 5G handheld terminal software; parameter monitoring, namely monitoring the number of satellites and the average value of the signal carrier-to-noise ratio in real time, and judging whether the equipment has single-point positioning or not according to the number of the satellites and the average value of the signal carrier-to-noise ratio; switching positioning, if the device is judged to have no single-point positioning and a UWB signal is monitored indoors, switching BDS positioning into UWB positioning; and if the device is judged to have single-point positioning and no UWB signal is monitored indoors, switching the UWB positioning to BDS positioning. The invention relates to an electronic device, a storage medium, and a program product. The invention also relates to an indoor and outdoor integrated navigation system. The combined navigation algorithm of UWB and Beidou positioning data sources is fused, the problem that the switching of the positioning technology in the existing combined navigation algorithm is ambiguous is well solved, and the precision, the accuracy and the real-time performance of a switching area are improved.
Description
Technical Field
The present invention relates to the field of integrated positioning technologies, and in particular, to an indoor and outdoor integrated navigation method, an electronic device, a storage medium, a program product, and a system.
Background
Currently, positioning technologies mainly include GNSS positioning, base station positioning, UWB positioning, bluetooth positioning, WIFI positioning, and geomagnetic positioning. The positioning accuracy of each positioning technology is different, wherein the GNSS positioning accuracy and the UWB positioning accuracy are high, and the 5G base station positioning accuracy is inferior, so that the positioning technology is suitable for high-accuracy application scenes. The application scenes of each positioning technology are different, GNSS positioning is mainly suitable for outdoor sheltering less severe scenes and is not suitable for indoor, the technology is mature, the cost is low, the realization is simple, the UWB positioning technology is suitable for indoor positioning, and due to the fact that base stations need to be arranged, the implementation is relatively complex, the cost of the base stations is high, and large-area deployment is not facilitated. At present, most products only have one navigation capability, and are not suitable for indoor and outdoor integrated application scenes. Therefore, for indoor and outdoor places requiring high-precision positioning, such as electric power places, an indoor and outdoor integrated navigation method needs to be researched. At present, the most adopted combined navigation algorithm is UWB positioning and Beidou (BDS) positioning combined navigation algorithm, the biggest difficulty of the combined navigation algorithm is that the time and place are switched from Beidou (BDS) positioning to UWB positioning, and the precision, the accuracy and the real-time performance of a switching area are low.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an indoor and outdoor combined navigation method, which solves the problem of switching of the positioning technology and improves the precision, accuracy and real-time performance of a switching area.
The invention provides an indoor and outdoor combined navigation method, which comprises the following steps:
setting a satellite cut-off height angle, and setting the satellite cut-off height angle of the BDS high-precision module through 5G handheld terminal software;
parameter monitoring, namely monitoring the number of satellites and the average value of the signal carrier-to-noise ratio in real time, and judging whether the equipment has single-point positioning or not according to the number of the satellites and the average value of the signal carrier-to-noise ratio;
switching positioning, if the device is judged to have no single-point positioning and a UWB signal is monitored indoors, switching BDS positioning into UWB positioning; and if the device is judged to have single-point positioning and no UWB signal is monitored indoors, switching the UWB positioning to BDS positioning.
Further, the satellite cutoff height angle is 15-30 °.
Further, in the parameter monitoring step, if the number of the satellites is more than or equal to 4 and the average value of the signal-to-carrier-to-noise ratios is more than or equal to 35dB, the single-point positioning of the equipment is judged; and if the number of the satellites is less than or equal to 3, and the average value of the signal carrier-to-noise ratios is less than or equal to 34dB, judging that the equipment has no single-point positioning.
An electronic device, comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing an indoor-outdoor combined navigation method.
A computer-readable storage medium having stored thereon a computer program for execution by a processor of a combined indoor and outdoor navigation method.
A computer program product comprising computer programs/instructions which, when executed by a processor, implement an indoor and outdoor integrated navigation method.
An indoor and outdoor integrated navigation system comprises a handheld terminal, a positioning engine server and an indoor and outdoor integrated navigation module, wherein the handheld terminal is integrated with a UWB positioning module, a BDS high-precision module and a 5G functional module, the indoor and outdoor integrated navigation module is used for implementing an indoor and outdoor integrated navigation method, the UWB positioning module is used for indoor positioning, the BDS high-precision module is used for real-time high-precision positioning by a carrier phase difference GNSS technology, the 5G functional module is used for providing a network environment, a positioning tag of the UWB positioning module transmits position data by using pulse signals, a receiver of a UWB base station receives and amplifies the position data, a receiver clock is calibrated by a synchronous distributor, the time difference of the positioning tag signals reaching different receivers is calculated, the positioning engine server adopts a time difference positioning algorithm to calculate the positions of the tags, and the calculation results are transmitted to an information processing platform, and acquiring position information, time information and track information of personnel in the area.
Furthermore, the BDS high-precision module carries out dynamic positioning through two measurement methods of difference correction and carrier phase ranging.
Further, the BDS high-precision module performs differential correction by utilizing the spatial correlation of the reference station and the rover station, and transmits differential correction data between the reference station and the rover station through the 5G network.
Furthermore, the BDS high-precision module can achieve centimeter-level precision of dynamic positioning through two measurement methods of difference correction and carrier phase ranging.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an indoor and outdoor combined navigation method, which comprises the following steps: setting a satellite cut-off height angle, and setting the satellite cut-off height angle of the BDS high-precision module through 5G handheld terminal software; parameter monitoring, namely monitoring the number of satellites and the average value of the signal carrier-to-noise ratio in real time, and judging whether the equipment has single-point positioning or not according to the number of the satellites and the average value of the signal carrier-to-noise ratio; switching positioning, if the device is judged to have no single-point positioning and a UWB signal is monitored indoors, switching BDS positioning into UWB positioning; and if the device is judged to have single-point positioning and no UWB signal is monitored indoors, switching the UWB positioning to BDS positioning. The invention relates to an electronic device, a storage medium, and a program product. The invention also relates to an indoor and outdoor integrated navigation system. The invention integrates the combined navigation algorithm of UWB and Beidou (BDS) positioning two data sources, well solves the problem of ambiguous positioning technology switching in the existing combined navigation algorithm, and improves the precision, accuracy and real-time performance of the switching area.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a flow chart of an indoor and outdoor integrated navigation method of the present invention;
FIG. 2 is a UWB positioning flow diagram of an embodiment of the invention;
FIG. 3 is a starry sky plot of an embodiment of the present invention;
fig. 4 is a schematic diagram of an outdoor star field diagram and an indoor star field diagram according to an embodiment of the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that any combination of the embodiments or technical features described below can be used to form a new embodiment without conflict.
An indoor and outdoor integrated navigation method, as shown in fig. 1, includes the following steps:
and setting a satellite cut-off height angle, and setting the satellite cut-off height angle of a BDS (BeiDou navigation satellite System, BDS for short) high-precision module through 5G handheld terminal software. Fig. 3 is the projection of the azimuth angle and the pitch angle of the satellite on the circular plane, the azimuth angle is 0-360 degrees, and the north is taken as the direction of 0 degree. The pitch angle is 0-90 degrees, 0 degree, 30 degrees, 60 degrees and 90 degrees from outside to inside, and the pitch angle is the angle from the earth tangent plane to the zenith of the satellite. The azimuth determines the angle of the satellite in the circle and the pitch determines the position of the satellite in the radius. Preferably, the satellite cutoff height angle is 15 ° to 30 °. In the embodiment, the satellite cut-off height angle is set to 30 degrees, so that the satellites with the handheld terminal not more than 30 degrees cannot receive the satellite, and only the satellites with the handheld terminal more than 30 degrees are received.
Parameter monitoring, namely monitoring the number of satellites and the average value of the signal carrier-to-noise ratio in real time, and judging whether the equipment has single-point positioning or not according to the number of the satellites and the average value of the signal carrier-to-noise ratio;
switching positioning, if the device is judged to have no single-point positioning and UWB (Ultra Wide Band, UWB and Ultra Wide Band) signals are monitored indoors, switching BDS positioning into UWB positioning; and if the device is judged to have single-point positioning and no UWB signal is monitored indoors, switching the UWB positioning to BDS positioning.
As shown in FIG. 3, when the handheld terminal is not shielded outdoors, satellites are well collected, the number of the satellites is more than or equal to 4, the average S/N of the signal-to-carrier ratios is more than or equal to 35dB, and single-point positioning is performed. When the terminal gradually moves indoors, the number of satellites collected by the terminal is less than or equal to 3, the average S/N of the signal carrier-to-noise ratio is less than or equal to 34dB, the device has no single-point positioning, as shown in fig. 4, and the terminal monitors indoor UWB signals, switches the BDS positioning to the UWB positioning, and otherwise switches the UWB signals to the BDS positioning.
An electronic device, comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for performing an indoor-outdoor combined navigation method.
A computer-readable storage medium having stored thereon a computer program for execution by a processor of a combined indoor and outdoor navigation method.
A computer program product comprising computer programs/instructions which, when executed by a processor, implement an indoor and outdoor integrated navigation method.
The utility model provides an indoor outer integrated navigation, including integrated UWB orientation module, BDS high accuracy module, the handheld terminal of 5G functional module, positioning engine server, indoor outer integrated navigation module, handheld terminal provides the integrated positioning of hardware, indoor outer integrated navigation module is used for implementing an indoor outer integrated navigation method, UWB orientation module is used for indoor location, BDS high accuracy module passes through the real-time high accuracy location of carrier phase difference GNSS technique, carry out dynamic positioning through two kinds of measuring methods of difference correction and carrier phase range finding, the precision of dynamic positioning reaches centimetre level. The differential correction is to perform differential correction by using spatial correlation between the reference station and the rover station (in this embodiment, the BDS high-precision module is the rover station), so as to weaken a positioning error and realize centimeter-level high-precision positioning, wherein differential correction data between the reference station and the rover station is transmitted through a 5G network, and the 5G functional module is used for providing a network environment.
As shown in fig. 2, a positioning tag of the UWB positioning module transmits position data using a UWB pulse signal, a receiver of the UWB base station receives and amplifies the position data, a receiver clock is calibrated by a synchronous distributor, a Time Difference (TDOA) of the positioning tag signal to different receivers is calculated, a positioning engine server calculates the tag position using a time difference positioning algorithm, and the calculated result is transmitted to an information processing platform in a wired manner, thereby effectively obtaining position information, time information, and track information of a person in an area.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; those skilled in the art can readily practice the invention as shown and described in the drawings and detailed description herein; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (10)
1. An indoor and outdoor combined navigation method is characterized by comprising the following steps:
setting a satellite cut-off height angle, and setting the satellite cut-off height angle of the BDS high-precision module through 5G handheld terminal software;
parameter monitoring, namely monitoring the number of satellites and the average value of the signal carrier-to-noise ratio in real time, and judging whether the equipment has single-point positioning or not according to the number of the satellites and the average value of the signal carrier-to-noise ratio;
switching positioning, if the device is judged to have no single-point positioning and a UWB signal is monitored indoors, switching BDS positioning into UWB positioning; and if the device is judged to have single-point positioning and no UWB signal is monitored indoors, switching the UWB positioning to BDS positioning.
2. The indoor and outdoor integrated navigation method of claim 1, wherein: the satellite cutoff height angle is 15-30 degrees.
3. The indoor and outdoor integrated navigation method of claim 1, wherein: in the parameter monitoring step, if the number of the satellites is more than or equal to 4 and the average value of the signal carrier-to-noise ratios is more than or equal to 35dB, the equipment is judged to be positioned at a single point; and if the number of the satellites is less than or equal to 3, and the average value of the signal carrier-to-noise ratios is less than or equal to 34dB, judging that the equipment has no single-point positioning.
4. An electronic device, characterized by comprising: a processor;
a memory; and a program, wherein the program is stored in the memory and configured to be executed by the processor, the program comprising instructions for carrying out the method according to any one of claims 1-3.
5. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program is executed by a processor for performing the method according to any of claims 1-3.
6. A computer program product comprising computer programs/instructions, characterized in that the computer programs/instructions, when executed by a processor, implement the method according to any of claims 1-3.
7. The utility model provides an indoor outer integrated navigation which characterized in that: the system comprises a handheld terminal integrating a UWB positioning module, a BDS high-precision module and a 5G functional module, a positioning engine server and an indoor and outdoor combined navigation module, wherein the indoor and outdoor combined navigation module is used for implementing the method of any one of claims 1 to 3, the UWB positioning module is used for indoor positioning, the BDS high-precision module is used for real-time high-precision positioning by a carrier phase difference GNSS technology, the 5G functional module is used for providing a network environment, a positioning tag of the UWB positioning module transmits position data by using UWB pulse signals, a receiver of a UWB base station receives and amplifies the position data, a receiver clock is calibrated by a synchronous distributor, the time difference of the positioning tag signals reaching different receivers is calculated, the positioning engine server adopts a time difference positioning algorithm to resolve the tag positions, and transmits resolving results to an information processing platform, and acquiring position information, time information and track information of personnel in the area.
8. An indoor-outdoor integrated navigation system as claimed in claim 7, wherein: the BDS high-precision module carries out dynamic positioning through two measurement methods of difference correction and carrier phase ranging.
9. An indoor-outdoor integrated navigation system as claimed in claim 8, wherein: and the BDS high-precision module performs differential correction by utilizing the spatial correlation of the reference station and the rover station, and transmits differential correction data between the reference station and the rover station through a 5G network.
10. An indoor-outdoor integrated navigation system as claimed in claim 9, wherein: the BDS high-precision module achieves centimeter-level precision of dynamic positioning through two measurement methods of difference correction and carrier phase ranging.
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