CN114594422A - High-precision self-adaptive positioning method and device for indoor pseudo satellite constellation and related components - Google Patents

High-precision self-adaptive positioning method and device for indoor pseudo satellite constellation and related components Download PDF

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CN114594422A
CN114594422A CN202210201155.6A CN202210201155A CN114594422A CN 114594422 A CN114594422 A CN 114594422A CN 202210201155 A CN202210201155 A CN 202210201155A CN 114594422 A CN114594422 A CN 114594422A
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positioning
pseudolite
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阎镜予
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Shanghai Azimuth Data Technology Co ltd
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-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
    • G01S5/0273Position-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 using multipath or indirect path propagation signals in position determination
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02Position-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
    • G01S5/0205Details
    • G01S5/0218Multipath in signal reception
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02DCLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00Reducing energy consumption in communication networks
    • Y02D30/70Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The invention discloses a high-precision self-adaptive positioning method and device for an indoor pseudo satellite constellation and related components. The method comprises the following steps: the method comprises the steps that a receiver terminal receives tag data broadcasted by an electromagnetic tag in a current positioning scene in real time, and analyzes the tag data to obtain positioning prior information of the current positioning scene; and switching the corresponding positioning dimension, positioning algorithm and positioning configuration based on the positioning prior information, and calculating to obtain a corresponding positioning result. The method utilizes a receiver terminal to detect label data in real time, transforms dimensionality through matched positioning prior information, selects satellite configuration and intelligently adjusts algorithm parameters to adapt to a positioning scene, and solves the problems that the pseudo-satellite positioning resolving success rate is low and the three-dimensional positioning precision is affected by multiple parties to cause poor precision, so that the indoor pseudo-satellite positioning adaptability is stronger, the positioning success rate is higher and the precision is higher.

Description

High-precision self-adaptive positioning method and device for indoor pseudo satellite constellation and related components
Technical Field
The invention relates to the field of indoor positioning pseudolite positioning, in particular to a high-precision self-adaptive positioning method and device for an indoor pseudolite constellation and a related assembly.
Background
Pseudolites are positioning signal generators that emit similar space-based navigation signals. According to the data provided by nokia, people spend 87% -90% of their time indoors. Because the indoor space is more and more huge and complicated, the car is searched reversely in the parking lot, the commodity is searched in the market, people are searched in a positioning way, intelligent manufacturing is more and more difficult, and the indoor positioning technology is developed.
In an indoor environment, according to a GPS positioning principle, a receiver can calculate the position of the receiver according to the received pseudo ranges of four or more satellites and the positions of pseudo satellites, but in the practical application of a pseudo satellite system, because the indoor environment space is limited in most indoor or some special occasions, the DOP value of each three-dimensional dimension is difficult to ensure to be small, and at the moment, if the positioning accuracy in a certain direction is too poor, the positioning accuracy and the positioning success rate in the other two directions can be directly influenced; meanwhile, the user receiver cannot directly know the current position, so that the accuracy factor of the current position cannot be obtained, and therefore, what satellite geometric configuration should be selected currently cannot be determined to ensure that the positioning DOP value is kept minimum.
Disclosure of Invention
The invention aims to provide a high-precision self-adaptive positioning method, a high-precision self-adaptive positioning device and a relevant assembly for an indoor pseudo satellite constellation, and aims to solve the problems of poor applicability and low positioning success rate of the existing indoor pseudo satellite.
In order to solve the technical problems, the invention aims to realize the following technical scheme: the high-precision self-adaptive positioning method for the indoor pseudo satellite constellation comprises the following steps:
a receiver terminal receives tag data broadcasted by an electromagnetic tag in a current positioning scene in real time, and analyzes the tag data to obtain positioning prior information of the current positioning scene; a plurality of electromagnetic tags are pre-arranged in the current positioning scene, and each electromagnetic tag continuously broadcasts tag data outwards;
and switching corresponding positioning dimensionality, positioning algorithm and positioning configuration based on the positioning prior information, and calculating to obtain a corresponding positioning result.
In addition, the technical problem to be solved by the present invention is to provide a high-precision adaptive positioning device for an indoor pseudolite constellation, comprising:
the analysis unit is used for receiving the tag data broadcasted by the electromagnetic tag in the current positioning scene in real time by the receiver terminal and analyzing the tag data to obtain the positioning prior information of the current positioning scene; a plurality of electromagnetic tags are pre-arranged in the current positioning scene, and each electromagnetic tag continuously broadcasts tag data outwards;
and the conversion unit is used for switching the corresponding positioning dimension, positioning algorithm and positioning configuration based on the positioning prior information and calculating to obtain a corresponding positioning result.
In addition, an embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor, when executing the computer program, implements the high-precision adaptive positioning method for indoor pseudolite constellation according to the first aspect.
In addition, the embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the method for high-precision adaptive positioning of an indoor pseudolite constellation according to the first aspect.
The embodiment of the invention discloses a high-precision self-adaptive positioning method, a high-precision self-adaptive positioning device and a relevant assembly for an indoor pseudo satellite constellation, wherein the method comprises the following steps: the method comprises the steps that a receiver terminal receives tag data broadcasted by an electromagnetic tag in a current positioning scene in real time, and analyzes the tag data to obtain positioning prior information of the current positioning scene; a plurality of electromagnetic tags are pre-arranged in the current positioning scene, and each electromagnetic tag continuously broadcasts tag data outwards; and switching corresponding positioning dimensionality, positioning algorithm and positioning configuration based on the positioning prior information, and calculating to obtain a corresponding positioning result. The method utilizes a receiver terminal to detect label data in real time, transforms dimensionality through matched positioning prior information, selects satellite configuration and intelligently adjusts algorithm parameters to adapt to a positioning scene, and solves the problems that the pseudo-satellite positioning resolving success rate is low and the three-dimensional positioning precision is affected by multiple parties to cause poor precision, so that the indoor pseudo-satellite positioning adaptability is stronger, the positioning success rate is higher and the precision is higher.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic flow chart of an indoor pseudolite constellation high-precision self-adaptive positioning method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an indoor pseudolite positioning provided by an embodiment of the present invention;
FIG. 3 is a schematic diagram of a positioning result of a simulation test according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a three-dimensional error result of a simulation test provided by an embodiment of the present invention;
FIG. 5 is a sub-flow diagram of a high-precision adaptive positioning method for an indoor pseudolite constellation according to an embodiment of the present invention
Fig. 6 is a schematic diagram of a bluetooth beacon uuid and AD Structure data format according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a bluetooth beacon custom AD Structure data format according to an embodiment of the present invention;
fig. 8 is a schematic data format diagram of a bluetooth beacon in a server query system according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of an existing indoor positioning scene according to an embodiment of the present invention;
fig. 10 is a schematic block diagram of an indoor pseudolite constellation high-precision adaptive positioning device provided by the embodiment of the invention;
FIG. 11 is a schematic block diagram of a computer device provided by an embodiment of 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 some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In the prior art, the receiver can calculate its own position from the received pseudo ranges of four or more satellites and the positions of pseudolites according to the GPS positioning principle, but there are several problems as follows.
The first method comprises the following steps: the uncertainty of the pseudo satellite single-point positioning measurement information is large;
one reason for this problem is that the pseudo-range error caused by the multipath error is large, and the multipath error satellite navigation signal is essentially an electromagnetic wave, and when it encounters objects such as walls indoors, it will be reflected by these objects, for example, in an indoor pseudo satellite positioning environment, when a user (mobile phone) receiver receives a navigation signal that can propagate through a straight line, it can also receive a signal that is obtained by one or more reflections of this same satellite signal through the earth or wall surface, and these reflected signals undergo one or more reflections during the propagation process, which is called multipath effect.
If the direct signal is weaker than the reflected signal under the multipath effect, the pseudo range value obtained by the user receiver even can be obtained by calculation according to the reflected signal, the physical meaning of the pseudo range is the distance from the satellite transmitting signal to the receiver, and the calculated pseudo range value contains the reflected path, so that a large measurement error is caused; at the same time, the receiver may receive multiple reflected signals from the same satellite, and thus superimpose these signals on the direct signal, and the multipath signals also increase the measurement error of the system.
In a pseudolite positioning system, due to an indoor complex environment, multipath effects of the same pseudolite at different positions are different, and the multipath effects of different pseudolites at the same position are also different, but a receiver cannot detect the multipath effect of the position in real time, so that when a user receiver performs pseudo-range calculation, if pseudolite measurement data with large errors caused by the multipath effect is introduced, the error of a positioning result is large, or positioning cannot be performed (such as least square positioning without solution, filtering divergence and the like).
Another cause of such a problem is uncertainty of measurement errors due to unstable operating states of different pseudolites, and due to unstable states of the pseudolites themselves, if some pseudolites in the pseudolite system are unstable in operation, the system errors are large, and the errors of the rest pseudolites are small, which may result in poor pseudo-range measurement values of some pseudolites in the received pseudolites.
By integrating the errors of the two pseudo-range measurements, the user receiver performs position calculation according to the pseudo-range values including the inaccurate satellite and by using the pseudo-range values of the inaccurate satellite, which may cause the measurement result to have a large error, or even cause the calculation result not to be obtained.
In order to prove the influence of the above errors on the positioning result, the following experimental simulation is designed:
with reference to fig. 2, if a receiver terminal can receive measurement data of six satellites indoors, three of the received measurement data have pseudo-range errors of 5m due to multipath or measurement errors, and the remaining pseudo-range measurement errors of 3 satellites have errors of 3m, a result of three-dimensional solution is obtained, as can be seen from simulation results shown in fig. 3 and 4, in a positioning process of 1500 times, only 40 times of positioning succeeds, the success rate is only 2.7%, and errors in XYZ three-dimensional directions are relatively large, which means that in a GNSS positioning scene in actual use, a user needs 50 times of solution to obtain a result, which is often unacceptable, and meanwhile, the accuracy of the positioning result is relatively poor.
And the second method comprises the following steps: the three-dimensional positioning precision is influenced by multiple parties, and the uncertainty of a precision factor is large, so that the positioning error is large;
typically, the positioning accuracy of a pseudolite system is related to two factors: one is the pseudorange measurement error between the pseudolite and the receiver, and the other is the geometric distribution of the pseudolite. In navigatory, the dilution of precision (DOP) is often used to characterize how well a pseudolite layout is. If the precision factor value is larger, the pseudo satellite layout is worse, and the positioning precision is worse on the premise of the same pseudo range measurement error; conversely, the better the pseudolite layout, the higher the positioning accuracy achieved by the pseudolite system.
The weight matrix H is a representation of the accuracy factor of the quantized pseudolite, wherein in a three-dimensional positioning system comprising a time system it is a 4 x 4 symmetric matrix, wherein the matrix G is only related to the position of each pseudolite and the receiver, and is therefore also referred to as a geometric matrix.
Satellite pseudo-range geometric positioning equation:
Figure BDA0003529328340000051
wherein r is(n)Is the length of the observation vector of satellite n at the user receiver, (x)(n)-X) is the X-direction component of this observation,
Figure BDA0003529328340000052
representing the geometric distance r of the nth satellite(n)The partial derivative of x is the value at x, i.e.
Figure BDA0003529328340000053
The variance of the positioning error is obtained by amplifying the variance sigma of the pseudo-range measurement error by a weight system matrix H; therefore, the positioning accuracy of the pseudo satellite system is influenced by two aspects, namely, the measurement error is larger, and the positioning error is larger if the error of pseudo range measurement is larger; the value of the weight system matrix H, namely the position relation between the pseudolite and the receiver; since the receiver can move freely in the pseudolite system, only the method for reducing the pseudo-range measurement error and optimizing the pseudolite layout is needed to reduce the positioning error.
In navigatology, several accuracy factors are defined to measure how well the pseudolite layout is:
Figure BDA0003529328340000061
Figure BDA0003529328340000062
Figure BDA0003529328340000063
Figure BDA0003529328340000064
Figure BDA0003529328340000065
wherein
Figure BDA0003529328340000066
For diagonal elements of the weight system matrix H, PDOP is called the spatial location accuracy factor, TDOP is called the clock error accuracy factor, and GDOP is called the tableAfter the definition of the precision factor is obtained, the effect of the precision factor is analyzed by taking the measurement error and the positioning error on the spatial position as an example.
The standard deviation of the positioning error in each direction can be expressed as:
σG=GDOP·σURE
where the geometric positioning error standard deviation is indicated. Under the same measurement error condition of the same measurement, if the value is larger, the error is amplified by a larger factor, which means that the positioning accuracy is lower, the positioning success rate is lower, and the value of the whole geometric positioning accuracy is determined by XYZ in space and clock error together.
In the actual application system of the pseudolite system, because the pseudolite system is mostly in an indoor or some special location positioning scene, because the indoor environment space is limited, it is difficult to ensure that the DOP value of each three-dimensional dimension is small, and at this time, if the positioning accuracy in a certain direction is too poor, the positioning accuracy and the positioning success rate in the other two directions are directly influenced; meanwhile, the user receiver cannot directly know the current position, so that the accuracy factor of the current position cannot be obtained, and the positioning DOP value cannot be guaranteed to be kept minimum by determining which satellite geometric configuration should be selected currently.
Referring to fig. 1, fig. 1 is a schematic flow chart of an indoor pseudolite constellation high-precision adaptive positioning method according to an embodiment of the present invention;
as shown in fig. 1, the method includes steps S101 to S102.
S101, a receiver terminal receives tag data broadcasted by an electromagnetic tag in a current positioning scene in real time, and analyzes the tag data to obtain positioning prior information of the current positioning scene; a plurality of electromagnetic tags are pre-arranged in the current positioning scene, and each electromagnetic tag continuously broadcasts tag data outwards;
s102, switching corresponding positioning dimensions, positioning algorithms and positioning configurations based on the positioning prior information, and calculating to obtain corresponding positioning results.
In the present embodiment, the receiver terminal includes, but is not limited to, a mobile phone; the method comprises the steps that an electromagnetic tag is laid in a corresponding indoor pseudo-satellite positioning scene in advance, for example, the electromagnetic tag 1-9 in the graph 9, the electromagnetic tag continuously broadcasts tag data outwards, after the tag data are received by a receiver terminal, the tag data are analyzed to obtain positioning prior information of the current positioning scene, the positioning prior information of the current positioning scene is obtained, the positioning prior information is converted into dimensions, satellite configuration is selected, and algorithm parameters are intelligently adjusted to adapt to the positioning scene, and the problems that pseudo-satellite positioning resolving success rate is low and precision is poor due to the fact that three-dimensional positioning precision is influenced by multiple parties are solved, so that the indoor pseudo-satellite positioning adaptability is high, the positioning success rate is high, and the precision is high are achieved.
In step S101, the tag data is analyzed to obtain prior positioning information of the current positioning scene, specifically including the following three types of analysis manners;
with reference to fig. 5, the first analysis method includes the following steps:
s10, the receiver terminal receives the label data and inquires a local label database based on the label data;
s11, judging whether the local tag database has corresponding positioning prior information, if so, executing a step S12, and if not, executing a step S13;
s12, acquiring corresponding positioning prior information;
s13, sending the label data to a server query system, and enabling the server query system to return corresponding positioning prior information based on the label data;
the second analysis method comprises the following steps:
s20, the receiver terminal directly sends the label data to a server query system based on the received label data, so that the server query system returns corresponding positioning prior information based on the label data.
The third resolution method comprises the following steps:
s30, the receiver terminal analyzes the label data to obtain the self-defined data frame, and analyzes the positioning prior information of the self-defined data frame according to the preset format.
According to the actual application scenario, any one of the above analysis modes can be adopted to analyze the tag data to obtain corresponding prior information, and when necessary, the tag data can also be used in three modes at the same time, and the application is not particularly limited.
Preferably, after the step S13, the method further includes the following steps:
and S14, sending the returned positioning prior information to the local label database, and enabling the local label database to store and update the positioning prior information.
By the mode, missing information of the local label database is filled, and then label data can be directly analyzed conveniently next time.
It should be noted that, in the present application, the electromagnetic beacon is one of a bluetooth beacon, a geomagnetic beacon, a wifi beacon, an RFID beacon, and an NFC beacon.
In this embodiment, the electromagnetic beacon is a bluetooth beacon.
The bluetooth beacon is an external device applied to a mobile phone, and the operation principle is to transmit self-owned ID, such as MAC address, manufacturer data and other information in bluetooth broadcast data packets to the surroundings through bluetooth with low power consumption, each data packet in a standard bluetooth beacon broadcast information frame format is 31 bytes, and the data packet is divided into two parts, namely valid data and invalid data, wherein, as shown in fig. 6, the valid data contains several broadcast data units, which are called AD Structure, and the composition of the AD Structure is length Len and Type AD Type, respectively, wherein, the length Len represents the length of the AD Structure (except length Len itself 1), the Type AD Type represents what the data Type the broadcast data represents, such as uuid, custom data (man-made specific data) and the like, it should be noted that the length of the data packet must be 31 bytes, and if the valid data part is less than 31 bytes, the remainder was filled with 0.
The bluetooth broadcast information frame comprises two parts, wherein the first part is used for distinguishing digital IDs of bluetooth beacons, broadcast data format definition and distinction are carried out according to bluetooth beacon uuid and AD Structure data formats shown in fig. 6, the second part comprises a fixed format broadcast data frame, the bluetooth beacon custom AD Structure data format shown in fig. 7 is shown, the AD Structure and AD Type are carried by the user, the rest current scene identification, current lane identification, effective satellite sequence length, satellite SVID 1-satellite SVIDn are self-defined data, and n is an integer larger than 0.
Through field measurement of bluetooth beacons in a current positioning scene, tag data and information data of each bluetooth beacon, namely, custom data of a current scene identifier, a current lane identifier, an effective satellite sequence length, and satellites SVID 1-SVIDn shown in fig. 7 are obtained, and key values are stored according to uuid of the bluetooth beacons for a receiver terminal to access, inquire or download to the local receiver terminal.
In this embodiment, the receiver terminal scans the tag data broadcasted by the bluetooth beacon in real time and analyzes the user-defined uuid, and because of the broadcast characteristics of the bluetooth, the bluetooth beacon can continuously send the tag data outwards, and the receiver terminal does not need to establish connection with the bluetooth beacon and can continuously and circularly scan the bluetooth beacon in the current positioning scene, and if the receiver terminal enters the signal coverage range of the bluetooth beacon, the receiver terminal does not need the redundant manual operation of a user, and the information receiving function can be realized.
In step S30, the relevant location prior information is parsed according to the data format of bluetooth beacon uuid and AD Structure shown in fig. 7 through the manual specific data frame with 0xFF AD Type in the bluetooth broadcast frame.
In a specific embodiment, the positioning prior information includes a current environment mode represented by the electromagnetic tag, position coordinate information, accurate position information in a self-established coordinate system, additional feature information in a current positioning environment, and effective satellite sequence information.
Distinguishing the Bluetooth beacons according to the uuids carried by the tag data, and storing the positioning prior information corresponding to the Bluetooth beacons in a server inquiry system, wherein a specific positioning prior information storage format is shown in fig. 8.
In one embodiment, the step S102 includes the following steps:
and S40, acquiring the measurement data of all pseudolites, filtering and processing the measurement data based on the effective sequence information, and performing positioning calculation by using the measurement data of the remaining pseudolites, wherein the measurement data of the pseudolites comprise pseudo ranges, carrier phases, carrier-to-noise ratio measurement values and Doppler frequency shift measurement values.
In this embodiment, after the receiver terminal receives the positioning prior information, the measurement data of all pseudolites, such as pseudoranges, carrier phases, carrier-to-noise ratio measurement values, and doppler shift measurement values, are obtained, then some pseudolites that do not contribute much to the positioning accuracy, or even reduce the positioning accuracy, are filtered based on the effective sequence information in the positioning prior information, and the remaining measurement data of the pseudolites are subjected to positioning solution.
In one embodiment, the step S40 includes the following steps:
and S50, based on the effective sequence information, removing the measurement data of the pseudolite of which the precision factor is greater than the preset precision threshold value, and removing the measurement data of the pseudolite of which the error value is greater than the preset error threshold value.
In this embodiment, the valid sequence information in the positioning prior information includes the satellite serial numbers with poor error and small DOP value near the current position, so that the pseudolite unsuitable for being included in the positioning solution can be removed according to the positioning prior information, for example, in combination with fig. 9, the valid satellite sequence included in the tag data 1 received in the current positioning scene is 4, 5, 6, 7, 8, but the pseudolite measurement data received by the receiver terminal includes the pseudolite measurement data with the numbers of 1, 2, 3, 4, 5, 6, 7, 8, so that the receiver terminal will automatically filter out the pseudolites 1, 2, 3 at this time, the measurement data of the 3 pseudolites is no longer used for positioning solution, but the measurement data of the remaining pseudolites with the numbers of 4 to 8 is used for positioning, and in this way, the pseudolites with poor data quality can be filtered out, thereby improving the positioning accuracy of the pseudolite.
In one embodiment, the additional characteristic information in the current environment includes lane marking information; after the step S50, the method further includes the following steps:
s60, selecting corresponding pseudolites on the same lane to construct a pseudolite configuration based on the returned lane mark information;
and S61, and performing positioning calculation by using the one-dimensional position coordinates of each pseudolite in the pseudolite configuration.
In this embodiment, because the tag data broadcast by the bluetooth beacon represents the selection of the pseudolite configuration, for example, if the receiver terminal receives one of the tag data 1 to 8, it indicates that the receiver terminal is located in the area 1, and then the pseudolites 1 to 7 are used for positioning, it should be noted that uuid of each tag data corresponds to the bluetooth beacon one by one, that is, the tag data broadcast by the bluetooth beacon 1 is the tag data 1.
Similarly, if the receiver terminal receives the tag data 9, the pseudolite 8-14 is used for positioning calculation when the receiver terminal is located in the area 2 at the moment; as shown in fig. 9, the bluetooth beacon 1 and the bluetooth beacon 2 are located on the road 3, and if the receiver terminal receives the tag data 1 or the tag data 2, it represents that the receiver terminal is located on the road 3 at this time, and further, the pseudolite 1, 2, 3 is used to perform positioning calculation by using one-dimensional position coordinates on the road, according to the definition of the geometric accuracy factor:
Figure BDA0003529328340000101
GDOP stands for geometric dilution of precision at
Figure BDA0003529328340000102
In the decision parameters of the four precision factors, if the tag data broadcast by the bluetooth beacon also includes the coordinates XYZ of the position of the bluetooth beacon, in the current positioning scene of the road 3, only one-dimensional positioning needs to be performed along the road 3, and on the premise of determining the other two-dimensional information,
Figure BDA0003529328340000103
the geometric accuracy factor is 0, which means that the whole geometric accuracy factor is greatly reduced, and the positioning resolving success rate and the positioning accuracy of the pseudolite can be remarkably improved under the condition of the same measurement error.
The embodiment of the invention also provides a high-precision self-adaptive positioning device for the indoor pseudolite constellation, which is used for executing any embodiment of the high-precision self-adaptive positioning method for the indoor pseudolite constellation. Specifically, referring to fig. 10, fig. 10 is a schematic block diagram of an indoor pseudolite constellation high-precision adaptive positioning device according to an embodiment of the present invention.
As shown in fig. 10, the indoor pseudolite constellation high-precision adaptive positioning apparatus 500 includes:
the analyzing unit 501 is configured to receive, by a receiver terminal, tag data broadcasted by an electromagnetic tag in a current positioning scene in real time, and analyze the tag data to obtain positioning prior information of the current positioning scene; a plurality of electromagnetic tags are pre-arranged in the current positioning scene, and each electromagnetic tag continuously broadcasts tag data outwards;
a conversion unit 502, configured to switch a corresponding positioning dimension, a positioning algorithm, and a positioning configuration based on the positioning prior information, and calculate to obtain a corresponding positioning result;
the device can solve the problems that the resolving success rate of the pseudolite positioning is low and the three-dimensional positioning precision is influenced by multiple parties, so that the precision is poor, the indoor pseudolite positioning adaptability is stronger, the positioning success rate is higher, and the precision is higher.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The above-mentioned indoor pseudolite constellation high accuracy adaptive positioning device may be implemented in the form of a computer program which can be run on a computer apparatus as shown in fig. 11.
Referring to fig. 11, fig. 11 is a schematic block diagram of a computer device according to an embodiment of the present invention. The computer device 1100 is a server, and the server may be an independent server or a server cluster including a plurality of servers.
Referring to fig. 11, the computer device 1100 includes a processor 1102, memory and network interface 1105 connected by a system bus 1101, where the memory may include non-volatile storage media 1103 and internal memory 1104.
The non-volatile storage medium 1103 may store an operating system 11031 and computer programs 11032. The computer program 11032, when executed, may cause the processor 1102 to perform an indoor pseudolite constellation high accuracy adaptive positioning method.
The processor 1102 is configured to provide computing and control capabilities that support the operation of the overall computing device 1100.
The internal memory 1104 provides an environment for running the computer program 11032 in the non-volatile storage medium 1103, and when the computer program 11032 is executed by the processor 1102, the processor 1102 may be enabled to execute the indoor pseudolite constellation high-precision adaptive positioning method.
The network interface 1105 is used for network communications, such as to provide for the transmission of data information. Those skilled in the art will appreciate that the configuration shown in fig. 11 is a block diagram of only a portion of the configuration associated with aspects of the present invention and is not intended to limit the computing device 1100 to which aspects of the present invention may be applied, and that a particular computing device 1100 may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
Those skilled in the art will appreciate that the embodiment of a computer device illustrated in fig. 11 does not constitute a limitation on the specific construction of the computer device, and that in other embodiments a computer device may include more or fewer components than those illustrated, or some components may be combined, or a different arrangement of components. For example, in some embodiments, the computer device may only include a memory and a processor, and in such embodiments, the structures and functions of the memory and the processor are consistent with those of the embodiment shown in fig. 11, and are not described herein again.
It should be appreciated that in embodiments of the present invention, the Processor 1102 may be a Central Processing Unit (CPU), and the Processor 1102 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. Wherein a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In another embodiment of the invention, a computer-readable storage medium is provided. The computer readable storage medium may be a non-volatile computer readable storage medium. The computer readable storage medium stores a computer program, wherein the computer program when executed by a processor implements the indoor pseudolite constellation high-precision adaptive positioning method of the embodiments of the present invention.
The storage medium is an entity and non-transitory storage medium, and may be various entity storage media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a magnetic disk, or an optical disk.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, devices and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A high-precision self-adaptive positioning method for an indoor pseudo satellite constellation is characterized by comprising the following steps:
the method comprises the steps that a receiver terminal receives tag data broadcasted by an electromagnetic tag in a current positioning scene in real time, and analyzes the tag data to obtain positioning prior information of the current positioning scene; a plurality of electromagnetic tags are pre-arranged in the current positioning scene, and each electromagnetic tag continuously broadcasts tag data outwards;
and switching corresponding positioning dimensionality, positioning algorithm and positioning configuration based on the positioning prior information, and calculating to obtain a corresponding positioning result.
2. The indoor pseudolite constellation high-precision self-adaptive positioning method of claim 1, wherein the analyzing the tag data to obtain positioning prior information of a current positioning scene comprises:
the receiver terminal inquires a local tag database based on the received tag data, judges whether the local tag database has corresponding positioning prior information or not, if the local tag database has the corresponding positioning prior information, the corresponding positioning prior information is obtained, and if the local tag database does not have the corresponding positioning prior information, the tag data is sent to a server inquiry system, so that the server inquiry system returns the corresponding positioning prior information based on the tag data;
or the receiver terminal directly sends the tag data to a server query system based on the received tag data, so that the server query system returns corresponding positioning prior information based on the tag data;
or the receiver terminal analyzes the tag data to obtain a custom data frame therein, and analyzes the positioning prior information of the custom data frame according to a predetermined format.
3. The indoor pseudolite constellation high accuracy adaptive positioning method of claim 1, wherein the electromagnetic beacon is one of a bluetooth beacon, a geomagnetic beacon, a wifi beacon, an RFID beacon, and an NFC beacon.
4. The indoor pseudolite constellation high-precision self-adaptive positioning method as claimed in claim 1, wherein the positioning prior information comprises a current environment mode characterized by an electromagnetic tag, position coordinate information, precise position information in a self-established coordinate system, additional characteristic information in a current positioning environment, and effective satellite sequence information.
5. The indoor pseudolite constellation high-precision self-adaptive positioning method of claim 4, wherein the switching of corresponding positioning dimensions, positioning algorithms and positioning configurations based on the positioning prior information and the calculation of corresponding positioning results comprises:
and acquiring measurement data of all pseudolites, filtering and processing the measurement data based on the effective sequence information, and performing positioning calculation by using the measurement data of the remaining pseudolites, wherein the measurement data of the pseudolites comprises pseudo ranges, carrier phases, carrier-to-noise ratio measurement values and Doppler frequency shift measurement values.
6. The indoor pseudolite constellation high accuracy adaptive positioning method of claim 5, wherein said filtering and processing of measurement data based on said valid sequence information comprises:
and based on the effective sequence information, removing the measurement data of the pseudolite of which the precision factor is greater than a preset precision threshold value, and removing the measurement data of the pseudolite of which the error value is greater than a preset error threshold value.
7. The indoor pseudolite constellation high accuracy adaptive positioning method of claim 5, wherein the additional feature information under the current environment comprises lane marking information;
after removing the measurement data of the pseudolite of which the precision factor is greater than the preset precision threshold value and removing the measurement data of the pseudolite of which the error value is greater than the preset error threshold value based on the effective sequence information, the method comprises the following steps:
selecting corresponding pseudolites on the same lane to construct a pseudolite configuration based on the returned lane mark information;
and positioning calculation is carried out by utilizing the one-dimensional position coordinates of each pseudolite in the pseudolite configuration.
8. An indoor pseudo satellite constellation high accuracy self-adaptation positioner which characterized in that includes:
the analysis unit is used for receiving the tag data broadcasted by the electromagnetic tag in the current positioning scene in real time by the receiver terminal and analyzing the tag data to obtain the positioning prior information of the current positioning scene; a plurality of electromagnetic tags are pre-arranged in the current positioning scene, and each electromagnetic tag continuously broadcasts tag data outwards;
and the conversion unit is used for switching the corresponding positioning dimension, positioning algorithm and positioning configuration based on the positioning prior information and calculating to obtain a corresponding positioning result.
9. A computer device comprising a memory, a processor and a computer program stored on said memory and executable on said processor, characterized in that said processor when executing said computer program implements an indoor pseudolite constellation high accuracy adaptive positioning method as claimed in any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to carry out the indoor pseudolite constellation high accuracy adaptive positioning method of any one of claims 1 to 7.
CN202210201155.6A 2022-03-03 2022-03-03 High-precision self-adaptive positioning method and device for indoor pseudo satellite constellation and related components Pending CN114594422A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115604656A (en) * 2022-09-30 2023-01-13 东土科技(宜昌)有限公司(Cn) Label positioning method and system based on scene binding, and electronic device

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115604656A (en) * 2022-09-30 2023-01-13 东土科技(宜昌)有限公司(Cn) Label positioning method and system based on scene binding, and electronic device
CN115604656B (en) * 2022-09-30 2023-12-01 东土科技(宜昌)有限公司 Label positioning method, system and electronic equipment based on scene binding

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