CN115079221A

CN115079221A - Whole scene sharing navigation positioning and generalized graphic element hunting operation solving method

Info

Publication number: CN115079221A
Application number: CN202210406914.2A
Authority: CN
Inventors: 施浒立; 尚俊娜; 程涛; 虞舟航
Original assignee: Suzhou Diehui Intelligent Technology Co ltd
Current assignee: Suzhou Diehui Intelligent Technology Co ltd
Priority date: 2022-04-18
Filing date: 2022-04-18
Publication date: 2022-09-20

Abstract

The invention discloses a method for sharing navigation positioning and generalized graphic element operation solving in a whole scene. The method comprises the following steps: step 1, a receiving terminal carries out propagation delay measurement to obtain a plurality of sections of pseudo-range values, step 2, a conversion relation between a coordinate system and the coordinate system is established, step 3, a spherical equation with a satellite position as a spherical center and an observed pseudo-range as a radius is listed, step 4, positioning navigation is still carried out by setting an indoor navigation lamp, and step 5, enhanced positioning is carried out by adopting a combined solution mode of a satellite positioning equation and a navigation lamp positioning equation. The invention can meet the requirements of three basic scenes of indoor and outdoor positioning, does not need to change the hardware of the terminal, and can be used as an indoor and outdoor shared terminal only by some algorithms; therefore, the method has the advantages of strong practicability, good inheritance and wide application prospect.

Description

Whole scene sharing navigation positioning and generalized graphic element hunting operation solving method

Technical Field

The invention belongs to the technical field of navigation positioning, and particularly relates to a method for solving full scene shared navigation positioning and generalized graphic element hunting operation.

Background

In the nineties of the last century, after a GPS satellite navigation system is successfully networked, a satellite navigation technology is rapidly developed, so far, four satellite navigation systems of GPS, BDS (Beidou), GLONASS and Galileo, and enhanced systems of WAAS, LAAS, QZSS and thousands of seeks have successively started services and are more and more widely applied, and the system relates to a plurality of fields and industries of national security, surveying and mapping, transportation, agriculture, animal husbandry, construction industry, oceans, meteorology, metering, aerospace, urban construction, security monitoring and scientific research.

The satellite navigation has the advantages of high positioning precision, large signal coverage, convenient use and wide application range, and can meet the positioning and navigation requirements in most outdoor scenes. However, in urban canyons erected in high buildings, in deep mountains and dense forests, in buildings and under the scene of a canopy shelter, satellite navigation signals are blocked by buildings and natural objects, and the signals are reflected to cause multipath phenomenon, so that the receiving and processing of the navigation signals are influenced, the navigation positioning precision is influenced, and even the positioning cannot be realized. Therefore, the technical personnel engaged in navigation positioning is expected to solve and break through the problem, and the technical personnel engaged in navigation positioning are used to commonly refer to the problem of solving the navigation positioning in the above-mentioned scene as the indoor navigation positioning problem.

For example, patent application No. 201911223734.5 discloses a vehicle positioning and navigation method and a device thereof, wherein the method comprises the following steps: the analysis equipment determines a target diagnosis protocol supported by an on-board self-diagnosis system (OBD) of the vehicle from a plurality of locally preset diagnosis protocols; acquiring a data packet representing the working condition of the vehicle through an OBD (on-board diagnostics) interface, wherein the data packet at least comprises speed information and direction information of the vehicle; analyzing the data packet according to a target diagnosis protocol to obtain speed information and direction information of the vehicle; determining an input level allowed by the inertial navigation device; and sending the speed information and the direction information of the vehicle to the inertial navigation equipment at an input level allowed by the inertial navigation equipment, wherein the speed information and the direction information of the vehicle are used for positioning and navigating the vehicle by the inertial navigation equipment.

To date, methods for solving the problem of indoor navigation have been developed, and some people try to receive signal positioning of GPS/BDS and low-earth satellites indoors, but most of the received signals are reflected signals, which have become weak indoors, are difficult to receive and have poor ranging accuracy, and other wireless transmission signals are used, such as: the iBeacon, WiFi, UWB, CSS, 4G/5G, Rola, and emulating the GPS positioning principle, perform ball intersection positioning, and then, since the indoor space is divided more, the volume of each space is small, and the signal is reflected many times when being transmitted in the indoor space, disorder and serious multipath phenomenon occur, it is necessary to solve the problems of how the signal source is distributed, how the near-far effect is overcome, whether the time synchronization is selected, and how the multipath phenomenon is overcome in the indoor positioning. The problems of low precision and large acquisition amount of signal intensity matching fingerprint database data can occur when the signal intensity is used for fingerprint matching and positioning; the inertial device is used for carrying out track position extrapolation, and the problem of how to correct accumulated errors in a room after extrapolation exists. In addition, indoor positioning also has the problem of how to describe and display indoor space. Description of indoor space products are slow to launch and standards are not established. The methods of vision, laser radar and geomagnetism are easy to interfere, the use scene is limited, the reliability of solution is not high, and the stability is not enough. The above detailed analysis illustrates: the complexity and variability of the indoor environment lead to difficult acquisition and tracking of signals, the positioning result is not stable enough, and the positioning accuracy is poor, so that the aim that the indoor positioning problem is difficult to achieve is solved by completely applying the GPS positioning principle. Therefore, the indoor positioning technology is not mature so far, the principle, method and key technical problems of indoor positioning are not broken through, due to the shielding of buildings, only a small part of signals of outdoor satellite navigation signals can be directly transmitted indoors, most of signals enter indoors after being reflected or scattered, at the moment, the signal attenuation is obvious, the polarization of the signals can be changed, the signal-to-noise ratio becomes poor, the signals become multipath signals, effective signal processing and positioning calculation cannot be achieved frequently, and even if the positioning is achieved, the positioning accuracy is poor. Similarly, in some outdoor scenes, signals are also affected by natural objects such as buildings, mountains and trees, and the situation that the positioning accuracy is not high or even the positioning solution cannot be realized is caused by the fact that the signals are shielded and the signal-to-noise ratio is poor. Therefore, the problem of receiving and receiving signals isomorphic with GNSS navigation signals indoors and how to use the signals to realize positioning must be solved. To date, the prior art cannot provide an effective and reliable method for solving the problem of indoor positioning and navigation, and the existing satellite navigation chip and terminal cannot break through the problem of the requirement for solving the indoor positioning and navigation.

Disclosure of Invention

The invention aims to provide an indoor and outdoor full scene sharing navigation positioning system and a generalized graphic element hunting operation solving method which can overcome the technical problems, and the method comprises the following steps:

step 1, when a receiving terminal can receive navigation positioning signals of more than or equal to four GNSS navigation satellites in an outdoor scene, the receiving terminal carries out propagation delay measurement to obtain a plurality of sections of pseudo-range values, and the positions of the terminals are obtained through ball intersection solution to meet the positioning and navigation requirements in the outdoor scene;

the navigation lamp is erected indoors, the navigation lamp refers to a pseudolite, the frequency band (L1, B1 and E1) and the spread spectrum code, namely a pseudo random code and a spread spectrum modulation mode (DSS), are selected for the design of the indoor navigation lamp, the format of a navigation message is the same as that used in a satellite navigation system, the navigation message content is only redefined, the redefined indoor navigation message retains partial data and information of an original outdoor navigation message, and the redefined data comprises: ID number (the same with the number that the ground space map marked), navigation light ID number, spread spectrum code number, mounting point position, height, road or tunnel trend azimuth (relative true north direction), the mounted position of camera, datum point atmospheric pressure, temperature, humidity, magnetic declination, central frequency point (MHz), frequency bandwidth (MHz), beam radiation characteristic, navigation light space position antenna exit (1 meter department) signal intensity (rsi), navigation light health status sign, the parameter of check position, can broadcast indoor map and spatial information including the building unit in the indoor space, furniture, the article of stacking, facility and characteristic parameter and characteristic point:

step 1.1, dividing application scenes into three major classes, namely an outdoor application scene, an indoor application scene and an outdoor application scene needing to be enhanced (hereinafter referred to as three application scenes), wherein the outdoor application scene refers to a scene capable of receiving more than or equal to four satellite signals, the indoor application scene refers to an application scene in a building, the outdoor application scene needing to be enhanced refers to a scene outdoor but incapable of receiving more than or equal to four satellite signals perfectly, and navigation lamps are additionally arranged in the indoor application scene and the outdoor application scene needing to be enhanced;

step 1.2, drawing an indoor map in an indoor application scene, adding indoor space information, and forming a ground-air information map;

step 1.3, determining the distinguishing conditions for distinguishing three types of application scenes, namely: whether the navigation satellite signal can be received or not, whether indoor and outdoor scenes and whether enhancement is needed or not are judged according to the signal-to-noise ratio of the navigation satellite signal, whether the signal of a navigation lamp is received or not and whether the navigation lamp is identified or not, and different positioning algorithms are adopted after different scene conditions are judged;

step 2, determining a coordinate system representing the position of the navigation positioning system, and establishing a conversion relation between the coordinate system and the coordinate system:

step 2.1, establishing an Earth-Centered Earth-Fixed coordinate system (Earth-Centered, Earth-Fixed, ECEF for short),

the geocentric coordinate system is a geocentric coordinate system with the geocentric as an origin, and is a Cartesian coordinate system, the origin O (0,0,0) is the centroid of the earth, the z axis and the geocentric axis are parallel and point to the north pole, the x axis points to the intersection point of the initial meridian and the equator, the y axis is perpendicular to the xoz plane (namely the intersection point of the east longitude 90 degrees and the equator) to form a right-hand coordinate system, the geocentric coordinate system is selected by the satellite navigation system, the geocentric coordinate system is adopted by the full-scene shared navigation positioning system during outdoor navigation positioning, and the satellite navigation system is used for solving under the geocentric coordinate system to obtain three-dimensional rectangular coordinates x, y and z and a receiver clock difference delta t;

step 2.2, establishing a local coordinate system, wherein the local coordinate system is a rectangular coordinate system suitable for being applied in local areas (such as campuses, cells and business circles), and the local coordinate system is selectedA certain position is used as a coordinate origin O, the perpendicular direction of the point O is used as a Z axis, the pointing zenith is positive, the meridian direction is an X axis, the north is positive, a Y axis is perpendicular to an X, Z axis, the east is positive, a local coordinate system is a left-hand rectangular coordinate system, a plane rectangular coordinate system formed by the X axis and the Y axis is consistent with a plane rectangular coordinate system in the measurement science, the local coordinate system established in the way belongs to a perpendicular standing center rectangular coordinate system, and when the geocentric coordinate of the coordinate origin O is known to be (X axis and Y axis are perpendicular to the standing center rectangular coordinate system), the geocentric coordinate of the coordinate origin O is known to be (X axis and Y axis are perpendicular to the standing center rectangular coordinate system) _O ,Y _O ,Z _O ) The geodetic longitude and latitude are (lambda,

) Setting the geocentric coordinate (X) of any point P in space _P ,Y _P ,Z _P ) Then, the spatial coordinates of the point P in the local coordinate system with the point O as the origin are shown in the following formula (1):

in contrast, when the coordinates [ X Y Z ] of the spatial point P in the local coordinate system with the point O as the origin are known, the geocentric coordinates of the point P are as shown in the following formula (2):

establishing a conversion relation between a local coordinate system and an earth ground-fixed coordinate system through the coordinate origin O;

step 2.3, an indoor local coordinate system is established, when indoor navigation positioning is carried out, an indoor local coordinate system is selected, the indoor local coordinate system is a local coordinate system with a small coverage area, the indoor local coordinate system selects an indoor ground center position coordinate as a coordinate system original point O, a projection point position coordinate of a navigation lamp on the ground can also be selected as a coordinate system original point O, or a central point position coordinate of an indoor access door is selected as a coordinate system original point O, orientations of a symmetry axis as an x axis and a y axis are selected according to the basic shape of an indoor plane to form a space three-dimensional or ground horizontal plane coordinate, in the space three-dimensional coordinate system, a z axis is vertical to a ground horizontal plane, the indoor local coordinate system is linked with the local coordinate system, or is directly linked with the ground center fixed coordinate system to realize conversion between the coordinate systems, the indoor coordinate original point O needs to mark the position of the indoor local coordinate system in the ground center fixed coordinate system, meanwhile, the angular deviation between the direction of the x axis of the indoor coordinate and the true north is marked, and when the indoor ground plane in the indoor coordinate system has deviation from the local horizontal plane, the two-dimensional deviation is marked to ensure the coordinate conversion relation between the indoor coordinate system and the geocentric coordinate system;

step 2.4, determining the altitude H or the altitude H, wherein the altitude H or the altitude H is related when using barometric altimetry or adopting a local coordinate system, and when the altitude H is known, namely, the altitude H is equivalent to a satellite located near the earth central point, and the measured altitude value is equivalent to adding a pseudo range value, the altitude H is converted into another rendezvous sphere with the earth distance as the radius and plays a role of an equivalent navigation satellite, wherein the observation equation at the moment is shown as the following formula (3):

h is the height of the user in the earth, a and b are respectively the long half axis and the short half axis of the earth reference ellipsoid, and the last equation in the formula (3) is the constraint equation of the earth ellipsoid;

when the air pressure height measurement auxiliary positioning navigation is adopted, converting an altitude H obtained by air pressure height measurement into an altitude H, solving by using a formula (3), obtaining air pressure correction information from a reference datum point according to the reference datum point with data of the altitude H and the altitude H, wherein the reference datum point comprises a weather observation station, a temporarily established datum station and an existing ground mobile communication base station, and taking points with the existing air pressure datum station and the altitude as level coincident points and providing an elevation difference correction quantity for nearby users;

step 2.5, dimension reduction of an indoor local coordinate system, graphic calculation is carried out in a simplified two-dimensional plane coordinate when the indoor positioning application is carried out, the z axis and the absolute elevation of the local coordinate system are in the vertical line direction, and the altitude obtained by air pressure altitude measurement is the z coordinate value of the user in the local coordinate system, the positioning problem is reduced from three dimensions to two dimensions without height conversion, interpolation calculation with abnormal elevation does not exist, new extra errors cannot be brought in the positioning process, at the moment, the altitude is taken as the z value and substituted into a formula (3) without iterative calculation of z, and a measurement equation set is changed from the formula (3) to the following formula (4):

step 3, in an outdoor scene, at least four or more spherical equations with the satellite position as the spherical center and the observed pseudo range as the radius are listed in the satellite navigation observation equation set as shown in the following formula (5):

wherein the satellite number n is more than or equal to 4; x is the number of _j 、y _j 、z _j Is the three-dimensional coordinate component, x, of the jth satellite in the earth-fixed coordinate system _u 、y _u 、z _u Refers to the three-dimensional coordinate component, rho, of the user in the earth-fixed coordinate system _ju Is the observed pseudo-range between the subscriber station and the jth satellite, c is the speed of light, t _u For receiver clock deviation, δ ρ _ju The pseudo range time delay correction quantity is caused by the satellite clock deviation, the ionosphere time delay, the troposphere time delay and the multipath effect;

the solution of equation (5) above is the three-dimensional coordinates (x) of the subscriber station _u ，y _u ，z _u ) And receiver clock offset t _u That is, the intersection point of the sphere with the satellite position as the sphere center and the pseudo range as the radius is also called as the solution of the sphere equation set, and the solution precision of the above formula (5) is 2 to 10 meters;

the GNSS satellite signals arrive on the ground, and the phase difference between the carrier signals received by the two receiving antennas is represented by a vector projection, as shown in the following equation (6):

in the formula (6), the first and second groups of the compound,

as a baseline vector between antennas, b ═ x y z] ^T For the coordinates of the unknown baseline vector in the geocentric geostationary coordinate system,

represented as the difference between the carrier phases of the signals of the satellite s arriving at the two receiving antennas respectively,

in order to be a new ambiguity parameter for the image,

is a unit vector of the direction from the antenna to the satellite, the antenna position coordinate and the satellite coordinate are obtained by satellite positioning and satellite ephemeris,

it is known that when m satellites are observed, the observation equation set is obtained as shown in the following equation (7):

the ambiguity of the m satellites has correlation, when the correct ambiguity is solved, an observation equation set has unique solution, an unknown baseline vector is obtained through calculation, the position of the terminal is obtained through intersection solution so as to meet the requirement of accurate positioning navigation in an outdoor scene, the positioning precision reaches centimeter level when a single-frequency RTK (Real-time kinematic) method obtains a fixed solution within 30 kilometers, and the precision can reach sub-meter level or decimeter level by adopting differential positioning within 50 kilometers; the steps of the working process when the single-frequency navigation chip is adopted to carry out RTK dynamic real-time carrier phase accurate positioning are as follows:

step 3.1, calculating the position coordinates of the observation satellite by using the ephemeris file received by the receiving antenna;

step 3.2, establishing a carrier phase difference component observation group according to the received satellite observation data;

step 3.3, solving the ambiguity, and selecting an integer ambiguity solving algorithm (such as a generalized continuation solving algorithm and a LAMBDA algorithm) to rapidly determine the integer ambiguity;

step 3.4, obtaining the coordinate of the baseline vector in a WGS-84 coordinate system according to the integer ambiguity;

step 3.5, performing coordinate conversion on the calculated baseline vector to obtain a correlation matrix and baseline vector coordinates under different coordinate systems (such as a carrier coordinate system and a local horizontal coordinate system);

step 3.6, solving the position, displacement and attitude angle of the carrier according to the obtained correlation matrix and the baseline vector coordinate;

step 4, in the indoor scene, the positioning navigation is carried out through the shared terminal and by utilizing the indoor navigation lamp, namely, the shared terminal is directly used for receiving navigation lamp signals indoors, after despreading and demodulation, the nominal longitude value and the latitude value of the indoor space are obtained in the navigation lamp messages, the nominal longitude value and the latitude value indicate the basic information of the indoor space position, when the position value of the subdivided indoor space is to be obtained, a generalized pattern element hunting calculation solving method is adopted, namely, information transmitted by a navigation message and measurement parameters obtained by measuring the navigation signals by a chip are firstly utilized, relevant geometric pattern elements containing solution domains are found, the hunting calculation is carried out on the pattern elements containing the solution domains, the hunting area is reduced, the reduced solution domains are fuzzy positioning solution domains, the reduced solution domain expression method is different according to different scenes and different reduced solution domains, the algorithm of the generalized pattern element hunting calculation method is a fuzzy positioning algorithm, the mathematical expression of the fuzzy positioning solution is a graph element or an interval number, when the graph element represents positioning, the graph element hunting operation is adopted for solving, wherein the graph element hunting operation refers to the operation of adding, subtracting, multiplying or dividing the gray values of corresponding pixels in two or more input images, namely the operation of intersecting two or more input image elements, reserving the intersected part of two models and deleting the non-intersected part:

setting the obtained graphic elements as A (x, y), B (x, y), … …, L (x, y),

the navigation positioning solution is shown in the following equation (8):

S(x,y)＝A(x,y)∧B(x,y)∧……∧L(x,y)……(8)，

the simplified graphic element hunting operation only selects black and white, the black and white are special cases in gray values, besides solving by using the graphic element operation, a solution domain can also be represented by interval numbers [ a, c ] and [ b, d ], the [ a, c ] is the interval number in the X-axis direction, the [ b, d ] is the interval number in the Y-axis direction, wherein, the a and the b are represented as upper bounds, the c and the d are represented as lower bounds, the interval numbers and the graphic elements can be crossed and overlapped to obtain an overlapped region, the overlapped region is a reduced positioning solution interval, and the reduced positioning solution interval is a fuzzy positioning solution domain; the generalized graphic element hunting calculation solving method is to obtain some geometric figures called graphic elements with solution domains according to the analysis cognition of map and space coverage, and to obtain the position solution by carrying out hunting calculation and continuously overlapping contraction on the selected geometric graphic elements to define the feasible domain, and finally the generalized graphic element hunting calculation solving method obtains a reduced graphic element, namely a reduced solution domain, and the specific steps are as follows:

step 4.1, searching a geometric figure element containing a solution domain, wherein the geometric figure element containing the solution domain obtained by different terminals according to different application scenes is different, a projection figure of a beam space radiation shape on a plane coverage area where a terminal antenna phase center is located is used as a figure element containing the solution domain, the signal intensity (rsi) received by the terminal and the signal intensity (rsi) of a space position where a signal radiated by a navigation lamp leaves the navigation lamp by 1 meter is used, the projection figure element is obtained by carrying out the reduction of the propagation distance according to a signal power radiation equation, and a driving position extrapolation line figure element displayed by an estimated driving track extrapolation track is obtained by extrapolating a positioned position value, a driving direction and a speed value; when there are other sensing devices, combining and using the graphical elements generated by the parameters provided by the other sensing devices, including: a delocalization graph element formed by differential air pressure, an inertial device, ultrasonic distance measurement, visual information and laser scanning information;

step 4.2, applying the indoor ground-air map, drawing the indoor ground-air map, applying the indoor ground-air map, and utilizing the characteristic element information of the indoor map and the indoor space, wherein the steps comprise: building elements of doors, walls, corridors, floors, steps and columns, furniture, stacked articles and facilities, and solving a fuzzy positioning solution by using graphic elements;

step 4.3, performing graph element operation after obtaining the information of the graph elements and the ground-air map, performing intersection processing and obtaining a reduced graph with high overlapping degree, which is a generation and processing process of a solution domain;

step 4.4, processing and expressing the graphic element solution domain, processing the reduced graphic element after obtaining a reduced graphic with high overlapping degree or overlapping gray level through graphic element operation, and expressing the reduced graphic element by a regular circular, triangular or square regular graphic in the plane solution domain or jointly expressing the regular graphic element by a characteristic point, a characteristic element and an error;

step 5, in an outdoor sheltered scene, when a navigation lamp is arranged to implement enhancement, the generalized graphic element hunting calculation solving method in the step 4 is adopted as an indoor scene, namely, the graphic elements with solution domains are calculated to obtain a positioning solution, and a satellite positioning equation and a navigation lamp positioning equation combined solving mode can also be adopted to carry out enhancement positioning, and the specific steps are as follows:

step 5.1, when less than or equal to three (n is less than or equal to 3) satellite navigation signals are received, listing a pseudo range measurement equation as shown in the following formula (9):

wherein n is the number of satellites which can be normally received; x is the number of _j 、y _j 、z _j Is the three-dimensional coordinate component, x, of the jth satellite in the earth-fixed coordinate system _u 、y _u 、z _u Refers to the three-dimensional coordinate component, rho, of the user in the earth-fixed coordinate system _ju Is the observed pseudo-range between the subscriber station and the jth satellite, c is the speed of light, t _u For receiver clock deviation, δ ρ _ju The pseudo range time delay correction quantity is caused by the satellite clock deviation, the ionosphere time delay, the troposphere time delay and the multipath effect;

and 5.2, when the navigation lamp device is arranged in the scene for enhancement, utilizing the signal intensity (rsi) received by the terminal and the signal intensity (rsi) of the space position where the signal radiated by the navigation lamp broadcasted by the indoor navigation message leaves the navigation lamp for 1 meter, carrying out normalization of the propagation distance according to a signal power radiation equation to obtain a pseudo-range value rho of the terminal from the navigation lamp _iu As shown in the following equation (10):

the number i of the navigation lamps is at least 1, and the number can be increased when required; x is the number of _i 、y _i 、z _i Is the three-dimensional coordinate component, x, of the ith navigation light in the earth-fixed coordinate system _u 、y _u 、z _u Refers to the three-dimensional coordinate component, rho, of the user in the earth-fixed coordinate system _iu For the observed pseudo-range, δ ρ, between the subscriber station and the ith navigation light _iu The pseudo-range time delay correction quantity caused by navigation lamp deviation, multipath effect and the like;

and 5.3, jointly solving the formula (6) and the formula (10) as shown in the following formula (11):

in addition, the formula (10) can also be used as a constraint condition, and a satellite navigation positioning measurement model with the constraint condition is used for solving to enhance the solving capability in the outdoor shielding scene, as shown in the following formula (12):

x _u ＜|X|,y _u ＜|Y|,z _u ＜|Z|……(12)，

and when the outdoor shielding scene signal becomes poor, performing positioning navigation calculation by using an indoor shared positioning algorithm adopted by the indoor scene in the step 3.

The method has the following beneficial effects:

1. the method of the invention creatively applies a new single navigation lamp navigation positioning principle, a new single navigation lamp navigation positioning method and a new realization way, and changes the design principle and the method of the traditional four-star four-pseudo range intersection solution determination solution adopted by the existing indoor and outdoor positioning navigation method, the method of the invention only uses the single channel to transmit positioning related data to realize the positioning, and essentially returns the requirement of the navigation positioning on the transmission signal to the single channel transmission channel, and the system does not need to be equipped with a precise clock, does not need to realize time synchronization, and is not influenced by the multipath phenomenon, the method of the invention can use the multipath phenomenon to finish the transmission of the positioning information, the method of the invention can obtain the position solution without the multi-star multi-pseudo range intersection, the position solution obtained by the positioning is changed from the original finding of the deterministic solution into the finding of the fuzzy solution, and the position fuzzy solution is represented by the reduced graphic element or the interval number, the method is a breakthrough and innovation of a one-time positioning principle, a method and an algorithm;

2. the method of the invention provides a sharing design principle and an implementation way, namely, the problem of indoor and outdoor positioning and navigation is solved by only using one navigation chip, the navigation chip can be a common satellite navigation chip, and can also carry out pseudo range and carrier phase measurement by using satellite signals outdoors, and a position solution is obtained by using intersection of a satellite orbit position and a pseudo range value; when the navigation chip is positioned indoors, because the navigation lamp is arranged indoors, the chip can receive signals of the navigation lamp, which have the same system with the navigation satellite, and obtain related parameters of indoor positioning after despreading, demodulation and decoding, so as to generate generalized pattern elements, and obtain a position solution through pattern element hunting operation; the method realizes the purpose of sharing navigation positioning signals and chips indoors and outdoors, does not need to add extra hardware devices and equipment, and can realize indoor and outdoor sharing navigation positioning only by adding an algorithm;

3. because the position, the track, the path, the map and the building which appear in the navigation have obvious geometric characteristics, the representation, the display and the operation by using a geometric method are more convenient, more exact, richer and more intuitive than the representation and the display by using a method in algebraic mathematics, the method breaks through the constraint of the traditional algebraic model, and can more fully use the map resources and dig the potential of the map resources by using a geometric operation and solving method, and the method can fully exert the information advantages of the map and the ground-air map so as to greatly promote the theoretical development of the navigation positioning method and lead the navigation positioning method to a new step; because the vision sensing device is also widely applied at present, especially in the field of automatic driving, a camera and a laser radar are implemented, and the vision perception also provides rich image information, the method is also beneficial to the application of the vision perception in navigation positioning and can promote the development of the automatic driving technology, so that the method solves the navigation problem by using the geometrical concept and the method, and is a brand-new method, theoretical innovation and technical breakthrough;

4. the method can meet the requirements of three basic scenes of indoor and outdoor positioning, can adopt the existing hardware equipment and become a shared terminal for indoor and outdoor sharing only through some algorithms, can receive and demodulate the parameters and information of a telegraph text by using the existing navigation chip and the hardware equipment, and achieves the purposes of receiving, despreading and demodulating positioning signals of an outdoor satellite and an indoor and outdoor navigation lamp by using only one existing navigation receiving chip so as to realize the hardware sharing of devices and circuits; therefore, the method has the advantages of strong practicability, good inheritance and wide application prospect;

5. the method adopts RTK dynamic real-time carrier phase accurate positioning and greatly improves the precision of positioning solution, error correction data is used for searching broadcast data, a differential reference station can be built by itself, a carrier phase double-difference observation equation can be built based on satellite signals received by the differential reference station and a rover station, the carrier phase measurement value can directly eliminate receiver clock difference, satellite clock difference and ephemeris error after double difference, and errors caused by ionosphere and troposphere delay are greatly reduced;

6. the RTK dynamic real-time carrier phase accurate positioning method of the invention realizes high-precision positioning navigation, such as lane-level navigation and safety monitoring, and the existing RTK dynamic real-time carrier phase accurate positioning method adopts a dual-frequency or multi-frequency accurate navigation chip;

7. the method overcomes the defect and disadvantage that the navigation positioning can not express the error of the navigation positioning solution in the prior traditional technology, and the positioning solution obtained by the method through the operation of the geometric figure element is a reduced figure element and can fully reflect the error condition of the navigation positioning solution; therefore, in conclusion, the method not only greatly reduces the cost of navigation positioning, but also fully reflects the error distribution of the navigation positioning solution.

Drawings

FIG. 1 is a schematic diagram of a solving process of an indoor and outdoor shared navigation positioning system according to the method of the present invention;

FIG. 2 is a schematic view of the positioning measurement principle of the four-star rendezvous according to the method of the present invention;

FIG. 3 is a schematic view of a single navigation light location for the method of the present invention;

FIG. 4 is a schematic diagram of an architecture of an indoor and outdoor shared navigation positioning application system according to the method of the present invention;

FIG. 5 is a schematic view of a navigation light assembly for the method of the present invention;

FIG. 6 is a schematic illustration of a local coordinate system for the method of the present invention;

FIG. 7 is a schematic diagram of the relationship between the signal transmission path difference and the baseline when two antennas receive the satellite navigation signals according to the method of the present invention;

FIG. 8 is a schematic view of the spatial radiation pattern of the antenna beam for the method of the present invention;

FIG. 9 is a graphical representation of floor differential barometric pressure measurements for a method of the present invention;

FIG. 10 is a schematic diagram of an electronic wall interface for the method of the present invention;

FIG. 11 is a schematic diagram of a permissible electronic corridor for the method of the present invention;

fig. 12 is a schematic diagram of an electronic fence for stacking items according to the method of the present invention.

Detailed Description

Embodiments of the present invention are described below with reference to the drawings. As shown in fig. 1, the method of the present invention comprises the following steps:

step 1, when a receiving terminal can receive navigation positioning signals of more than or equal to four GNSS navigation satellites in an outdoor scene, the receiving terminal carries out propagation delay measurement to obtain a plurality of sections of pseudo-range values, and the pseudo-range values are solved through ball intersection to obtain the position of the terminal so as to meet the positioning and navigation requirements in the outdoor scene, as shown in FIG. 2;

the method comprises the steps that a navigation lamp is erected indoors, the navigation lamp refers to a pseudolite, the frequency range (L1, B1 and E1) and a spread spectrum code, namely a pseudo random code and a spread spectrum modulation mode (DSS), are selected for designing the indoor navigation lamp, the format of a navigation message is the same as that used in a satellite navigation system, only the content of the navigation message is redefined, the redefined indoor navigation message retains partial data and information of an original outdoor navigation message, and the redefined data comprises: ID number (the same with the number that the ground space map marked), navigation light ID number, spread spectrum code number, mounting point position, height, road or tunnel trend azimuth (relative true north direction), the mounted position of camera, datum point atmospheric pressure, temperature, humidity, magnetic declination, central frequency point (MHz), frequency bandwidth (MHz), beam radiation characteristic, navigation light space position antenna exit (1 meter department) signal intensity (rsi), navigation light health status sign, the parameter of check position, can broadcast indoor map and spatial information including the building unit in the indoor space, furniture, the article of stacking, facility and characteristic parameter and characteristic point:

step 1.1, dividing application scenes into three major categories, namely an outdoor application scene, an indoor application scene and an outdoor application scene needing enhancement (hereinafter referred to as three categories of application scenes), wherein the outdoor application scene refers to a scene capable of receiving more than or equal to four satellite signals, the indoor application scene refers to an application scene in a building, the outdoor application scene needing enhancement refers to a scene outdoor but incapable of receiving more than or equal to four satellite signals, and as shown in fig. 5, navigation lamps are added to the indoor application scene and the outdoor application scene needing enhancement;

step 2.2, a local coordinate system is established, the local coordinate system is a rectangular coordinate system suitable for being applied to local areas (such as campuses, districts and business circles), the local coordinate system is selected to be used as an origin of coordinate O at a certain position, the perpendicular direction of the O point is taken as a Z axis, the pointed zenith is taken as a positive, the meridian direction is taken as an X axis, the north direction is taken as a positive, a Y axis is perpendicular to an X, Z axis, the east direction is taken as a positive, the local coordinate system is a left-hand rectangular coordinate system, and a planar rectangular coordinate system formed by the X axis and the Y axis is consistent with a planar rectangular coordinate system in the measurement science, so that the established local coordinate system belongs to a perpendicular-line-station rectangular coordinate system, and when the geocentric coordinate of the known origin of coordinate O is taken as (X axis, cell and business circle) _O ,Y _O ,Z _O ) The geodetic longitude and latitude are (lambda,

the transformation relation between the local coordinate system and the earth ground-fixed coordinate system can be conveniently established through the coordinate origin O;

step 2.3, an indoor local coordinate system is established, when indoor navigation positioning is performed, an indoor local coordinate system is selected, as shown in fig. 6, the indoor local coordinate system is a local coordinate system with a small coverage area, the indoor local coordinate system selects an indoor ground center position coordinate as a coordinate system origin O, and can also select a projection point position coordinate of a navigation lamp on the ground as the coordinate system origin O, or selects a central point position coordinate of an indoor access door as the coordinate system origin O, and selects the directions of a symmetry axis as an x axis and a y axis according to the basic shape of an indoor plane to form a space three-dimensional or ground horizontal plane coordinate, in the space three-dimensional coordinate system, the z axis is vertical to the ground horizontal plane, the indoor local coordinate system is associated with the local coordinate system, or is directly associated with the ground center ground fixed coordinate system to realize conversion between the coordinate systems, the indoor coordinate origin O is to mark the position in the ground center ground fixed coordinate system, meanwhile, the angular deviation between the direction of the x axis of the indoor coordinate and the true north is marked, and when the indoor ground plane in the indoor coordinate system has deviation from the local horizontal plane, the two-dimensional deviation is marked to ensure the coordinate conversion relation between the indoor coordinate system and the geocentric coordinate system;

step 2.5, dimension reduction of an indoor local coordinate system, graphic calculation is carried out in a simplified two-dimensional plane coordinate when indoor positioning application is carried out, the z axis and the absolute elevation of the local coordinate system are in the direction of a plumb line, altitude height obtained by barometric height measurement is the z coordinate value of a user in the local coordinate system, the positioning problem is reduced from three dimensions to two dimensions without elevation conversion, interpolation calculation of elevation abnormity does not exist, new extra errors are not brought in the positioning process, at the moment, the altitude height is taken as the z value and substituted into a formula (3) without iterative calculation of z, and a measurement equation set is changed from the formula (3) to the following formula (4):

the solution of equation (5) above is the three-dimensional coordinates (x) of the subscriber station _u ，y _u ，z _u ) And receiver clock offset t _u That is, the intersection point of the sphere with the satellite position as the center and the pseudo range as the radius is also called the solution of the sphere equation set, and the solution accuracy of the above equation (5) is 2 to 10 meters；

As shown in fig. 7, GNSS satellite signals arrive on the ground, and the phase difference between the carrier signals received by the two receiving antennas is represented by a vector projection, as shown in the following equation (6):

in the formula (6), the first and second groups,

for the purpose of the new ambiguity parameter(s),

step 3.3, solving the integer ambiguity, and selecting an integer ambiguity solving algorithm (such as a generalized continuation solving algorithm and an LAMBDA algorithm) to quickly determine the integer ambiguity;

setting the obtained graphic elements as A (x, y), B (x, y), … …, L (x, y),

the navigation positioning solution is shown in the following equation (8):

S(x,y)＝A(x,y)∧B(x,y)∧……∧L(x,y)……(8)，

step 4.1, searching a geometric figure element containing a solution domain, obtaining different geometric figure elements containing the solution domain according to different application scenes and different terminals, and taking a projection figure of a shaped antenna beam shape, namely a beam space radiation shape, on a plane coverage area where a terminal antenna phase center is located as a pattern element containing the solution domain as shown in fig. 8; the method comprises the steps that signal intensity (rsi) received by a terminal and signal intensity (rsi) of a spatial position, 1 meter away from a navigation lamp, of a signal radiated by the navigation lamp and broadcasted by an indoor navigation message are utilized, a propagation distance is reduced according to a signal power radiation equation to obtain a projection graph element, and a positioned position value, a traveling direction and a speed value are adopted to extrapolate to obtain a traveling position extrapolation line graph element displayed by an estimated traveling track extrapolation track; when there are other sensing devices, the graphic elements generated by using the parameters provided by the other sensing devices are combined and utilized, and the method comprises the following steps: a domain-resolving graphic element formed by differential air pressure (a floor measurement value is shown in figure 9), an inertial device, ultrasonic distance measurement, visual information and laser scanning information;

step 4.2, applying the indoor space-floor map and drawing the indoor space-floor map, applying the indoor space-floor map, particularly using the characteristic element information of the indoor map and the indoor space, and comprising the following steps: doors, walls (see fig. 10 electronic wall boundary), corridors (see fig. 11 allowing electronic corridors), floors, steps, building elements of columns, furniture, stacked items (see fig. 12 electronic fence for stacked items), facilities, using graphic elements to solve the fuzzy positioning solution;

step 5, in an outdoor sheltered scene, when a navigation lamp is arranged to implement enhancement, the generalized graphic element hunting operation solving method in the step 4 is adopted as an indoor scene, namely, the graphic elements with the solution domain are operated to obtain a positioning solution, and a satellite positioning equation and a navigation lamp positioning equation combined solving mode can also be adopted to carry out enhancement positioning, and the specific steps are as follows:

step 5.1, when less than or equal to three (n is less than or equal to 3) satellite navigation signals are received, listing a pseudorange measurement equation as shown in the following formula (9):

and 5.2, when the navigation lamp device is arranged in the scene to be enhanced, utilizing the signal intensity (rssi) received by the terminal and the signal intensity (rssi) of the spatial position of the navigation lamp radiation signal broadcasted by the indoor navigation message, which is 1 meter away from the navigation lamp, to carry out normalization of the propagation distance according to a signal power radiation equation to obtain a pseudo range value rho of the terminal from the navigation lamp _iu As shown in the following equation (10):

the number i of the navigation lamps is at least 1, and the number can be increased when needed; x is the number of _i 、y _i 、z _i Is the three-dimensional coordinate component, x, of the ith navigation light in the earth-fixed coordinate system _u 、y _u 、z _u Refers to the three-dimensional coordinate component, rho, of the user in the earth-fixed coordinate system _iu For the observed pseudo-range, δ ρ, between the subscriber station and the ith navigation light _iu The pseudo-range time delay correction quantity caused by navigation lamp deviation, multipath effect and the like;

x _u ＜|X|,y _u ＜|Y|,z _u ＜|Z|……(12)，

The indoor and outdoor sharing navigation positioning application system formed by the method comprises the following steps: the system comprises a navigation satellite, a navigation lamp, a shared user terminal, a communication transmission link, a data processing platform and a service center; as shown in fig. 4, a navigation satellite and a navigation lamp broadcast a navigation signal and a navigation message, when the navigation satellite is used for outdoor navigation positioning, the navigation satellite is a position measurement reference and a pseudo-range length measurement reference, accurate atomic clocks are installed on the satellite, and high-precision time synchronization of the system must be realized among the atomic clocks on all the satellites; the navigation lamp of the method does not adopt a method for measuring the pseudo-range length by measuring time delay, so high-precision time reference is not needed, and only the position coordinate or the signal intensity of the navigation lamp is determined, the method of the invention can solve the navigation positioning requirement by receiving the navigation satellite signal, when personnel, goods and equipment enter an indoor scene, in the absence of ideal navigation positioning means indoors, the method of the invention can still rely on receiving the signals and information broadcast by the navigation lights, including relevant parameters of the broadcast indoor ground-air map information and spatial position information, and solve indoor navigation positioning requirements by utilizing the parameters, namely outdoor satellite navigation, indoor navigation lamp positioning, shared terminal, communication transmission link and service center (including data processing platform) form the inventive framework of the indoor and outdoor shared positioning and navigation application system.

A specific embodiment of positioning and error correction of hazardous vehicles in a tunnel is described as follows: for example, because strict regulations and requirements are provided for navigation and positioning of a dangerous chemical vehicle, a satellite navigation terminal must be configured in the dangerous chemical vehicle, the dangerous chemical vehicle can realize positioning navigation with 1 meter level precision by using GNSS satellite navigation system signals when running on most road sections of an expressway, the situation changes after the dangerous chemical vehicle enters a tunnel, the navigation satellite signals cannot be received well, despreading, demodulation and decoding cannot be performed normally, even the navigation satellite signals cannot be received, but the navigation can be extrapolated by using an inertia device and other sensing devices, but the extrapolation navigation has accumulated errors, and after a little longer time, the accumulated errors of 10 m-50 m/1km are generated, so that error correction is required, when a navigation lamp is erected at a proper position of the tunnel, and the shared terminal and the generalized graphic element operation positioning algorithm of the method of the invention are adopted for positioning calculation and correction of the accumulated errors, the accumulated error can be controlled within the range of +/-0.5, +/-0.63, +/-0.4, so that the navigation and positioning problems of dangerous vehicles on the whole course of the expressway are solved, and the positioning problem in the tunnel is solved.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the present disclosure should be covered within the scope of the present invention claimed in the appended claims.

Claims

1. A method for solving the full scene sharing navigation positioning and generalized graphic element hunting operation is characterized by comprising the following steps:

the navigation lamp is erected indoors, the navigation lamp refers to a pseudolite, the frequency band (L1, B1 and E1) and the spread spectrum code, namely a pseudo random code and a spread spectrum modulation mode, are selected for the design of the indoor navigation lamp, the format of the navigation message is the same as that used in a satellite navigation system, the navigation message content is only redefined, the redefined indoor navigation message retains partial data and information of the original outdoor navigation message, and the redefined data comprises: ID number of indoor space, navigation lamp ID number, spread spectrum code number, installation position, height, road or tunnel trend azimuth angle, camera installation position, datum point air pressure, temperature, humidity, magnetic declination, center frequency point, frequency bandwidth, wave beam radiation characteristic, navigation lamp health condition identification of antenna outlet signal intensity of navigation lamp space position, and check position parameter, and can broadcast indoor map and space information including building units, furniture, stacked articles, facilities, characteristic parameters and characteristic points in indoor space;

wherein the satellite number n is more than or equal to 4; x is the number of _j 、y _j 、z _j Is the three-dimensional coordinate component, x, of the jth satellite in the earth-fixed coordinate system _u 、y _u 、z _u Refers to the three-dimensional coordinate component, rho, of the user in the earth-fixed coordinate system _ju Is the observed pseudo-range between the subscriber station and the jth satellite, c is the speed of light, t _u To receiveMachine clock offset, δ ρ _ju The pseudo range time delay correction quantity is caused by the satellite clock deviation, the ionosphere time delay, the troposphere time delay and the multipath effect;

in the formula (6), the first and second groups of the compound,

for the purpose of the new ambiguity parameter(s),

the ambiguity of the m satellites has correlation, when the correct ambiguity is solved, an observation equation set has a unique solution, an unknown baseline vector is obtained through the solution, the position of the terminal is obtained through intersection solution so as to meet the requirement of accurate positioning navigation in an outdoor scene, the positioning accuracy reaches centimeter level when a single-frequency RTK method obtains a fixed solution within 30 kilometers, and the accuracy can reach sub-meter level or decimeter level by adopting differential positioning within 50 kilometers; the steps of the working process when the single-frequency navigation chip is adopted to carry out RTK dynamic real-time carrier phase accurate positioning are as follows:

step 3.3, solving the integer ambiguity, and selecting an integer ambiguity solving algorithm to quickly determine the integer ambiguity;

step 3.5, performing coordinate conversion on the calculated baseline vector to obtain a correlation matrix and baseline vector coordinates in different coordinate systems;

setting the obtained graphic elements as A (x, y), B (x, y), … …, L (x, y),

the navigation positioning solution is shown in the following equation (8):

S(x,y)＝A(x,y)∧B(x,y)∧……∧L(x,y)……(8)，

the simplified graphic element hunting operation only selects black and white, the black and white are special cases in gray values, besides solving by using the graphic element operation, a solution domain can also be represented by interval numbers [ a, c ] and [ b, d ], the [ a, c ] is the interval number in the X-axis direction, the [ b, d ] is the interval number in the Y-axis direction, wherein, the a and the b are represented as upper bounds, the c and the d are represented as lower bounds, the interval number and the graphic elements can be crossed and overlapped to obtain an overlapped region, the overlapped region is a reduced positioning solution interval, and the reduced positioning solution interval is a fuzzy positioning solution domain; the generalized graphic element hunting operation solving method is to obtain some geometric figures called graphic elements containing solution domain according to the analysis cognition of map and space coverage, and to obtain position solution by carrying out hunting operation and continuous overlapping contraction on the selected geometric graphic elements to define feasible domain, and finally obtaining a reduced graphic element, namely a reduced solution domain;

and 5, in an outdoor sheltered scene, when a navigation lamp is arranged for enhancement, the generalized graphic element hunting calculation solving method in the step 4 is adopted for an indoor scene, namely, the graphic elements containing solution domains are calculated to obtain a positioning solution, and a satellite positioning equation and a navigation lamp positioning equation combined solving mode can also be adopted for enhancement positioning.

2. The method for solving the full scene sharing navigation positioning and generalized graphic element hunting calculation according to claim 1, wherein the step 1 comprises the following steps:

1.1, dividing an application scene into an outdoor application scene, an indoor application scene and an outdoor application scene needing to be enhanced, wherein the outdoor application scene refers to a scene capable of receiving more than or equal to four satellite signals, the indoor application scene refers to an application scene in a building, the outdoor application scene needing to be enhanced refers to a scene which is outdoors but cannot receive more than or equal to four satellite signals perfectly, and navigation lamps are added in the indoor application scene and the outdoor application scene needing to be enhanced;

step 1.3, determining the distinguishing conditions for distinguishing the outdoor application scene, the indoor application scene and the outdoor application scene needing to be enhanced, namely: whether the navigation satellite signal can be received or not is judged, whether indoor and outdoor scenes and whether enhancement is needed or not are judged according to the signal-to-noise ratio of the navigation satellite signal, whether the signal of the navigation lamp is received or not is judged, the navigation lamp is identified, and different positioning algorithms are adopted after different scene conditions are judged.

3. The method for solving the full scene sharing navigation positioning and generalized graphic element hunting calculation according to claim 1, wherein the step 2 comprises the following steps:

step 2.1, establishing a geocentric coordinate system,

the geocentric coordinate system is a geocentric coordinate system with the geocentric as an origin, and is a Cartesian coordinate system, the origin O (0,0,0) is the centroid of the earth, the z axis and the geocentric axis are parallel and point to the north pole, the x axis points to the intersection point of the initial meridian and the equator, the y axis is perpendicular to the xoz plane to form a right-hand coordinate system, the satellite navigation system selects the geocentric coordinate system, the whole scene shared navigation positioning system adopts the geocentric coordinate system during outdoor navigation positioning, and the satellite navigation system solves under the geocentric coordinate system to obtain three-dimensional rectangular coordinates x, y, z and receiver clock difference delta t;

step 2.2, a local coordinate system is established, the local coordinate system is a rectangular coordinate system suitable for being applied in a local area, the local coordinate system selects a certain position as an origin of coordinates O, the vertical direction of the O point is taken as a Z axis, the direction zenith is taken as positive, the meridian direction is an X axis, the north direction is taken as positive, a Y axis is perpendicular to an X, Z axis and the east direction is taken as positive, the local coordinate system is a left-hand rectangular coordinate system, a plane rectangular coordinate system formed by the X axis and the Y axis is consistent with a plane rectangular coordinate system in the measurement science, the local coordinate system established in this way belongs to a vertical-line center of coordinates rectangular coordinate system, and when the geocentric coordinate of the known origin of coordinates O is (X axis, Y _O ,Y _O ,Z _O ) The geodetic coordinates are latitude and longitude

The geocentric coordinate (X) of any point P in the space is set _P ,Y _P ,Z _P ) Then, the spatial coordinates of the point P in the local coordinate system with the point O as the origin are shown in the following formula (1):

step 2.4, determining the geodetic height H or the altitude H, wherein the geodetic height H or the altitude H is related when the barometric altimetry is used or a local coordinate system is adopted, and when the geodetic height H is known, namely the geodetic height H is equivalent to that a satellite is positioned near the center point of the earth, and the measured altitude value is equivalent to that a pseudo-range value is added, the geodetic height H is converted into another rendezvous sphere with the earth-center distance as the radius and plays a role of an equivalent navigation satellite, wherein the observation equation is shown as the following formula (3):

4. the method for solving the full scene sharing navigation positioning and generalized graphic element hunting calculation according to claim 1, wherein the step 4 comprises the following steps:

step 4.1, searching a geometric figure element containing a solution domain, wherein the geometric figure element containing the solution domain obtained by different terminals according to different application scenes is different, a projection figure of a beam space radiation shape on a plane coverage area where a terminal antenna phase center is located is used as the geometric figure element containing the solution domain, the signal intensity received by the terminal and the signal intensity of a signal radiated by a navigation lamp and broadcasted by an indoor navigation message on a spatial position 1 meter away from the navigation lamp are used, the projection figure element is obtained by carrying out the reduction of a propagation distance according to a signal power radiation equation, and a traveling position extrapolation line figure element displayed by an estimated traveling track extrapolation track obtained by extrapolating a positioned position value, a traveling direction and a speed value is used; when there are other sensing devices, combining and using the graphical elements generated by the parameters provided by the other sensing devices, including: a delocalization graph element formed by differential air pressure, an inertial device, ultrasonic distance measurement, visual information and laser scanning information;

step 4.2, applying the indoor space-floor map and drawing the indoor space-floor map, applying the indoor space-floor map, particularly using the characteristic element information of the indoor map and the indoor space, and comprising the following steps: building elements of doors, walls, corridors, floors, steps and columns, furniture, stacked articles and facilities, and solving a fuzzy positioning solution by using graphic elements;

step 4.3, performing graphic element operation, namely performing graphic element operation after obtaining the information of the graphic elements and the ground-to-air map, performing intersection processing and obtaining a reduced graphic with high overlapping degree, which is a generation and processing process of a solution domain;

and 4.4, processing and expressing the graphic element solution domain, processing the reduced graphic element after obtaining a reduced graphic with high overlapping degree or overlapping gray level through graphic element operation, and expressing the reduced graphic element by using a regular circular, triangular or square regular graphic in the plane solution domain or jointly expressing the regular graphic element by using feature points, feature elements and errors.

5. The method for solving the full scene sharing navigation positioning and generalized graphic element hunting calculation according to claim 1, wherein the step 5 comprises the following steps:

step 5.1, when less than or equal to three satellite navigation signals are received, listing the pseudorange measurement equation as shown in the following formula (9):

wherein n is the number of satellites which can be normally received; x is the number of _j 、y _j 、z _j Is the three-dimensional coordinate component, x, of the jth satellite in the earth-fixed coordinate system _u 、y _u 、z _u Refers to the three-dimensional coordinate component, rho, of the user in the earth-fixed coordinate system _ju Is the observed pseudo-range between the subscriber station and the jth satellite, c is the speed of light, t _u For receiver clock deviation, δ ρ _ju Is formed by satellite clock deviation, ionospheric delay and convectionPseudo-range delay correction caused by layer delay and multipath effect;

and 5.2, when the navigation lamp device is arranged in the scene for enhancement, utilizing the signal intensity received by the terminal and the signal intensity of the space position where the signal radiated by the navigation lamp broadcasted by the indoor navigation message leaves the navigation lamp for 1 meter, carrying out normalization of the propagation distance according to a signal power radiation equation, and obtaining a pseudo-range value rho of the terminal from the navigation lamp _iu As shown in the following equation (10):

the number i of the navigation lamps is at least 1, and the number can be increased when needed; x is a radical of a fluorine atom _i 、y _i 、z _i Is the three-dimensional coordinate component, x, of the ith navigation light in the earth-fixed coordinate system _u 、y _u 、z _u Refers to the three-dimensional coordinate component, rho, of the user in the earth-fixed coordinate system _iu For the observed pseudo-range, δ ρ, between the subscriber station and the ith navigation light _iu The pseudo-range time delay correction quantity caused by navigation lamp deviation, multipath effect and the like;

x _u ＜|X|,y _u ＜|Y|,z _u ＜|Z|……(12)，