CN115201873A - Multi-system collaborative indoor and outdoor precise positioning system architecture and operation method thereof - Google Patents
Multi-system collaborative indoor and outdoor precise positioning system architecture and operation method thereof Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- Y—GENERAL 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
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- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a multi-system collaborative indoor and outdoor precise positioning system architecture and an operation method thereof, wherein the multi-system collaborative indoor and outdoor precise positioning system architecture is designed based on a unified space-time reference, and the multi-system collaborative indoor and outdoor precise positioning system architecture comprises: the outdoor positioning system is used for acquiring an outdoor positioning result by adopting a fusion positioning mode of a differential GNSS and a PDR; the indoor positioning system is used for acquiring an indoor positioning result by adopting a WIFI/BLE cloud cooperation and PDR fusion positioning mode; and the indoor and outdoor connection area positioning system is used for predicting whether the indoor and outdoor connection area is positioned by using the PDR as connection and using map matching, and if so, fusing the multi-path positioning observation data by adopting a centralized filtering algorithm and outputting an optimal positioning result. The invention is based on multi-system cooperation, carries out close cooperation on different positioning technologies, solves the problems of positioning information deficiency, positioning source dispersion and positioning space-time obstacle, and jointly completes seamless precision positioning under indoor and outdoor multi-system cooperative positioning scenes.
Description
Technical Field
The invention relates to the technical field of indoor and outdoor precise positioning, in particular to a system architecture design under an indoor and outdoor multi-system collaborative positioning scene, unified indoor and outdoor positioning space-time reference, automatic and smooth indoor and outdoor positioning intelligent switching and the like, and specifically relates to a multi-system collaborative indoor and outdoor precise positioning system architecture and an operation method thereof.
Background
In recent years, the rapid development of mobile internet and the popularization of smart phones have driven the development of Location Based Services (LBS) industry. LBS combines satellite positioning system and mobile network communication, adopts multiple positioning technology and data processing technology to cross-merge, provides position information service for public users and integrates various position-related services. However, the current indoor and outdoor positioning technical means still have the defects of information deficiency, dispersion and backward system, and are difficult to meet the requirements of the public on seamless precise positioning in complex environments such as urban roads, large underground spaces and the like.
In the prior art, for example, a low-power consumption indoor and outdoor positioning seamless switching method disclosed in the publication of CN106842267a, which is exclusively used in 2017, 6 and 13 is disclosed in china. China with publication number CN107024709A is specially favorable for an indoor and outdoor seamless positioning method disclosed in 2017, 8.8.8.A Beidou navigation positioning system and an ultra-wideband real-time positioning system are integrated to realize continuous positioning of indoor and outdoor mechanical equipment.
The key problems faced by the prior art mainly include: (1) the multi-body technology is not enough in intercommunication and common connection; (2) indoor and outdoor positioning space-time reference has difference; and (3) insufficient indoor and outdoor seamless continuous positioning capability and the like.
Disclosure of Invention
To overcome the above-mentioned deficiencies of the prior art, the present invention provides a multi-system cooperative indoor and outdoor precise positioning system architecture and an operating method thereof, so as to solve at least one of the above-mentioned technical problems.
In one aspect, the present invention provides a multi-system collaborative indoor and outdoor precision positioning system architecture, wherein the multi-system collaborative indoor and outdoor precision positioning system architecture is designed based on a unified space-time reference, and the multi-system collaborative indoor and outdoor precision positioning system architecture comprises:
the outdoor positioning system is used for acquiring an outdoor positioning result by adopting a fusion positioning mode of a differential GNSS and a PDR;
the indoor positioning system is used for acquiring an indoor positioning result by adopting a WIFI/BLE cloud cooperation and PDR fusion positioning mode;
and the indoor and outdoor connection area positioning system is used for predicting whether the indoor and outdoor connection area is positioned by using the PDR as connection and using map matching, and if so, fusing the multi-path positioning observation data by adopting a centralized filtering algorithm and outputting an optimal positioning result.
The technical scheme is based on multi-system cooperation, different positioning technologies are subjected to close and effective cooperation, the problems of lack of positioning information, discrete positioning sources and positioning space-time obstacles are solved, and seamless precision positioning under indoor and outdoor multi-system cooperative positioning scenes is completed together.
As a further technical solution, the outdoor positioning system includes: the base platform layer is used for generating a GNSS differential correction number under the support of the GNSS high-precision cloud processing platform; the service layer is used for broadcasting the correction number information in a specific format according to a received positioning request of the user terminal and by combining with the GNSS differential correction number generated by the basic platform layer; the information processing layer is used for performing differential GNSS resolving according to local GNSS data and IMU data of the user terminal and by combining GNSS correction number information broadcasted by the service layer, performing PDR resolving by using data collected by a sensor arranged in the user terminal, and performing weight-fixing fusion processing on a differential GNSS resolving result and a PDR resolving result by using a centralized filter to obtain an outdoor positioning result; and the application layer is used for extracting and processing the outdoor positioning result output by the information processing layer, outputting in a multi-dimensional semantic manner and displaying in real time.
Specifically, after receiving a positioning request from a user terminal, a service layer of the outdoor positioning system broadcasts correction information such as track, clock error, atmosphere and the like in a specific format.
The information processing layer of the outdoor positioning system is the core for realizing the GNSS/IMU outdoor high-precision positioning system. Optionally, the information processing layer may receive various types of correction number information (satellite orbit clock error correction, ionosphere error correction, and troposphere error correction) sent by the service layer, may collect local GNSS data and IMU data, and may perform pre-test, post-test information, and observation consistency check detection and remove GNSS observation gross errors. The information processing layer can be combined with real-time high-precision differential correction information broadcasted by a GNSS cloud platform to perform real-time differential positioning calculation. Meanwhile, the information processing layer can utilize data of sensors such as IMU/magnetometer and the like built in the terminal to carry out step frequency detection, step length and course angle estimation, and distinguish the motion state of the user through modal identification, so that the pedestrian displacement is accurately calculated. Finally, the information processing layer can adopt a centralized filter to carry out deep fusion data processing on multi-source observation information of GNSS differential positioning/PDR calculation navigation, and the outdoor accurate positioning is realized by combining with auxiliary information such as outdoor map data, intelligent terminal sensor data and pedestrian motion characteristics.
Optionally, the application layer of the outdoor positioning system is further configured to mine generation of relevant road sensor fingerprint feature information, so as to improve accuracy and reliability of outdoor positioning.
As a further technical solution, the indoor positioning system includes: the basic platform layer is used for forming a database of beacon positions and beacon fingerprints and providing basic data and an information processing platform for the service layer; the service layer is used for identifying the environment of the user according to the received positioning request of the user terminal and by combining with observation information uploaded by the user terminal, calling out the beacon position and the beacon fingerprint information from the database, completing cloud positioning at the cloud end, and then broadcasting the cloud positioning position and the auxiliary positioning information to the user terminal; the information processing layer is positioned at the user terminal and used for utilizing the broadcasted cloud positioning position to cooperate with WiFi/BLE to carry out indoor absolute positioning, meanwhile, utilizing data collected by a sensor arranged in the user terminal to carry out PDR (product data Rate) calculation, and then utilizing centralized filtering to carry out weighting fusion processing on an absolute positioning result and a PDR calculation result to obtain an indoor positioning result; and the application layer is used for extracting positioning information and generating and displaying multi-dimensional semantic position information.
Specifically, a base platform layer of the indoor positioning system is a basic support of an indoor positioning service technology, a cloud platform technology is adopted to store a massive wireless positioning signal database covering the whole country, after crowdsourcing data of large-scale users is filtered, clustered, indexed and analyzed, the positions of signal emission sources (base stations, WIFI and geomagnetic features) are calculated, high-resolution fingerprint information is manually acquired by combining equipment deployed in high-precision key places, a database covering the whole country of large-scale beacon positions and beacon fingerprints is formed, and a basic data and information processing platform is provided for a service layer.
Specifically, after receiving a positioning request of a user terminal, a service layer of the indoor positioning system identifies the environment of the user according to observation information uploaded by the user terminal, calls out beacon and fingerprint information from a cloud platform database, completes cloud positioning at a cloud end, and broadcasts position and auxiliary positioning information to the user terminal through a mobile communication network in a certain coding format and protocol.
Specifically, an information processing layer of the indoor positioning system is located at a user terminal, indoor absolute positioning is carried out through three indoor WIFI/BLE/geomagnetic technologies, triangular positioning is carried out through a beacon position broadcasted by a cloud platform, fingerprint information is matched and positioned, multiple positioning technologies and methods are further fused and mutually checked, and abnormal observation information is eliminated. Meanwhile, a gyroscope/accelerometer/magnetometer is used for carrying out PDR (product data Rate) calculation positioning result for assistance, so that a positioning result with good usability and continuity is obtained, the positioning result is further analyzed in an application layer, multi-dimensional semantic position information interesting for a user is generated, and the multi-dimensional semantic position information is loaded to a hundred-degree indoor map for display.
As a further technical scheme, the service layer of the indoor positioning system is further configured to acquire a WiFi observation value, a BLE observation value, and a geomagnetic observation value, perform cloud fingerprint matching indoor positioning by combining the WiFi/BLE/geomagnetic fingerprint library, and output user position and precision information. The fingerprint library contains fingerprint information of WiFi/BLE/geomagnetic field. Because the positioning accuracy of WiFi/BLE is relevant with equipment deployment density, and the geomagnetic fingerprint positioning accuracy is only relevant with the acquisition density of earth magnetism, and is irrelevant with equipment deployment density, consequently, utilize the earth magnetism to match the location and assist WiFi/BLE location to improve whole positioning accuracy.
As a further technical solution, the indoor and outdoor connection area positioning system includes: the area dividing module is used for dividing the positioning area into an outdoor area, an indoor area and an indoor and outdoor connecting area; the position sensing module is used for predicting the position of the user terminal by combining map matching according to the intensity change of the GNSS signal or the WIFI/BLE signal and judging whether the user terminal is in an indoor, outdoor or indoor-outdoor connection area; the data selection module is used for selecting positioning data according to the area where the user terminal is located and the reliability of the GNSS positioning result; and the fusion positioning module is used for performing fusion processing on the selected positioning data by adopting centralized filtering and outputting an optimal positioning result.
According to the technical scheme, the positioning area is simply divided into the outdoor, indoor and outdoor connecting areas, the fusion of two positioning modes of differential GNSS and PDR is used outdoors, the fusion of WIFI/BLE cloud-end cooperative positioning and PDR is utilized indoors, and because the GNSS positioning and the WIFI/BLE positioning cannot normally work in the indoor and outdoor connecting areas, the automatic smooth indoor and outdoor positioning intelligent switching is realized in the area. The PDR is used as connection, whether the PDR is in an indoor and outdoor connection area or not is predicted by using map matching, seamless smooth switching of indoor and outdoor positioning is achieved by adopting a centralized filtering algorithm, and barrier-free positioning and smooth switching between the indoor and outdoor positioning are achieved.
As a further technical solution, the unified space-time reference includes: unifying time references, establishing the time references by the system time of the user terminal, and carrying out time synchronization on the information and the positioning result of the multi-source sensor; and (4) unifying the space reference, and carrying out space synchronization on the information of the multi-source sensor and the positioning result by taking the geocentric earth-fixed coordinate system as the space reference.
As a further technical solution, the unifying of the time references further includes: the user terminal adopts a timing task to control the acquisition of various kinds of original data, and attaches the system time of the mobile terminal to all the data as an observation time mark; after the system acquires the system time of the mobile terminal, the difference between the time definition starting point and the UTC time starting point is converted into an expression format of week and intra-week seconds according to the time definition starting point, and the obtained time stamp is stored in front of the observation data of each unit in a corresponding format.
On the time reference, the acquisition of various kinds of original observation data is controlled by adopting a timing task, the terminal system time is uniformly added as an observation time scale, the instability of a mobile phone clock crystal oscillator, the transmission delay of the observation data and the like are fully considered during positioning calculation and fusion filtering, the deviation fluctuation between the system time scale and the GPS is classified as a noise error, the problem of inconsistency of the multisource observation time reference is solved, and meanwhile, the influence of various errors on time synchronization is avoided.
As a further technical solution, the unifying of the spatial reference further includes: establishing a rotation matrix between a carrier coordinate system and a geocentric geodetic solid system through IMU sensor observation information, and calculating the observation information and a positioning result to the geocentric geodetic solid system; the method comprises the steps of obtaining horizontal position variation and elevation variation relative to a station center of a previous epoch by utilizing a PDR and an barometer, obtaining a rotation matrix from a geocentric earth fixed system to a local horizontal coordinate system by utilizing a GNSS absolute coordinate of the previous epoch, converting station center coordinate increment into absolute coordinate variation, and realizing absolute coordinate calculation of a pedestrian terminal of the current epoch under the geocentric earth fixed system.
On the basis of a space standard, a rotation matrix between a carrier coordinate system and a geocentric-geostationary system is established, observation information and a positioning result are integrated on the geocentric-geostationary system, and for station center coordinate increment such as PDR and barometer elevation, the station center coordinate increment is converted into absolute coordinate variation by using the rotation matrix from the geocentric-geostationary system to a local horizontal coordinate system and then accumulated on the absolute coordinate of a previous epoch, so that the coordinate of the current epoch in the geocentric-geostationary system is obtained, and the problem of inconsistency of the space standard of multi-source observation data is solved.
In one aspect, the present invention provides an operation method of a multi-system collaborative indoor and outdoor precise positioning system architecture, where the operation method includes:
based on a unified space-time reference design, the following steps are executed:
in the outdoor environment, acquiring an outdoor positioning result by adopting a fusion positioning mode of a differential GNSS and a PDR;
acquiring an indoor positioning result indoors by adopting a WIFI/BLE cloud cooperation and PDR fusion positioning mode;
and in the indoor and outdoor connection area, PDR is used as connection, whether the indoor and outdoor connection area is located is predicted by using map matching, if yes, fusion processing is carried out on the multi-path positioning observation data by adopting a centralized filtering algorithm, and an optimal positioning result is output.
As a further technical solution, the operating method further includes:
dividing the positioning area into an outdoor area, an indoor area and an indoor and outdoor connection area;
when the intensity of the GNSS signal or the WIFI/BLE signal is observed to be obviously changed, the position of the user terminal is predicted by map matching, and the user terminal is judged to be in an indoor, outdoor or indoor and outdoor connection area;
selecting positioning data according to the area where the user terminal is located and the reliability of the GNSS positioning result;
and adopting centralized filtering to perform fusion processing on the selected positioning data and output an optimal positioning result.
Compared with the prior art, the invention has the beneficial effects that:
(1) The invention builds a GNSS/IMU outdoor positioning system based on GNSS cloud positioning information and an indoor positioning system based on multi-system cooperation of IMU/WIFI/BLE/barometer/magnetometer/5G mobile communication/indoor map and the like based on unified space-time reference, realizes automatic intelligent smoothness of indoor and outdoor connecting areas by using PDR as a connecting mode, and solves the problem of insufficient intercommunication and common connection of different indoor and outdoor data sources.
(2) The invention establishes a time reference by a mobile intelligent terminal system time and carries out time-space synchronization on the multisource sensor information and the positioning result in a mode of taking a geocentric earth-fixed coordinate system as a space reference, thereby realizing the unification of indoor and outdoor positioning time-space references and solving the problem of time-space reference difference of indoor and outdoor cooperative positioning multisource observation information.
(3) The invention uses PDR as connection, uses map matching to predict whether the connection area is in the indoor and outdoor connection area, adopts a centralized filtering algorithm to realize seamless and smooth switching of indoor and outdoor positioning, realizes barrier-free positioning indoors and outdoors and smooth switching between the indoor and outdoor positioning and the barrier-free positioning, and solves the problem that the indoor and outdoor connection area part positioning mode can not work normally.
Drawings
Fig. 1 is a schematic diagram of a multi-system cooperative indoor and outdoor precise positioning system architecture according to an embodiment of the invention.
Fig. 2 is a schematic diagram of an outdoor positioning system according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of an indoor positioning system according to an embodiment of the invention.
Fig. 4 is a schematic view illustrating a WIFI/BLE/geomagnetic indoor positioning process according to an embodiment of the present invention.
FIG. 5 is a flow chart of data acquisition and timestamp printing according to an embodiment of the present invention.
Detailed Description
The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The invention provides a multi-system collaborative indoor and outdoor precise positioning system architecture and an operation method thereof, which can effectively integrate the latest sensing source currently suitable for a user terminal, integrate the latest technical method, carry out the architecture design of the multi-system collaborative positioning system under different indoor and outdoor environments and realize seamless smooth positioning in the whole time and whole domain.
As shown in fig. 1, the multi-system collaborative indoor and outdoor precise positioning system architecture is based on a unified space-time reference design, and the multi-system collaborative indoor and outdoor precise positioning system architecture includes:
the outdoor positioning system is based on a GNSS/IMU outdoor positioning framework of GNSS cloud positioning information, and obtains an outdoor positioning result by adopting a differential GNSS and PDR fusion positioning mode.
The indoor positioning system is based on an indoor positioning structure of multiple positioning information sources such as IMU/WiFi/BLE/barometer/magnetometer/mobile communication/indoor map, and acquires an indoor positioning result by adopting a WIFI/BLE cloud cooperation and PDR fusion positioning mode.
An indoor and outdoor connection area positioning system is based on an automatic smooth indoor and outdoor positioning intelligent switching technology, a PDR is used for connection, whether the indoor and outdoor connection area is located or not is predicted through map matching, if yes, fusion processing is carried out on multi-path positioning observation data through a centralized filtering algorithm, and an optimal positioning result is output.
As an embodiment, as shown in fig. 2, an outdoor positioning system architecture of the multi-system collaborative indoor and outdoor precise positioning system architecture includes:
and the base platform layer generates the GNSS differential correction number under the support of the GNSS high-precision cloud processing platform. The cloud processing platform acquires a multi-constellation high-precision GNSS orbit and clock correction number through precise real-time orbit determination according to observation data of reference stations distributed in the whole country, calculates ionosphere correction information through a regional spherical resonance ionosphere model, and forms differential correction information of regional coverage according to troposphere correction information obtained through numerical weather forecast (NWP) with high space-time resolution, so that data support is provided for a service layer.
And the service layer is used for realizing the distribution of the differential correction number and the positioning auxiliary information. After receiving a positioning request of a user terminal, a server acquires differential correction information including satellite orbit clock error correction number, ionosphere error correction number and troposphere error correction number from a GNSS cloud processing platform according to the area of the user terminal, and broadcasts the differential correction information to the user terminal in real time through a mobile communication network in a certain coding format and a certain protocol.
And the information processing layer realizes the functions of receiving and acquiring data, preprocessing, multi-source information fusion positioning and the like. The data source of the user intelligent terminal mainly comprises a GNSS cloud processing platform, a GNSS receiver, an MEMS-level IMU, a barometer, a magnetometer and the like. The preprocessing comprises the steps of utilizing GNSS differential correction to correct local GNSS data, carrying out space-time synchronization on different data sources, detecting and processing data gross errors and the like. And finally, under the support of auxiliary data, performing deep fusion data processing on the multi-source observation data of GNSS differential positioning/PDR (global navigation satellite system) reckoning navigation by adopting a centralized filter.
Optionally, according to different data combination modes, the method is divided into a loose combination mode and a tight combination mode, in the loose combination mode, different positioning mode results are emphatically fused, the position, the step length main parameter, the course angle deviation and the IMU error of a user are selected as state parameters, a PDR (position data recorder) navigation position recursion and a sensor error random walk are used as a state model, a GNSS (global navigation satellite system) differential high-precision positioning speed measurement result is used as observation information, and the optimal estimation of the user position information is realized through loose combination fusion filtering; in the tight combination, observation values of different positioning modes are fused emphatically, deviation of an IMU calculated position, a step length main parameter, course angle deviation and IMU sensor error are selected as state parameters, an error differential equation and sensor error random walk which are mechanically arranged by the IMU are used as a state model, pseudo range, carrier phase and Doppler data after gross error detection are used as observation information and input into a tight combination fusion filter, and an outdoor optimal positioning result is obtained through filtering estimation and closed loop correction processing.
The application layer is mainly responsible for outputting a system navigation positioning result and generating fingerprint characteristic information of related road sensors by mining. The application layer firstly completes extraction and processing of positioning information, multi-dimensional semantic output and real-time display in the information processing layer. Secondly, based on sensor fingerprint characteristics of related roads recorded by massive users in actual navigation and positioning, different pedestrian motion scenes are classified by means of cluster analysis, characteristic extraction and the like, characteristics of different pedestrian motion scenes are mined, follow-up pedestrian navigation and positioning results are restrained, and the accuracy and reliability of navigation and positioning are improved.
By way of example, the implementation process of the outdoor positioning system is as follows:
the method comprises the steps that high-precision GNSS differential positioning supported by a GNSS cloud processing platform is adopted as a main mode, and pedestrian dead reckoning navigation (PDR) based on sensor data such as IMU/magnetometer and the like is adopted as an auxiliary mode, so that outdoor high-precision navigation positioning of a public user is carried out;
the user side detects and eliminates the GNSS observation gross error by adopting the information before and after the observation and the consistency of the observation value, and carries out real-time differential positioning calculation by combining the real-time high-precision differential correction information (satellite orbit clock error correction, ionosphere error correction and troposphere error correction) broadcast by the GNSS cloud platform;
the method comprises the steps of performing step frequency detection, step length and course angle estimation by utilizing data of sensors such as IMU (inertial measurement unit)/magnetometer and the like arranged in a user terminal, and distinguishing the motion state of a user through modal identification so as to accurately calculate the pedestrian displacement;
and finally, carrying out deep fusion data processing on multi-source observation information of GNSS differential positioning/PDR calculation navigation by adopting a centralized filter, and combining auxiliary information such as outdoor map data, intelligent terminal sensor data, pedestrian motion characteristics and the like to realize outdoor accurate positioning of mass users.
As an embodiment, as shown in fig. 3, the indoor positioning system architecture of the multi-system collaborative indoor and outdoor precise positioning system architecture includes:
the basic platform layer stores a massive wireless positioning signal database covering the whole country by adopting a cloud platform technology, calculates the position of a signal emission source (base station, wiFi and geomagnetic characteristics) after filtering, clustering, indexing and analyzing crowdsourcing data of large-scale users, and manually acquires high-resolution fingerprint information by combining equipment deployed in high-precision key places to form a database covering the whole country large-scale beacon positions and beacon fingerprints, so that a basic data and information processing platform is provided for the service layer.
And the service layer is used for realizing cloud positioning and broadcasting of positioning auxiliary information. As shown in fig. 4, after receiving a positioning request of a user terminal, a server identifies an environment where a user is located according to observation information such as IMU/WiFi/BLE/geomagnetism uploaded by the user terminal, calls out beacon and fingerprint information from a cloud platform database, selects a proper algorithm according to the strength of WiFi/BLE signals and the number of the signals through analysis of environmental characteristics and cloud platform information, completes cloud positioning at a cloud terminal, and broadcasts a cloud positioning position and auxiliary positioning information to the user terminal through a mobile communication network in a certain coding format and protocol. The cloud positioning position refers to a terminal position obtained by positioning and resolving according to observation information uploaded by a user terminal and by combining corresponding beacon and fingerprint information in a cloud platform. The auxiliary positioning information here refers to cloud positioning accuracy information and beacon position information.
The information processing layer is used for positioning the positioning terminal in cooperation with WiFi/BLE/geomagnetic three technologies to perform indoor absolute positioning, triangular positioning is performed by utilizing the position of a beacon broadcasted by a cloud platform, matching positioning is performed by fingerprint information, and multiple positioning technologies and methods (triangular positioning, matching positioning and the like) are further fused and mutually detected. The method comprises the steps of calculating matching similarity between input fingerprints and a fingerprint database KNN of a cloud platform by adopting a fingerprint matching algorithm, carrying out triangular positioning on observation with low KNN matching degree according to signal propagation models of WIFI and BLE, checking and eliminating abnormal observation information, carrying out weighted average on checked observation data, fusing and resolving a terminal position, and outputting a highly reliable positioning result. Meanwhile, a gyroscope/accelerometer/magnetometer is used for PDR resolving and pedestrian modal intelligent sensing to assist WiFi/BLE/geomagnetic positioning, positioning is enhanced in indoor signal coverage blind areas and information abnormal areas, transition is conducted on indoor and outdoor switching areas, and indoor and outdoor seamless switching continuous positioning is achieved. After the multi-source positioning information of the terminal is analyzed, the influence of various abnormal information is eliminated, the deep fusion of the multi-source observation information is realized, and finally the positioning result information with high precision, high usability and high continuity is output.
The fusion cross-check here can be understood as: theoretically, the triangulation positioning precision is higher, but the influence of multipath is generated; the fingerprint matching positioning precision is low and can be influenced by ground variation, the multiple positioning methods are fused to provide a triangular positioning initial value for resolving a matching positioning result, and the results of the multiple positioning technologies and methods are mutually checked.
Utilize gyroscope/accelerometer/magnetometer to carry out PDR and resolve and pedestrian's modal intelligent perception for supplementary wiFi/BLE/earth magnetism location specifically can be: the gyroscope/accelerometer/magnetometer performs PDR calculation to obtain high-frequency relative motion information of the pedestrian, and the high-frequency relative motion information is not interfered by wireless signals, so that auxiliary positioning can be performed in a WiFi/BLE signal coverage blind area or a weak signal area. When the WiFi/BLE/geomagnetic signals are weak, the weight of the WiFi/BLE/geomagnetic positioning result is reduced, and the gyroscope/accelerometer/magnetometer is weighted in the position resolving process, so that the positioning accuracy is improved.
And the application layer is used for further extracting and processing time, longitude and latitude, elevation, speed, floor, room and other information contained in the positioning information, generating multi-dimensional semantic position information interested by the user, and loading the position information to a hundred-degree indoor map for displaying to realize the functions of accurate real-time positioning and navigation of indoor people and objects.
By way of example, the indoor positioning system of the multi-system collaborative indoor and outdoor precise positioning system architecture mainly uses WiFi/BLE cloud-end collaborative positioning supported by a position big data cloud positioning platform, and assists in performing user indoor navigation positioning by using a PDR algorithm, and the implementation flow thereof is as follows:
the positioning terminal cooperates with three technologies of WiFi/BLE/geomagnetism to carry out indoor absolute positioning, firstly, triangular positioning is carried out by utilizing the position of a beacon broadcasted by a cloud platform, and matching positioning is carried out by fingerprint information;
then, the PDR algorithm comprehensively utilizes an accelerometer/gyroscope/magnetometer arranged in the terminal to estimate the step frequency, the step length and the course angle, and performs pedestrian mode identification through machine learning, so that the pedestrian displacement is accurately calculated;
and finally fusing various positioning information sources such as IMU/WiFi/BLE/barometer/magnetometer/mobile communication/indoor map of the user terminal, and combining auxiliary information such as indoor map data, intelligent terminal sensor data and pedestrian motion characteristics to realize indoor accurate positioning of the public user.
The multi-system collaborative indoor and outdoor precise positioning system framework provided by the invention is designed based on a unified space-time reference, and comprises the following steps: the unification of the time reference and the unification of the space reference.
On the time reference, the terminal adopts a timing task to control the acquisition of various kinds of original data, and attaches the system time of the mobile intelligent terminal to all the data as an observation time mark. After the system acquires the system time of the mobile intelligent terminal, the difference between the time definition starting point and the UTC time starting point is converted into an expression format of week and week seconds, and the obtained time stamp is stored in front of the observation data of each unit in a corresponding format. As shown in fig. 5, taking the time scales of the GNSS observation data and the IMU data as an example, when the two timing tasks are executed each time, the program first obtains the system time of the mobile phone itself, and converts the system time into the approximate week and week second format according to the difference between the system time start point of the mobile phone and the UTC time start point, so as to facilitate data fusion. The time scale of the IMU data is stored as the first two elements of each array, the time scale of the GNSS observation data is converted into a binary system with a fixed identifier and stored in front of the observation data, and the unification of time references is realized.
On the basis of a space standard, a rotation matrix between a carrier coordinate system and a geocentric geodetic system is established through IMU sensor observation information, and the observation information and a positioning result are reduced to the geocentric geodetic system. And determining the rotation relation between the IMU observation data and the earth-centered earth-fixed system based on the carrier coordinate system, and calculating the posture of the mobile intelligent terminal. The selected b is right front upper, and the corresponding n is north East (ENU). The rotation sequence is
First rotation about the Z-axis
Called course angle Yaw, for a second rotation about the X-axis
Called Pitch angle Pitch, for a third rotation about the Y axis
Referred to as Roll angle Roll. Leveling by adopting a gravity observation value in IMU observation data to obtain a horizontal angle in an attitude angle, namely a roll angle and a pitch angle; and after the horizontal angle is obtained, leveling the observed value of the magnetometer and estimating the course angle.
The horizontal position variation obtained by the PDR and the elevation variation obtained by the barometer are station center coordinate increments relative to a previous epoch, a rotation matrix from a geocentric earth-fixed system to a local horizontal coordinate system is solved by utilizing a GNSS absolute coordinate of the previous epoch, and the station center coordinate increments are converted into absolute coordinate variations. When the GNSS absolute coordinate of the previous epoch is known, the current absolute coordinate variation is fused to obtain the absolute coordinate of the pedestrian terminal of the current epoch in the geocentric earth fixed system. Obtaining a rotation matrix from a geocentric earth-fixed system to a local horizontal coordinate system by using the GNSS absolute coordinates of the previous epoch
Transposing to obtain
And converting the station center coordinate estimated by the IMU into an absolute coordinate variation, and adding the absolute coordinate variation to the absolute coordinate of the GNSS of the previous epoch to obtain the absolute coordinate of the GNSS of the current epoch.
As an implementation mode, the invention provides an automatic smooth indoor and outdoor positioning intelligent switching technology in an indoor and outdoor connecting area, the area where a user is located is simply divided into the outdoor, indoor and outdoor connecting areas, the fusion of two positioning modes of differential GNSS and PDR is used outdoors, the fusion of WIFI/BLE cloud-end cooperative positioning and PDR is mainly used indoors, and the automatic smooth indoor and outdoor positioning intelligent switching is realized in the indoor and outdoor connecting areas where the GNSS positioning and the WIFI/BLE positioning cannot normally work.
Optionally, the indoor and outdoor positioning intelligent switching technology for implementing automatic smoothing includes:
unifying indoor WIFI/BLE beacons and outdoor GNSS space benchmarks.
Map matching is used to predict whether an indoor or outdoor connected area is present. Specifically, in an indoor and outdoor connection area, the GNSS positioning and the WiFi/BLE positioning cannot work normally, and whether the positioning is in the indoor and outdoor connection area is predicted according to the PDR smooth positioning result and the position on the map matching.
The positioning sensor comprises an MEMS IMU and a magnetometer which are shared in indoor and outdoor environments, and the PDR is used for calculating navigation to realize the positioning of a connection area.
And (3) performing fusion processing on indoor and outdoor observation data (particularly GNSS observation data which are less than necessary conditions) by adopting a centralized filtering algorithm without distinguishing an indoor and outdoor positioning mode, and outputting an optimal positioning result.
Optionally, the positioning observation data is selected according to the area where the user terminal is located and the reliability of the GNSS positioning result. Here, GNSS positioning result reliability can be understood as: in an outdoor area or an area with strong GNSS signals, the GNSS differential positioning data is preferentially selected.
In particular, less GNSS observation data than necessary, which is understood here to mean: in theory, GNSS positioning generally requires at least four satellites to solve three position parameters and 1 clock error parameter, which cannot be performed when the number of satellites to be observed is less than that required.
The technical implementation process is as follows:
when the pedestrian gradually transits from the outdoor to the indoor, the GNSS signal is weakened, the signal-to-noise ratio is obviously reduced, the signals such as WIFI/BLE are gradually enhanced, the signals are used as main judgment basis, the map matching is combined to predict information, and the situation that the user is located at the outdoor, indoor and outdoor connection position or the indoor is judged. And in combination with different environments, when the environment is changed from outdoor to indoor and outdoor connection, a positioning mode of fusion of the differential GNSS and the PDR is converted into PDR calculation navigation by taking the MEMS-grade IMU and the magnetometer as data sources. When the indoor and outdoor connection position is transited to the indoor, the PDR calculates and navigates to become auxiliary information, the WIFI/BLE cloud-end cooperative positioning supported by the cloud positioning platform based on the position big data is mainly performed, and the WIFI/BLE cloud-end cooperative positioning and the PDR are deeply fused to provide position navigation information for the user.
When the pedestrian gradually transits from indoor to outdoor, the environment of the user is judged according to the strength change of different signals and the map matching predicted information, and smooth switching of the positioning modes in different environments is achieved. When a user enters an outdoor environment, due to the fact that the GNSS needs to be started up in a hot mode, namely reinitialized, the positioning of the GNSS is converged to a meter level, generally, several seconds are needed, the GNSS positioning result in the period is unreliable, the GNSS positioning result in the period is weighted down during filtering, navigation positioning is mainly carried out by means of PDR dead reckoning, and therefore smooth transition from indoor positioning to outdoor positioning is achieved.
On the basis that indoor WIFI/BLE beacons, outdoor GNSS signals and indoor and outdoor shared PDR data adopt the same space reference, a centralized filtering algorithm can be adopted, indoor and outdoor positioning modes are not distinguished, indoor and outdoor observation data (particularly GNSS observation data less than necessary conditions) are subjected to fusion processing, differential GNSS and PDR are fused in outdoor positioning, WIFI/BLE cloud-end cooperative positioning and PDR are fused in indoor positioning, the positioning modes are not distinguished, and only the optimal positioning result is output. In other words, in different environments of outdoor, indoor and outdoor, the highest precision positioning result in the corresponding environment is obtained through the centralized filtering processing of different types of positioning data, and the smooth seamless switching of indoor and outdoor positioning is realized.
In the description of the present specification, reference to the description of "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention.
Claims (10)
1. The multi-system collaborative indoor and outdoor precise positioning system architecture is characterized in that the multi-system collaborative indoor and outdoor precise positioning system architecture is designed based on a unified space-time reference, and the multi-system collaborative indoor and outdoor precise positioning system architecture comprises:
the outdoor positioning system is used for acquiring an outdoor positioning result by adopting a fusion positioning mode of a differential GNSS and a PDR;
the indoor positioning system is used for acquiring an indoor positioning result by adopting a WIFI/BLE cloud cooperation and PDR fusion positioning mode;
and the indoor and outdoor connection area positioning system is used for predicting whether the indoor and outdoor connection area is positioned by using the PDR as connection and using map matching, and if so, fusing the multi-path positioning observation data by adopting a centralized filtering algorithm and outputting an optimal positioning result.
2. The multi-system collaborative indoor and outdoor precise positioning system architecture according to claim 1, wherein the outdoor positioning system comprises: the base platform layer is used for generating a GNSS differential correction number under the support of the GNSS high-precision cloud processing platform; the service layer is used for broadcasting correction number information in a specific format according to a received positioning request of the user terminal and by combining with the GNSS differential correction number generated by the basic platform layer; the information processing layer is used for performing differential GNSS resolving according to local GNSS data and IMU data of the user terminal and by combining GNSS correction number information broadcasted by the service layer, performing PDR resolving by using data collected by a sensor arranged in the user terminal, and performing weight-fixing fusion processing on a differential GNSS resolving result and a PDR resolving result by using a centralized filter to obtain an outdoor positioning result; and the application layer is used for extracting and processing the outdoor positioning result output by the information processing layer, outputting in a multi-dimensional semantic way and displaying in real time.
3. The multi-system collaborative indoor and outdoor precise positioning system architecture according to claim 1, wherein the indoor positioning system comprises: the basic platform layer is used for forming a database of beacon positions and beacon fingerprints and providing basic data and an information processing platform for the service layer; the service layer is used for identifying the environment of the user according to the received positioning request of the user terminal and by combining with observation information uploaded by the user terminal, calling out the beacon position and the beacon fingerprint information from the database, completing cloud positioning at the cloud end, and then broadcasting the cloud positioning position and the auxiliary positioning information to the user terminal; the information processing layer is positioned at the user terminal and used for utilizing the broadcasted cloud positioning position to cooperate with WiFi/BLE to carry out indoor absolute positioning, meanwhile, utilizing data collected by a sensor arranged in the user terminal to carry out PDR (product data Rate) calculation, and then utilizing centralized filtering to carry out weighting fusion processing on an absolute positioning result and a PDR calculation result to obtain an indoor positioning result; and the application layer is used for extracting positioning information and generating and displaying multi-dimensional semantic position information.
4. The multi-system collaborative indoor and outdoor precise positioning system architecture according to claim 3, wherein a service layer of the indoor positioning system is further configured to obtain a WiFi observation value, a BLE observation value and a geomagnetic observation value, perform cloud fingerprint matching indoor positioning by combining a WIFI/BLE/geomagnetic fingerprint library, and output user position and precision information.
5. The multi-system collaborative indoor and outdoor precise positioning system architecture according to claim 1, wherein the indoor and outdoor connection area positioning system comprises: the area dividing module is used for dividing the positioning area into an outdoor area, an indoor area and an indoor and outdoor connecting area; the position sensing module is used for predicting the position of the user terminal by combining map matching according to the intensity change of the GNSS signal or the WIFI/BLE signal and judging whether the user terminal is in an indoor, outdoor or indoor-outdoor connection area; the data selection module is used for selecting positioning data according to the area where the user terminal is located and the reliability of the GNSS positioning result; and the fusion positioning module is used for performing fusion processing on the selected positioning data by adopting centralized filtering and outputting an optimal positioning result.
6. The multi-system collaborative indoor and outdoor fine positioning system architecture according to claim 1, wherein the unified space-time reference comprises: unifying time references, establishing the time references by the system time of the user terminal, and carrying out time synchronization on the information and the positioning result of the multi-source sensor; and (4) unifying the space reference, and carrying out space synchronization on the information of the multisource sensor and the positioning result by taking a geocentric geostationary coordinate system as the space reference.
7. The multi-system collaborative indoor and outdoor fine positioning system architecture of claim 6, wherein the unification of the time references further comprises: the user terminal adopts a timing task to control the acquisition of various kinds of original data, and attaches the system time of the mobile terminal to all the data as an observation time mark; after the system acquires the system time of the mobile terminal, the difference between the time definition starting point and the UTC time starting point is converted into an expression format of week and intra-week seconds according to the time definition starting point, and the obtained time stamp is stored in front of the observation data of each unit in a corresponding format.
8. The multi-system collaborative indoor and outdoor precise positioning system architecture according to claim 6, wherein the unification of the spatial references further comprises: establishing a rotation matrix between a carrier coordinate system and a geocentric geodetic solid system through IMU sensor observation information, and calculating the observation information and a positioning result to the geocentric geodetic solid system; the method comprises the steps of obtaining horizontal position variation and elevation variation relative to a station center of a previous epoch by utilizing a PDR and an barometer, obtaining a rotation matrix from a geocentric earth fixed system to a local horizontal coordinate system by utilizing a GNSS absolute coordinate of the previous epoch, converting station center coordinate increment into absolute coordinate variation, and realizing absolute coordinate calculation of a pedestrian terminal of the current epoch under the geocentric earth fixed system.
9. A method for operating a multi-system collaborative indoor and outdoor precise positioning system architecture, in the multi-system collaborative indoor and outdoor precise positioning system architecture of any one of claims 1 to 8, the method for operating the multi-system collaborative indoor and outdoor precise positioning system architecture comprises:
based on a unified space-time reference design, the following steps are executed:
in the outdoor environment, acquiring an outdoor positioning result by adopting a fusion positioning mode of a differential GNSS and a PDR;
indoor positioning results are obtained by adopting a WIFI/BLE cloud cooperation and PDR fusion positioning mode indoors;
and in the indoor and outdoor connection area, PDR is used as connection, whether the indoor and outdoor connection area is located is predicted by using map matching, if yes, fusion processing is carried out on the multi-path positioning observation data by adopting a centralized filtering algorithm, and an optimal positioning result is output.
10. The method of claim 9, further comprising:
dividing the positioning area into an outdoor area, an indoor area and an indoor and outdoor connection area;
when the intensity of the GNSS signal or the WIFI/BLE signal is observed to be obviously changed, the position of the user terminal is predicted by map matching, and the user terminal is judged to be in an indoor, outdoor or indoor and outdoor connection area;
selecting positioning data according to the area where the user terminal is located and the reliability of the GNSS positioning result;
and adopting centralized filtering to perform fusion processing on the selected positioning data and outputting an optimal positioning result.
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