CN115201873B - Multi-system cooperative indoor and outdoor precise positioning system architecture and operation method thereof - Google Patents
Multi-system cooperative 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- 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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- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
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 based on unified space-time reference design, and comprises the following components: the outdoor positioning system is used for acquiring an outdoor positioning result by adopting a differential GNSS and PDR fusion positioning mode; 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 areas are located by using the PDR as connection and map matching, if yes, adopting a centralized filtering algorithm to perform fusion processing on the multi-path positioning observation data and outputting an optimal positioning result. Based on multi-system cooperation, the invention performs close cooperation on different positioning technologies, solves the problems of lack of positioning information, discrete positioning sources and space-time obstruction in positioning, and jointly completes seamless precision positioning in 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 cooperative positioning scene, indoor and outdoor positioning space-time reference unification, automatic smooth indoor and outdoor positioning intelligent switching and the like, and specifically relates to a multi-system cooperative indoor and outdoor precise positioning system architecture and an operation method thereof.
Background
In recent years, the rapid development of the mobile internet and the popularization of smart phones have led to the development of the Location Based Services (LBS) industry. The LBS combines the satellite positioning system and the mobile network communication, adopts a plurality of positioning technologies and data processing technologies to cross and fuse, provides location information service for mass users and integrates various services related to location. However, the current indoor and outdoor positioning technology means still has the defects of lack of information, discrete manufacturing and post manufacturing, and is difficult to meet the requirements of masses on seamless precision positioning in complex environments such as urban roads, large underground spaces and the like.
The prior art discloses a low-power consumption indoor and outdoor positioning seamless switching method aiming at indoor and outdoor positioning publications such as Chinese patent publication No. CN106842267A, which is specially beneficial to the publication of the year 2017, the month 6 and the day 13, and the method comprises the steps that a positioning terminal judges the self positioning state according to positioning historical data and received positioning signal data, and selects a pure indoor positioning method, a pure outdoor positioning method or an indoor and outdoor seamless switching positioning method according to a judging result to perform self positioning. The Chinese patent publication No. CN107024709A is specially used for the indoor and outdoor seamless positioning method disclosed in 8 th and 8 th 2017, and the method realizes the continuous positioning of indoor and outdoor mechanical equipment through the integration of Beidou navigation positioning and ultra-wideband real-time positioning systems.
The key problems faced in the prior art mainly include: (1) the multi-system technology is not enough in interconnection and co-connection; (2) there is a difference in indoor and outdoor positioning space-time references; (3) insufficient indoor and outdoor seamless continuous positioning capability, etc.
Disclosure of Invention
In order to overcome the above-mentioned shortcomings of the prior art, the present invention provides a multi-system collaborative indoor and outdoor precise positioning system architecture and an operation method thereof, which are used for solving 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, which is based on a unified space-time reference design, and includes:
the outdoor positioning system is used for acquiring an outdoor positioning result by adopting a differential GNSS and PDR fusion positioning mode;
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 areas are located by using the PDR as connection and map matching, if yes, adopting a centralized filtering algorithm to perform fusion processing on the multi-path positioning observation data and outputting an optimal positioning result.
The technical scheme is based on multi-system cooperation, different positioning technologies are closely and effectively cooperated, the problems of lack of positioning information, discrete positioning sources and space-time obstacle in positioning are solved, and seamless precise positioning under indoor and outdoor multi-system cooperative positioning scenes is completed together.
As a further technical solution, the outdoor positioning system includes: the basic platform layer is used for generating GNSS differential corrections under the support of the GNSS high-precision cloud processing platform; the service layer is used for broadcasting the correction information in a specific format according to the received positioning request of the user terminal and the GNSS differential correction generated by the basic platform layer; the information processing layer is used for carrying out differential GNSS calculation according to the local GNSS data and the IMU data of the user terminal and the GNSS correction information broadcasted by the service layer, simultaneously carrying out PDR calculation by utilizing the data acquired by the built-in sensor of the user terminal, and carrying out fixed weight fusion processing on the differential GNSS calculation result and the PDR calculation result by utilizing the centralized filter to obtain an outdoor positioning result; and the application layer is used for extracting, processing, outputting multidimensional semantically and displaying the outdoor positioning result output by the information processing layer in real time.
Specifically, after receiving a positioning request of a user terminal, a service layer of the outdoor positioning system broadcasts correction information such as a track, clock error, atmosphere and the like in a specific format.
The information processing layer of the outdoor positioning system is a core for realizing the GNSS/IMU outdoor high-precision positioning system. Optionally, the information processing layer can receive various correction information (satellite orbit clock correction, ionosphere error correction and troposphere error correction) sent by the service layer, can collect local GNSS data and IMU data, and perform consistency check detection of pre-test information, post-test information and observed values and remove GNSS observation gross errors. The information processing layer can combine real-time high-precision differential correction information broadcasted by the GNSS cloud platform to perform real-time differential positioning calculation. Meanwhile, the information processing layer can utilize data of sensors such as an IMU/magnetometer and the like built in the terminal to perform step frequency detection, step length and course angle estimation, and distinguish the motion state of a user through modal identification, so that pedestrian displacement is accurately calculated. Finally, the information processing layer can adopt a centralized filter to carry out depth fusion data processing on multisource observation information of GNSS differential positioning/PDR calculation navigation, and combines auxiliary information such as outdoor map data, intelligent terminal sensor data, pedestrian motion characteristics and the like to realize outdoor accurate positioning.
Optionally, the application layer of the outdoor positioning system is further used for generating fingerprint characteristic information of the mining related road sensor, so as to improve the 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 where the user is located according to the received positioning request of the user terminal and combining the 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 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 is used for carrying out indoor absolute positioning by utilizing the broadcasted cloud positioning position to cooperate with WiFi/BLE, simultaneously carrying out PDR (packet data rate) calculation by utilizing data acquired by a built-in sensor of the user terminal, and carrying out fixed weight fusion processing on an absolute positioning result and a PDR calculation result by utilizing concentrated filtering to obtain an indoor positioning result; and the application layer is used for extracting positioning information, generating and displaying multidimensional semantical position information.
Specifically, the basic platform layer of the indoor positioning system is a basic support of an indoor positioning service technology, a cloud platform technology is adopted, a nationwide mass wireless positioning signal database is stored, crowd-sourced data of a large-scale user is filtered, clustered, indexed and analyzed, the position of a signal emission source (base station, WIFI and geomagnetic features) is calculated, high-precision key place deployment equipment is combined, high-resolution fingerprint information is manually collected, a nationwide large-scale beacon position and beacon fingerprint database is formed, and a basic data and information processing platform is provided for the service layer.
Specifically, after receiving a positioning request of a user terminal, a service layer of the indoor positioning system identifies an environment where the user is located 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 then broadcasts the position and auxiliary positioning information to the user terminal through a mobile communication network in a certain coding format and protocol.
Specifically, the information processing layer of the indoor positioning system is located at a user terminal, indoor absolute positioning is performed by three technologies of indoor WIFI/BLE/geomagnetism, triangular positioning is performed by utilizing a beacon position broadcasted by a cloud platform, matching positioning is performed by fingerprint information, and various positioning technologies and methods are further integrated with each other to eliminate abnormal observation information. Meanwhile, a gyroscope/accelerometer/magnetometer is utilized to carry out PDR (pulse data rate) calculation positioning result for assistance, a positioning result with good availability and continuity is obtained, further analysis is carried out at an application layer, multidimensional semantic position information interesting to a user is generated, and the multidimensional semantic position information is loaded on a hundred-degree indoor map for display.
As a further technical scheme, the service layer of the indoor positioning system is further used for acquiring a WiFi observation value, a BLE observation value and a geomagnetic observation value, combining a WiFi/BLE/geomagnetic fingerprint library, performing cloud fingerprint matching indoor positioning, and outputting user position and precision information. The fingerprint library here contains fingerprint information of WiFi/BLE/geomagnetism. Because the positioning accuracy of WiFi/BLE is related to the equipment deployment density, and geomagnetic fingerprint positioning accuracy is only related to the acquisition density of geomagnetism and is irrelevant to the equipment deployment density, wiFi/BLE positioning is assisted by geomagnetic matching positioning so as to improve the overall 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 connection area; the position sensing module is used for predicting the position of the user terminal according to the intensity change of the GNSS signal or the WIFI/BLE signal and combining map matching, and judging whether the user terminal is in an indoor, outdoor or indoor and outdoor connection area; the data selection module is used for selecting positioning data according to the region where the user terminal is located and the reliability of the GNSS positioning result; and the fusion positioning module is used for carrying out 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 indoor-outdoor connection 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 the intelligent switching of automatic smooth indoor-outdoor positioning is realized in the area because GNSS positioning and WIFI/BLE positioning cannot work normally in the indoor-outdoor connection areas. And the PDR is used as a connection, map matching is used for predicting whether the PDR is positioned in an indoor and outdoor connection area, and a centralized filtering algorithm is adopted for realizing seamless and smooth switching of indoor and outdoor positioning and smooth switching between the PDR and the indoor and outdoor positioning.
As a further technical solution, the unified space-time reference includes: unifying time references, establishing the time references by using the system time of the user terminal, and performing time synchronization on the information of the multisource sensor and the positioning result; and (3) unifying the space references, and performing space synchronization on the information of the multisource sensor and the positioning result by taking a geocentric fixed coordinate system as the space reference.
As a further technical solution, the unification of the time references further includes: the user terminal adopts a timing task to control the acquisition of various original data, and attaches the system time of the mobile terminal to all the data as an observation time scale; after the system acquires the system time of the mobile terminal, the system defines the difference between the starting point and the UTC time starting point according to the time, converts the time into a weekly and intra-weekly second expression format, and stores the obtained time mark in the corresponding format before the observation data of each unit.
On the time basis, a timing task is adopted to control the acquisition of various original observed data, the system time of a terminal is uniformly added as an observed time scale, the instability of a clock crystal oscillator of a mobile phone, the transmission delay of the observed data and the like are fully considered during positioning resolving and fusion filtering, the deviation fluctuation of the system time scale and GPS is classified as noise error, the problem of inconsistent multisource observed time reference is solved, and the influence of various errors on time synchronization is avoided.
As a further technical solution, the unification of the spatial references further includes: the method comprises the steps of observing information through an IMU sensor, establishing a rotation matrix between a carrier coordinate system and a geocentric ground system, and calculating the observed information and a positioning result to the geocentric ground system; the change amount of the horizontal position and the change amount of the elevation relative to the station core of the previous epoch are obtained by using the PDR and the barometer, and the rotation matrix from the earth core ground fixed system to the local horizontal coordinate system is obtained by using the GNSS absolute coordinates of the previous epoch, so that the station core coordinates are converted into the absolute coordinate change amount in an increment mode, and the absolute coordinate calculation of the pedestrian terminal of the current epoch under the earth core ground fixed system is realized.
On the space reference, the rotation matrix between the carrier coordinate system and the geocentric ground fixed system is established, the observation information and the positioning result are calculated on the geocentric ground fixed system, and for the station-centric coordinate increment such as PDR, barometer elevation and the like, the station-centric coordinate increment is converted into absolute coordinate variation by utilizing the rotation matrix from the geocentric ground fixed system to the local horizontal coordinate system and then accumulated on the absolute coordinate of the previous epoch, so that the coordinate of the current epoch under the geocentric ground fixed system is obtained, and the problem of inconsistent space reference of the multi-source observation data is solved.
In one aspect, the present invention provides an operation method of a multi-system cooperative indoor and outdoor precision positioning system architecture, where the operation method includes:
based on the unified space-time reference design, the following steps are executed:
outdoor positioning results are obtained in an outdoor mode by adopting a differential GNSS and PDR fusion positioning mode;
indoor positioning results are obtained by adopting a WIFI/BLE cloud cooperation and PDR fusion positioning mode;
and in the indoor and outdoor connection areas, PDR is used as connection, map matching is used for predicting whether the indoor and outdoor connection areas are located, if yes, a centralized filtering algorithm is adopted for fusion processing of the multipath positioning observation data, and an optimal positioning result is output.
As a further technical solution, the operation method further includes:
dividing a positioning area into an outdoor area, an indoor area and an indoor-outdoor connection area;
when the obvious change of the strength of the GNSS signal or the WIFI/BLE signal is observed, 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 region 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.
Compared with the prior art, the invention has the beneficial effects that:
(1) According to the invention, based on unified space-time reference, a GNSS/IMU outdoor positioning system based on GNSS cloud positioning information, an IMU/WIFI/BLE/barometer/magnetometer/5G mobile communication/indoor map and other multi-system collaborative indoor positioning systems are built, and automatic intelligent smoothness of indoor and outdoor connection areas is realized by taking PDR as a connection mode, so that the problem of insufficient interconnection of different indoor and outdoor data sources is solved.
(2) According to the method, the time reference is established by using the system time of the mobile intelligent terminal, the space-time synchronization method is carried out on the information of the multi-source sensor and the positioning result by using the geocentric fixed coordinate system as the space reference, so that the unification of the space-time references of indoor and outdoor positioning is realized, and the problem of space-time reference difference of indoor and outdoor co-positioning multi-source observation information is solved.
(3) The invention uses PDR as connection, uses map matching to predict whether the indoor and outdoor connection areas are located, adopts a centralized filtering algorithm to realize seamless and smooth switching of indoor and outdoor positioning, realizes barrier-free positioning of the indoor and outdoor and smooth switching between the indoor and outdoor positioning, and solves the problem that the positioning mode of the indoor and outdoor connection areas cannot work normally.
Drawings
FIG. 1 is a schematic diagram of a multi-system collaborative indoor and outdoor precision positioning system architecture according to an embodiment of the invention.
Fig. 2 is a schematic view of an outdoor positioning system according to an embodiment of the present invention.
Fig. 3 is a schematic view of an indoor positioning system architecture according to an embodiment of the invention.
Fig. 4 is a schematic diagram of a WIFI/BLE/geomagnetic indoor positioning flow chart according to an embodiment of the present invention.
Fig. 5 is a flow chart of data acquisition and time-lapse printing according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made in detail and with reference to the accompanying drawings, wherein it is apparent that the embodiments described are only some, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The invention provides a multi-system collaborative indoor and outdoor precise positioning system architecture and an operation method thereof, which effectively integrate the latest sensing sources currently applicable to user terminals, integrate the latest technical methods, and perform architecture design of the multi-system collaborative positioning system in different indoor and outdoor environments to realize seamless smooth positioning in the whole time and the whole domain.
As shown in fig. 1, the architecture of the multi-system collaborative indoor and outdoor precise positioning system is based on a unified space-time reference design, and the architecture of the multi-system collaborative indoor and outdoor precise positioning system comprises:
and the outdoor positioning system is based on a GNSS/IMU outdoor positioning architecture of GNSS cloud positioning information and acquires an outdoor positioning result by adopting a differential GNSS and PDR fusion positioning mode.
The indoor positioning system is based on indoor positioning architectures of various positioning information sources such as IMU/WiFi/BLE/barometer/magnetometer/mobile communication/indoor map, and obtains an indoor positioning result by adopting a WIFI/BLE cloud cooperation and PDR fusion positioning mode.
The indoor and outdoor connection area positioning system is based on an intelligent switching technology of automatic smooth indoor and outdoor positioning, PDR is used as connection, map matching is used for predicting whether the indoor and outdoor connection areas are located, if yes, a centralized filtering algorithm is used for carrying out fusion processing on multi-path positioning observation data, and an optimal positioning result is output.
As an embodiment, as shown in fig. 2, the outdoor positioning system architecture of the multi-system cooperative indoor and outdoor precision positioning system architecture includes:
and the basic platform layer generates a GNSS differential correction under the support of the GNSS high-precision cloud processing platform. The cloud processing platform acquires multi-constellation high-precision GNSS orbits and clock correction 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 harmonic ionosphere model, and provides data support for a service layer according to troposphere correction information obtained through Numerical Weather Prediction (NWP) with high space-time resolution.
And the service layer realizes the broadcasting of the differential correction and the positioning auxiliary information. After receiving the positioning request of the user terminal, the server acquires differential correction information including satellite orbit clock correction, ionosphere error correction and troposphere error correction from the GNSS cloud processing platform according to the area where the user terminal is located, and broadcasts the differential correction information to the user terminal in real time through a mobile communication network in a certain coding format and protocol.
And the information processing layer is used for realizing the functions of data receiving and collecting, preprocessing, multi-source information fusion positioning and the like. The data sources of the user intelligent terminal mainly comprise a GNSS cloud processing platform, a GNSS receiver, an MEMS-level IMU, a barometer, a magnetometer and the like. The preprocessing comprises correcting the local GNSS data by using the GNSS differential correction, performing space-time synchronization on different data sources, detecting and processing the data gross errors and the like. And finally, under the support of auxiliary data, carrying out depth fusion data processing on the multisource observation data of GNSS differential positioning/PDR dead reckoning navigation by adopting a centralized filter.
Optionally, according to the difference of data combination modes, the method is divided into a loose combination mode and a tight combination mode, in the loose combination mode, the results of different positioning modes are focused and fused, the position, the main step length parameter, the course angle deviation and the IMU error of a user are selected as state parameters, the PDR navigation position recursion and the random walk of the sensor error are taken as state models, the GNSS differential high-precision positioning speed measurement result is taken as observation information, and the optimal estimation of the position information of the user is realized through loose combination fusion filtering; in the tight combination, the observation values of different positioning modes are focused and fused, the deviation of the calculated position of the IMU, the main parameter of the step length, the deviation of the course angle and the sensor error of the IMU are selected as state parameters, an error differential equation arranged by the IMU mechanically and the random walk of the sensor error are used as state models, the pseudo range, the carrier phase and the Doppler data after coarse detection are used as observation information to be input into a tight combination fusion filter, and the 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 a sensor for mining a related road. The application layer primarily completes extraction, processing, multidimensional semantical output and real-time display of the positioning information in the information processing layer. And secondly, classifying different pedestrian motion scenes based on sensor fingerprint features of related roads recorded by actual navigation positioning of a large number of users by means of cluster analysis, feature extraction and the like, excavating characteristics of different pedestrian motion scenes, restraining subsequent pedestrian navigation positioning results, and improving the accuracy and reliability of navigation positioning.
By way of illustration, the implementation flow of the outdoor positioning system is as follows:
performing outdoor high-precision navigation positioning of public users by taking high-precision GNSS differential positioning supported by a GNSS cloud processing platform as a main part and taking pedestrian dead reckoning navigation (PDR) based on sensor data such as an IMU/magnetometer as an auxiliary part;
the user side adopts consistency inspection of pre-test information, post-test information and observation values to detect and remove GNSS observation coarse errors, and combines real-time high-precision differential correction information (satellite orbit clock error correction, ionosphere error correction and troposphere error correction) broadcasted by a GNSS cloud platform to carry out real-time differential positioning calculation;
the data of sensors such as an IMU/magnetometer and the like built in a user terminal are utilized to carry out step frequency detection, step length and course angle estimation, and the motion state of a user is distinguished through modal identification, so that the pedestrian displacement is accurately calculated;
finally, a centralized filter is adopted to carry out depth fusion data processing on multisource observation information of GNSS differential positioning/PDR calculation navigation, and outdoor accurate positioning of public users is realized by combining auxiliary information such as outdoor map data, intelligent terminal sensor data, pedestrian movement characteristics and the like.
As an embodiment, as shown in fig. 3, the indoor positioning system architecture of the multi-system cooperative indoor and outdoor precise positioning system architecture includes:
the base platform layer adopts a cloud platform technology to store a massive wireless positioning signal database covering the whole country, filters, clusters, indexes and analyzes crowd-sourced data of a large-scale user, calculates the position of a signal emission source (base station, wiFi and geomagnetic characteristics), combines equipment deployed in high-precision key places, manually collects high-resolution fingerprint information to form a database covering the large-scale beacon position and beacon fingerprint of the whole country, and provides basic data and an information processing platform for a 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 IMU/WiFi/BLE/geomagnetism and other observation information uploaded by the user terminal, calls out a beacon and fingerprint information from a cloud platform database, selects a proper algorithm according to strength and number of WiFi/BLE signals through analysis of environmental characteristics and cloud platform information, completes cloud positioning at a cloud end, and then 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 combining corresponding beacons and fingerprint information in a cloud platform according to observation information uploaded by a user terminal. The auxiliary positioning information here refers to cloud positioning accuracy information and beacon position information.
And the information processing layer is used for carrying out indoor absolute positioning by the positioning terminal in cooperation with three technologies of WiFi/BLE/geomagnetism, carrying out triangular positioning by utilizing the beacon position broadcasted by the cloud platform, carrying out matched positioning by fingerprint information, and further fusing various positioning technologies and methods (triangular positioning, matched positioning and the like) into mutual detection. And calculating the matching similarity of the input fingerprint and a fingerprint library KNN of the cloud platform by adopting a fingerprint matching algorithm, performing triangular positioning on the observation with lower KNN matching degree according to a signal propagation model of WIFI and BLE, checking and removing abnormal observation information, performing weighted average on checked observation data, fusing and calculating the position of a terminal, and outputting a high-reliability positioning result. Meanwhile, PDR (potential data set) calculation and pedestrian modal intelligent sensing are performed by using a gyroscope/accelerometer/magnetometer, so that WiFi/BLE/geomagnetic positioning is assisted, positioning is enhanced in an indoor signal coverage blind area and an information abnormal area, and an indoor external switching area is transited, so that indoor and outdoor seamless switching continuous positioning is realized. After the multi-source positioning information of the terminal is analyzed, the influence of various abnormal information is eliminated, the deep fusion of multi-source observation information is realized, and finally the positioning result information with high precision and good usability and continuity is output.
The fusion mutual check here can be understood as: in theory, the triangular positioning accuracy is higher, but the triangular positioning accuracy is affected by multipath; the fingerprint matching positioning accuracy is low and can be influenced by ground change, the fusion of multiple positioning methods can match the positioning result to provide triangular positioning initial value calculation, and the results of multiple positioning technologies and methods are mutually checked.
PDR (polymer dispersed particle) calculation and pedestrian modal intelligent sensing are performed by using a gyroscope/accelerometer/magnetometer, and the intelligent sensing is used for assisting WiFi/BLE/geomagnetic positioning, and specifically can be as follows: the gyroscope/accelerometer/magnetometer can obtain the high-frequency relative motion information of pedestrians through PDR (pulse rate) calculation, and 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. And when the WiFi/BLE/geomagnetic signal is weak, the WiFi/BLE/geomagnetic positioning result is subjected to weight reduction, and the gyroscope/accelerometer/magnetometer calculation position is weighted, so that the positioning accuracy is improved.
The application layer is used for further extracting and processing the time, longitude and latitude, elevation, speed, floor, room and other information contained in the positioning information, generating multidimensional semantic position information of interest of a user, loading the multidimensional semantic position information on a hundred-degree indoor map for display, and realizing the functions of accurate real-time positioning and navigation of indoor people and objects.
By way of illustration, the indoor positioning system of the architecture of the multi-system collaborative indoor and outdoor precise positioning system mainly comprises WiFi/BLE cloud-end collaborative positioning supported by a position big data cloud positioning platform, assists in performing indoor navigation positioning of a user by a PDR algorithm, and comprises the following implementation processes:
the positioning terminal performs indoor absolute positioning by cooperating with three technologies of WiFi/BLE/geomagnetism, firstly performs triangular positioning by utilizing a beacon position broadcast by a cloud platform, and performs matching positioning by utilizing fingerprint information;
then the PDR algorithm comprehensively utilizes an accelerometer/gyroscope/magnetometer built in the terminal to estimate the step frequency, the step length and the course angle, and performs pedestrian modal identification through machine learning, so that pedestrian displacement is accurately calculated;
and finally, integrating 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 public users.
The architecture of the multi-system collaborative indoor and outdoor precise positioning system provided by the invention is designed based on a unified space-time reference, and comprises the following steps: unification of time references and unification of space references.
On the time reference, the terminal adopts a timing task to control the acquisition of various original data, and attaches the system time of the mobile intelligent terminal to all the data as an observation time scale. After the system acquires the system time of the mobile intelligent terminal, the system defines the difference between the starting point and the UTC time starting point according to the time, converts the time into a weekly and weekly second expression format, and stores the obtained time mark in the corresponding format before the observation data of each unit. As shown in fig. 5, taking the unified time scale of GNSS observation data and IMU data as an example, when the program performs each of the two timing tasks, the program first obtains the system time of the mobile phone itself, and converts the system time into a format of approximate week and seconds in week according to the difference between the system time starting point and the UTC time starting point of the mobile phone, so as to facilitate data fusion. The time scale of the IMU data is stored as the first two elements of each array, and the time scale of the GNSS observation data is converted into binary with fixed identification and stored in front of the observation data, so that the unification of time references is realized.
On the space basis, the rotation matrix between the carrier coordinate system and the geocentric ground system is established through the observation information of the IMU sensor, and the observation information and the positioning result are calculated to the geocentric ground system. The IMU observation data is based on a carrier coordinate system, the rotation relation between the IMU observation data and a geocentric ground system is determined, and the posture of the mobile intelligent terminal is calculated. The selected b is the upper right front and the corresponding n is northeast day (ENU). The rotation sequence isFirst rotation about Z axis +.>Referred to as heading angle Yaw, rotates about the X-axis a second timeCalled Pitch angle Pitch, a third rotation about the Y-axis +.>Referred to as Roll angle Roll. Leveling by adopting a gravity observation value in IMU observation data, and obtaining horizontal angles in attitude angles, namely a roll angle and a pitch angle; and after the horizontal angle is obtained, leveling the magnetometer observation value and estimating the course angle.
The change of the horizontal position obtained by the PDR and the change of the elevation obtained by the barometer are station coordinates increment relative to the previous epoch, and GNSS absolute value of the previous epoch is utilizedAnd solving a rotation matrix from the geodetic system to the local horizontal coordinate system for the coordinates, and converting the increment of the station coordinates into absolute coordinate variation. And when the GNSS absolute coordinates of the previous epoch are known, fusing the current obtained absolute coordinate variation to obtain the absolute coordinates of the pedestrian terminal of the current epoch under the geocentric ground system. Obtaining a rotation matrix from the geodetic system to the local horizontal coordinate system by using the GNSS absolute coordinates of the previous epochTranspose is available->And converting the station center coordinates obtained by IMU estimation into absolute coordinate variation, and adding the obtained absolute coordinate variation to the absolute coordinates of the previous epoch GNSS to obtain the absolute coordinates of the current epoch GNSS.
As an implementation mode, the invention provides an automatic smooth indoor and outdoor positioning intelligent switching technology in an indoor and outdoor connection area, wherein the area where a user is located is simply divided into an outdoor connection area, an indoor connection area and an indoor connection area, the outdoor connection area is fused by using two positioning modes of differential GNSS and PDR, the indoor connection area is mainly fused by using WIFI/BLE cloud-end cooperative positioning and PDR, and the automatic smooth indoor and outdoor positioning intelligent switching is realized in the indoor connection area where GNSS positioning and WIFI/BLE positioning cannot work normally.
Optionally, the indoor and outdoor positioning intelligent switching technology for realizing automatic smoothing comprises the following steps:
and unifying indoor WIFI/BLE beacons and outdoor GNSS space references.
Map matching is used to predict whether or not an indoor or outdoor connection area is present. Specifically, in the indoor and outdoor connection areas, GNSS positioning and WiFi/BLE positioning cannot work normally, and according to the PDR smooth positioning result, the position on the map matching predicts whether the indoor and outdoor connection areas are present.
The positioning sensor comprises an MEMS IMU and a magnetometer which are shared in indoor and outdoor environments, and the positioning of the connection area is realized by PDR calculation and navigation.
And a centralized filtering algorithm is adopted, the indoor and outdoor positioning modes are not distinguished, the indoor and outdoor observation data (especially GNSS observation data less than the necessary conditions) are fused, and the optimal positioning result is output.
Optionally, the located observation data is selected according to the area where the user terminal is located and the reliability of the GNSS location result. The reliability of the GNSS positioning results can be understood here as: in the outdoor area or the area with strong GNSS signals, the GNSS differential positioning data is preferably selected.
Especially GNSS observations less than necessary, can be understood here as: GNSS positioning generally requires at least four satellites to achieve a solution of three position parameters and 1 clock error parameter, which cannot be performed when the number of satellites is less than necessary.
The implementation flow of the technology is as follows:
when pedestrians gradually transit from outdoors to indoors, GNSS signals are weakened, the signal to noise ratio is obviously reduced, WIFI/BLE signals are gradually enhanced, the signals are used as main judgment basis, map matching is combined to predict information, and the users are judged to be outdoors, indoors and outdoors or indoors. And according to the difference of the environments, when the outdoor transition is carried out to the indoor and outdoor connection, the positioning mode of combining the differential GNSS and the PDR is converted into the PDR calculation navigation by taking the MEMS-level IMU and the magnetometer as data sources. When the indoor and outdoor connection part is transited to the indoor, the PDR calculates and navigates to become auxiliary information, WIFI/BLE cloud-end co-localization is mainly supported by a cloud localization platform based on position big data, and the WIFI/BLE cloud-end co-localization is fused with the PDR in depth to provide position navigation information for a user.
When the pedestrian gradually transits from indoor to outdoor, the environment where the user is located is judged according to the strength change of different signals and the map matching predictive information, and the smooth switching of the positioning modes under different environments is realized. When a user enters an outdoor environment, the GNSS needs to be started up, namely, reinitialized, and the positioning of the GNSS generally takes a few seconds to converge to the meter level, and the GNSS positioning result in the period is unreliable, so that the GNSS positioning result in the period is de-weighted during filtering, and navigation positioning is performed mainly by means of PDR dead reckoning, so that smooth transition from indoor positioning to outdoor positioning is realized.
On the basis that the indoor WIFI/BLE beacon, the outdoor GNSS signal and the indoor and outdoor shared PDR data adopt the same spatial standard, a centralized filtering algorithm can be adopted, an indoor and outdoor positioning mode is not distinguished, fusion processing is carried out on indoor and outdoor observation data (especially GNSS observation data less than necessary conditions), differential GNSS and PDR are fused in an outdoor positioning mode, the WIFI/BLE cloud-end cooperative positioning and PDR are fused in an indoor positioning mode, the positioning mode is not distinguished, and only the optimal positioning result is output. The highest precision positioning result under the corresponding environment is obtained through the centralized filtering processing of different types of positioning data under different environments of the outdoor, indoor and indoor, and the indoor and the outdoor, so that the smooth and seamless switching of the indoor and the outdoor positioning is realized.
In the description of the present specification, reference to the terms "one embodiment," "certain embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., 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 embodiments or examples. 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 embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; these modifications or substitutions do not depart from the essence of the corresponding technical solutions from the technical solutions of the embodiments of the present invention.
Claims (6)
1. The indoor outer precision positioning system framework of multisystem cooperation, its characterized in that, the indoor outer precision positioning system framework of multisystem cooperation is based on unified space-time reference design, just the indoor outer precision positioning system framework of multisystem cooperation includes:
the outdoor positioning system is used for acquiring an outdoor positioning result by adopting a differential GNSS and PDR fusion positioning mode; the outdoor positioning system includes: the basic platform layer is used for generating GNSS differential corrections under the support of the GNSS high-precision cloud processing platform; the service layer is used for broadcasting the correction information in a specific format according to the received positioning request of the user terminal and the GNSS differential correction generated by the basic platform layer; the information processing layer is used for carrying out differential GNSS calculation according to the local GNSS data and the IMU data of the user terminal and the GNSS correction information broadcasted by the service layer, simultaneously carrying out PDR calculation by utilizing the data acquired by the built-in sensor of the user terminal, and carrying out fixed weight fusion processing on the differential GNSS calculation result and the PDR calculation result by utilizing the centralized filter to obtain an outdoor positioning result; the application layer is used for extracting, processing, outputting multidimensional semantically and displaying the outdoor positioning result output by the information processing layer in real time;
when the outdoor positioning system performs positioning, the outdoor positioning system is divided into a loose combination mode and a tight combination mode according to different data combination modes, in the loose combination mode, the results of different positioning modes are focused and fused, the position, the main step length parameter, the course angle deviation and the IMU error of a user are selected as state parameters, the PDR (pulse position indication) recursion and the sensor error random walk are taken as state models, the GNSS (Global navigation satellite System) differential high-precision positioning speed measurement result is taken as observation information, and the optimal estimation of the user position information is realized through loose combination fusion filtering; in the tight combination, the observation values of different positioning modes are focused and fused, the deviation of the calculated position of the IMU, the main step length parameter, the dead angle deviation and the IMU sensor error are selected as state parameters, an error differential equation arranged by the IMU mechanically and the random walk of the sensor error are taken as a state model, the pseudo range, the carrier phase and the Doppler data after coarse detection are taken as observation information to be input into a tight combination fusion filter, and the outdoor optimal positioning result is obtained through filtering estimation and closed loop correction processing;
the indoor positioning system is used for acquiring an indoor positioning result by adopting a WIFI/BLE cloud cooperation and PDR fusion positioning mode; the indoor and outdoor connection area positioning system is used for predicting whether the indoor and outdoor connection areas are located by using the PDR as connection and map matching, if yes, the multi-path positioning observation data are fused by adopting a centralized filtering algorithm, and an optimal positioning result is output;
the unified space-time reference comprises: unifying time references, establishing the time references by using the system time of the user terminal, and synchronizing the time of the multisource sensor information and the positioning result; unifying the space references, and performing space synchronization on the information of the multisource sensor and the positioning result by taking a geocentric fixed coordinate system as the space reference;
the unification of the time references further comprises: the user terminal adopts a timing task to control the acquisition of various original data, and attaches the system time of the mobile terminal to all the data as an observation time scale; after the system acquires the system time of the mobile terminal, according to the difference between the time definition starting point and the UTC time starting point, converting the time definition starting point into a weekly and weekly second expression format, and storing the obtained time mark in front of the observation data of each unit in a corresponding format; the method comprises the steps of adopting a timing task to control the acquisition of various original observed data on a time reference, uniformly adding terminal system time as an observed time scale, and classifying deviation fluctuation of the system time scale and a GPS time scale into noise errors when positioning calculation and fusion filtering are carried out so as to solve the problem of inconsistent multisource observed time reference;
the unification of the spatial references further comprises: the foundation sensor calculates to the geocentric ground fixed system, the IMU sensor observes information, a rotation matrix between the carrier coordinate system and the geocentric ground fixed system is established, and the observation information and the positioning result are calculated to the geocentric ground fixed system; obtaining horizontal position variation and elevation variation relative to a station core of a previous epoch by using a PDR and an air pressure meter, obtaining a rotation matrix from a geocentric ground fixed system to a local horizontal coordinate system by using GNSS absolute coordinates of the previous epoch, and converting the station core coordinates into absolute coordinate variation by increasing the station core coordinates, so as to realize absolute coordinate calculation of a pedestrian terminal of the current epoch under the geocentric ground fixed system; on the space basis, the observation information and the positioning result are reduced to the geocentric fixed system by establishing a rotation matrix between the carrier coordinate system and the geocentric fixed system, and for the increment of the station coordinates, the rotation matrix from the geocentric fixed system to the local horizontal coordinate system is utilized, and converting the station coordinates increment into absolute coordinates variable quantity, and accumulating the absolute coordinates variable quantity on the absolute coordinates of the previous epoch to obtain the coordinates of the current epoch under the earth-centered earth-fixed system so as to solve the problem of inconsistent spatial references of the multi-source observation data.
2. The architecture of a multi-system collaborative indoor and outdoor precision positioning system 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 where the user is located according to the received positioning request of the user terminal and combining the 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 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 is used for carrying out indoor absolute positioning by utilizing the broadcasted cloud positioning position to cooperate with WiFi/BLE, simultaneously carrying out PDR (packet data rate) calculation by utilizing data acquired by a built-in sensor of the user terminal, and carrying out fixed weight fusion processing on an absolute positioning result and a PDR calculation result by utilizing concentrated filtering to obtain an indoor positioning result; and the application layer is used for extracting positioning information, generating and displaying multidimensional semantical position information.
3. The architecture of claim 2, wherein the 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, and combine a WiFi/BLE/geomagnetic fingerprint library to perform cloud fingerprint matching indoor positioning, and output user position and precision information.
4. The architecture of a multi-system collaborative indoor and outdoor precision positioning system according to claim 1, wherein the indoor and outdoor connection zone 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 connection area; the position sensing module is used for predicting the position of the user terminal according to the intensity change of the GNSS signal or the WIFI/BLE signal and combining map matching, and judging whether the user terminal is in an indoor, outdoor or indoor and outdoor connection area; the data selection module is used for selecting positioning data according to the region where the user terminal is located and the reliability of the GNSS positioning result; and the fusion positioning module is used for carrying out fusion processing on the selected positioning data by adopting centralized filtering and outputting an optimal positioning result.
5. The method for operating the multi-system cooperative indoor and outdoor precise positioning system architecture is characterized in that in the multi-system cooperative indoor and outdoor precise positioning system architecture according to any one of claims 1 to 4, the method for operating the multi-system cooperative indoor and outdoor precise positioning system architecture comprises the following steps:
based on the unified space-time reference design, the following steps are executed:
outdoor positioning results are obtained in an outdoor mode by adopting a differential GNSS and PDR fusion positioning mode;
indoor positioning results are obtained by adopting a WIFI/BLE cloud cooperation and PDR fusion positioning mode;
and in the indoor and outdoor connection areas, PDR is used as connection, map matching is used for predicting whether the indoor and outdoor connection areas are located, if yes, a centralized filtering algorithm is adopted for fusion processing of the multipath positioning observation data, and an optimal positioning result is output.
6. The method of operation of a multi-system collaborative indoor and outdoor precision positioning system architecture according to claim 5, further comprising:
dividing a positioning area into an outdoor area, an indoor area and an indoor-outdoor connection area;
when the obvious change of the strength of the GNSS signal or the WIFI/BLE signal is observed, 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 region 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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