CN116939813A - Indoor and outdoor integrated positioning system and method based on WAPI - Google Patents
Indoor and outdoor integrated positioning system and method based on WAPI 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0258—Hybrid positioning by combining or switching between measurements derived from different systems
- G01S5/02585—Hybrid positioning by combining or switching between measurements derived from different systems at least one of the measurements being a non-radio 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
- G01S19/43—Determining position using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
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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
- G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/01—Determining conditions which influence positioning, e.g. radio environment, state of motion or energy consumption
- G01S5/012—Identifying whether indoors or outdoors
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
- G01S5/0263—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems
- G01S5/0264—Hybrid positioning by combining or switching between positions derived from two or more separate positioning systems at least one of the systems being a non-radio wave positioning system
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L9/00—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols
- H04L9/32—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials
- H04L9/3271—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols including means for verifying the identity or authority of a user of the system or for message authentication, e.g. authorization, entity authentication, data integrity or data verification, non-repudiation, key authentication or verification of credentials using challenge-response
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/06—Authentication
- H04W12/068—Authentication using credential vaults, e.g. password manager applications or one time password [OTP] applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/06—Authentication
- H04W12/069—Authentication using certificates or pre-shared keys
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Computer Security & Cryptography (AREA)
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Abstract
The invention discloses an indoor and outdoor integrated positioning system and method based on WAPI, and relates to the technical field of mobile positioning. The system comprises a WAPI authentication module which is in communication connection and is used for receiving a connection request and authenticating identity, a mobile terminal which is used for sending the connection request, receiving positioning information and generating positioning signals, an outdoor positioning module which is used for generating outdoor positioning information, an indoor positioning module which is used for generating indoor positioning information, a positioning switching module which is used for switching indoor and outdoor positioning technologies and a positioning calibration module which is used for calibrating positioning. The invention realizes identity authentication based on WAPI, and ensures network security in the positioning process; the Beidou positioning and the dual-frequency RTK are combined in the outdoor positioning, and the UWB technology and the Bluetooth beacon are combined in the indoor positioning, so that the accuracy of indoor and outdoor positioning is improved; on the basis of guaranteeing network safety by WAPI, switching of indoor and outdoor hybrid positioning is realized, and continuity and safety of indoor and outdoor positioning are improved.
Description
Technical Field
The invention belongs to the technical field of mobile positioning, and particularly relates to an indoor and outdoor integrated positioning system and method based on WAPI.
Background
With the continuous development of information science and technology, more and more fields begin to apply positioning technology. The range of applications of the positioning technology is expanding continuously, and the positioning technology is not only used for outdoor positioning technology, but also used for indoor positioning technology. However, in the existing positioning technology, positioning can be performed only according to the single requirement of indoor or outdoor, and the requirement of indoor and outdoor hybrid positioning cannot be met, so that positioning accuracy is seriously deviated in the switching process of indoor positioning and outdoor positioning, and larger perception fluctuation is caused; in addition, the prior positioning technology is not combined with security protection means such as identity authentication and the like, and network communication is easy to be subjected to security threat in the positioning process.
Disclosure of Invention
The invention aims to provide an indoor and outdoor integrated positioning system and a method thereof based on WAPI, which realize identity authentication based on WAPI, adopt a mode of combining Beidou satellite positioning and dual-frequency RTK technology in outdoor positioning, adopt a mode of combining UWB positioning and Bluetooth beacons in indoor positioning, realize indoor and outdoor positioning switching without perception on the basis of safe communication, and improve the continuity and safety of indoor and outdoor positioning.
The aim of the application can be achieved by the following technical scheme:
in a first aspect, an embodiment of the present application provides an indoor and outdoor integrated positioning system based on WAPI, including a WAPI authentication module, a mobile terminal, an outdoor positioning module, an indoor positioning module, a positioning switching module, and a positioning calibration module;
the WAPI authentication module is in communication connection with the mobile terminal;
the mobile terminal is respectively in communication connection with the outdoor positioning module and the indoor positioning module;
the outdoor positioning module and the indoor positioning module are respectively in communication connection with the positioning switching module;
the positioning switching module is in communication connection with the positioning calibration module;
the mobile terminal is used for sending a connection request to the WAPI authentication module;
the WAPI authentication module is used for receiving the connection request and responding to the connection request, and carrying out identity authentication through information interaction;
the outdoor positioning module is used for generating and sending out outdoor positioning information;
the mobile terminal is further used for receiving the outdoor positioning information;
the indoor positioning module is used for generating and sending indoor positioning information;
the mobile terminal is further used for receiving the indoor positioning information;
The mobile terminal is further used for generating a positioning switching signal according to the outdoor positioning information and the indoor positioning information;
the positioning switching module is used for switching positioning to indoor or outdoor according to the positioning switching signal and generating positioning switching information;
the mobile terminal is further used for generating a positioning calibration signal according to the positioning switching information;
the positioning calibration module is used for performing positioning calibration according to the positioning calibration signal, acquiring positioning calibration information and sending the positioning calibration information to the mobile terminal;
wherein, the mobile terminal is integrated with a positioning tag;
the mobile terminal is further provided with a signal receiver, and the signal receiver comprises a Beidou positioning chip and a Bluetooth module;
the mobile terminal is also provided with UWB signal equipment, and the UWB signal equipment comprises a UWB receiver and a UWB processor;
the mobile terminal also establishes a communication link with the outdoor positioning module and the indoor positioning module.
Preferably, the WAPI authentication module includes a request receiving unit, a request responding unit and an identity authentication unit which are connected in sequence in a communication way;
the request receiving unit is used for receiving the connection request sent by the mobile terminal;
The request response unit is used for sending a challenge message to the mobile terminal and receiving a challenge response fed back by the mobile terminal;
the identity authentication unit is used for decrypting the challenge response by using a shared secret key, and authenticating the identity of the mobile terminal to generate an authentication result; the method is also used for generating access rights according to the authentication result and sending the access rights to the mobile terminal;
wherein, the connection request comprises the identity information and the equipment parameters of the mobile terminal;
the challenge message is used for carrying out identity authentication on the mobile terminal;
the challenge response is: the mobile terminal encrypts the challenge message using the shared key.
Preferably, the mobile terminal comprises a request generation unit, an information receiving unit, a signal generation unit and an information processing unit which are connected in sequence in a communication way;
the request generation unit is used for generating the connection request and sending the connection request to the WAPI authentication module;
the information receiving unit is used for receiving the indoor positioning information, the outdoor positioning information, the positioning switching information and the positioning calibration information;
The signal generating unit is used for generating the positioning switching signal and the positioning calibration signal;
the information processing unit is used for processing signal information, calculating and displaying positions, transmitting data and updating information;
the mobile terminal comprises a smart phone, a tablet personal computer, a smart watch, smart navigation equipment, internet of things equipment and an unmanned aerial vehicle.
Preferably, the outdoor positioning module comprises a Beidou positioning unit, a dual-frequency RTK unit and an outdoor positioning calculation unit; the outdoor positioning calculation unit is respectively in communication connection with the Beidou positioning unit and the dual-frequency RTK unit;
the Beidou positioning unit comprises a plurality of Beidou satellites and is used for generating satellite signals through the Beidou satellites and transmitting the satellite signals to the Beidou positioning chip;
the dual-frequency RTK unit comprises a reference station and a mobile station, and is used for receiving the satellite signals and generating observation data through the satellite signals; and further configured to send the observation data to the mobile terminal over the communication link;
the outdoor positioning calculation unit is used for calculating information data in the Beidou positioning unit and the dual-frequency RTK unit;
Wherein, the reference station and the mobile station are internally provided with a double-frequency GNSS receiver.
Preferably, the indoor positioning module comprises a UWB positioning unit, a Bluetooth beacon unit and an indoor positioning calculation unit; the indoor positioning calculation unit is respectively in communication connection with the UWB positioning unit and the Bluetooth beacon unit;
the UWB positioning unit comprises a UWB chip and a UWB antenna; the UWB chip is used for generating and transmitting UWB signals; the UWB antenna is configured to receive the UWB signal and transmit it to the UWB receiver;
the Bluetooth beacon unit comprises a Bluetooth beacon and is used for generating a broadcast signal at fixed time intervals and sending the broadcast signal to the Bluetooth module;
the indoor positioning calculation unit is used for calculating information data in the UWB positioning unit and the Bluetooth beacon unit.
Preferably, the positioning switching module comprises a signal strength judging unit, a sensor data analyzing unit and a switching control unit; the switching control unit is respectively in communication connection with the signal intensity judging unit and the sensor data analyzing unit;
the signal strength judging unit is used for acquiring the signal strength of the outdoor positioning module and the signal strength of the indoor positioning module and judging the signal strength of the outdoor positioning module and the signal strength of the indoor positioning module, so as to acquire a judging result; switching a positioning technology according to the judging result;
The sensor data analysis unit is used for acquiring and analyzing the sensor data and the sensor system component data in the outdoor positioning module and the indoor positioning module to acquire an analysis result; switching the positioning technology according to the analysis result;
the switching control unit is used for controlling judgment of the signal intensity and analysis of the sensor data; the method is also used for combining the judging result and the analysis result to obtain a comprehensive result; switching the positioning technology through the comprehensive result;
the sensor comprises an accelerometer, a gyroscope and a magnetometer;
the sensor system components include the signal receiver, the UWB processor, a UWB chip, a UWB antenna, a bluetooth beacon, a reference station, and a mobile station.
Preferably, the positioning calibration module comprises a signal intensity calibration unit, a geographic position calibration unit, a geometric calibration unit, a sensor calibration unit and a calibration control unit;
the calibration control unit is respectively in communication connection with the signal intensity calibration unit, the geographic position calibration unit, the geometric calibration unit and the sensor calibration unit;
The signal intensity calibration unit is used for acquiring signal intensities in the outdoor positioning module and the indoor positioning module, establishing a mapping relation between the signal intensities and positions and constructing a signal intensity attenuation model/map database; positioning calibration is carried out through the mapping relation and the signal intensity attenuation model/map database;
the geographic position calibration unit is used for acquiring the equipment geographic positions of the positioning equipment in the outdoor positioning module and the indoor positioning module, and comparing and correcting the equipment geographic positions with the real geographic positions;
the geometric calibration unit is used for collecting and analyzing a plurality of signal source information, calculating positions by using the signal source information and obtaining clock errors, and calibrating the clock errors;
the sensor calibration unit is used for adjusting the precision of the sensor through a sensor calibration algorithm;
the calibration control unit is used for controlling the acquisition and processing of data, the calculation of position and the execution of position calibration in the signal intensity calibration unit, the geographic position calibration unit, the geometric calibration unit and the sensor calibration unit.
Preferably, the system further comprises a cloud positioning server in communication connection with the mobile terminal, and the cloud positioning server is used for judging the terminal efficiency and the set efficiency threshold of the mobile terminal for processing the outdoor positioning information and the indoor positioning information; and if the terminal efficiency is smaller than the efficiency threshold, sending the outdoor positioning information and the indoor positioning information to the cloud positioning server.
Preferably, the cloud positioning server comprises a data management unit, a data calculation unit, a data fusion unit, a position calculation unit, a data analysis unit and an interface calling unit which are sequentially connected in a communication mode;
the data management unit is used for storing and backing up the information data collected by the positioning system; the information data includes position data, signal data, and map data;
the data calculation unit is used for carrying out algorithm operation and data processing by utilizing a positioning algorithm;
the data fusion unit is used for receiving the position data uploaded by the positioning sources, carrying out data fusion and calibration, and comparing and analyzing the data of different positioning sources; the positioning source comprises Beidou positioning, dual-frequency RTK, UWB, bluetooth positioning, GPS, wi-Fi and a cellular network;
The position calculation unit is used for carrying out position calculation and reasoning on the signal data by utilizing the information data and the positioning algorithm, and carrying out position estimation by matching with a pre-established map;
the data analysis unit is used for counting and analyzing the position data and performing visual display;
the interface calling unit is used for providing a callable service interface for a developer;
the service interface is used for constructing various application services based on positioning data and functions; the application services include navigation, geographic location services, and location monitoring.
In a second aspect, an embodiment of the present application provides an indoor and outdoor integrated positioning method based on WAPI, including the following steps:
s1, a mobile terminal sends a connection request to an access point of WAPI; the connection request comprises identity information and terminal parameters of the mobile terminal;
s2, the access point receives the connection request and sends a challenge message to the mobile terminal; the challenge message is used for identity authentication;
s3, the mobile terminal receives the challenge message, encrypts the challenge message by using a shared key, and sends the encrypted challenge message to the access point as a challenge response;
S4, the access point receives the challenge response, decrypts the challenge response by using the shared secret key, compares and authenticates the decrypted challenge response with the identity information of the mobile terminal stored in the access point, and obtains an identity authentication result;
s5, the access point sends an authentication notice to the mobile terminal according to the identity authentication result;
s6, the mobile terminal obtains the authority of the access network according to the authentication notification; if the authentication notification is that the identity authentication is successful, the mobile terminal accesses the network; if the authentication notification is that the identity authentication fails, executing the step S1;
s7, generating outdoor positioning information and sending the outdoor positioning information to the mobile terminal;
s8, generating indoor positioning information and sending the indoor positioning information to the mobile terminal;
s9, the mobile terminal receives the outdoor positioning information and the indoor positioning information and performs position operation according to the outdoor positioning information and the indoor positioning information to generate positioning information;
s10, generating a positioning switching signal and a positioning calibration signal according to the positioning information;
s11, switching the positioning to indoor or outdoor according to the positioning switching signal;
s12, calibrating the positioning according to the positioning calibration signal, acquiring positioning calibration information and sending the positioning calibration information to the mobile terminal;
And S13, the mobile terminal displays the positioning according to the positioning calibration information.
The beneficial effects of the invention are as follows:
(1) The invention realizes the identity authentication of the mobile terminal based on WAPI, and ensures the safety of network communication in the positioning process; the Beidou satellite positioning technology and the dual-frequency RTK technology are combined in the outdoor positioning, and the UWB positioning technology and the Bluetooth beacon are combined in the indoor positioning, so that the accuracy of indoor and outdoor positioning is improved; on the basis of providing network security by WAPI, the indoor and outdoor hybrid positioning switching is realized without perception, and the continuity and the security of indoor and outdoor positioning are improved.
(2) The invention receives and responds to the network connection request sent by the mobile terminal through the WAPI authentication module, and encrypts and decrypts the data by utilizing the shared secret key, thereby ensuring the safety in the data interaction process; the identity information sent by the mobile terminal is compared with the identity information stored in the WAPI, so that the accuracy and the credibility of the identity verification are ensured; the WAPI adopts a national encryption algorithm as an encryption algorithm thereof, so that the wireless network can be protected from various security threats such as identity falsification, data tampering, eavesdropping and the like.
(3) The mobile terminal is integrated with the positioning tag, so that the accurate positioning and real-time tracking of objects or personnel can be realized; the mobile terminal is also provided with a signal receiver, UWB signal equipment, a communication link and other devices which interact with the indoor and outdoor positioning technology, and can also bear the processing tasks of positioning information, such as receiving and decoding signals, calculating positions, fusing data and the like; therefore, information interaction in the positioning process is quicker, real-time and safer, the processing efficiency of positioning information is improved, and the real-time performance of positioning is ensured.
(4) The outdoor positioning module adopts a mode of combining Beidou positioning and dual-frequency RTK technology to realize outdoor positioning; the Beidou positioning technology is a global satellite navigation system independently researched and developed in China, can be better matched with WAPI, has the advantages of global coverage, high-precision positioning, multi-equipment support and the like, and can provide reliable and accurate positioning service; the dual-frequency RTK technology can provide very high positioning precision, and has real-time performance and strong anti-interference capability; therefore, the invention combines the two positioning technologies together, can further improve the accuracy and reliability of outdoor positioning, and meets the requirements of various application scenes on high-accuracy positioning.
(5) The indoor positioning module adopts a mode of combining UWB positioning technology and Bluetooth beacon technology to realize indoor positioning; the UWB positioning technology is a positioning technology based on ultra-wideband signals, has the advantages of high-precision positioning, indoor and outdoor application, strong anti-interference capability, high-density positioning, quick data transmission, low power consumption and the like, and can provide accurate and reliable positioning and communication capability for various applications; the Bluetooth beacon is a wireless technology applied to the field of indoor positioning and position sensing, has the advantages of low power consumption, indoor positioning capability, instantaneity and the like, and can provide accurate positioning and reliable sensing capability for various applications; therefore, the invention combines the two positioning technologies together, and can further improve the accuracy, the instantaneity, the reliability and the strong anti-interference capability of indoor positioning.
(6) The positioning switching module provided by the invention distinguishes the indoor environment from the outdoor environment by judging the strength of the signals and analyzing the data of the sensor, and selects a proper positioning technology for switching according to the judging result and the analyzing result, so that the seamless switching between the indoor positioning technology and the outdoor positioning technology is realized when the indoor environment and the outdoor environment are judged, the positioning switching module can ensure that the positioning precision is not seriously deviated in the switching process of the positioning technology, larger perception fluctuation is not caused, the switching of the indoor positioning technology and the outdoor positioning technology is not perceived, and the positioning continuity is ensured.
(7) The positioning calibration module of the invention performs signal intensity calibration, geographical position calibration, sensor calibration and positioning geometric calibration on positioning, thereby improving the positioning accuracy, precision and reliability, and further improving the performance and precision of the positioning system.
(8) The cloud positioning server has the functions of data storage and backup, processing data by using a positioning algorithm, carrying out data fusion and calibration, calculating the position of positioning, providing a service interface for application development and the like, and provides effective support for the functions and performances of a positioning system; according to the method and the system, the efficiency of processing indoor and outdoor information and data in the mobile terminal is judged through the cloud positioning server, whether the mobile terminal processes information data or the cloud positioning server processes the information data is determined through comparing the terminal efficiency with the set efficiency threshold, an effective guarantee platform is provided for information data processing, the information processing capacity and efficiency of the positioning system are improved, and the real-time performance and the high efficiency of the positioning system are guaranteed.
Drawings
For a better understanding and implementation, the technical solution of the present application is described in detail below with reference to the accompanying drawings.
Fig. 1 is a schematic structural diagram of an indoor and outdoor integrated positioning system based on WAPI according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a WAPI authentication module according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a mobile terminal according to an embodiment of the present application;
FIG. 4 is a flowchart illustrating steps for interacting with a positioning system by a mobile terminal according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an outdoor positioning module according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an indoor positioning module according to an embodiment of the present application;
fig. 7 is a schematic structural diagram of a positioning switching module according to an embodiment of the present application;
FIG. 8 is a schematic structural diagram of a positioning calibration module according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a cloud positioning server according to an embodiment of the present application;
fig. 10 is a flowchart of a part of steps of an indoor and outdoor integrated positioning method based on WAPI according to an embodiment of the present application;
fig. 11 is a flowchart of another part of the indoor and outdoor integrated positioning method based on WAPI according to an embodiment of the present application.
Detailed Description
For further explanation of the technical means and effects adopted by the present application for achieving the intended purpose, exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of methods and systems that are consistent with aspects of the application as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to any or all possible combinations including one or more of the associated listed items.
The following detailed description of specific embodiments, features and effects according to the present application is provided with reference to the accompanying drawings and preferred embodiments.
Example 1
Referring to fig. 1, the application provides an indoor and outdoor integrated positioning system based on WAPI, which comprises a WAPI authentication module, a mobile terminal, an outdoor positioning module, an indoor positioning module, a positioning switching module and a positioning calibration module;
the WAPI authentication module is in communication connection with the mobile terminal;
the mobile terminal is respectively in communication connection with the outdoor positioning module and the indoor positioning module;
the outdoor positioning module and the indoor positioning module are respectively in communication connection with the positioning switching module;
the positioning switching module is in communication connection with the positioning calibration module;
the mobile terminal is used for sending a connection request to the WAPI authentication module;
the WAPI authentication module is used for receiving the connection request and responding to the connection request, and carrying out identity authentication through information interaction;
the outdoor positioning module is used for generating and sending out outdoor positioning information;
the mobile terminal is further used for receiving the outdoor positioning information;
the indoor positioning module is used for generating and sending indoor positioning information;
the mobile terminal is further used for receiving the indoor positioning information;
the mobile terminal is further used for generating a positioning switching signal according to the outdoor positioning information and the indoor positioning information;
The positioning switching module is used for switching positioning to indoor or outdoor according to the positioning switching signal and generating positioning switching information;
the mobile terminal is further used for generating a positioning calibration signal according to the positioning switching information;
the positioning calibration module is used for performing positioning calibration according to the positioning calibration signal, acquiring positioning calibration information and sending the positioning calibration information to the mobile terminal;
wherein, the mobile terminal is integrated with a positioning tag;
the mobile terminal is further provided with a signal receiver, and the signal receiver comprises a Beidou positioning chip and a Bluetooth module;
the mobile terminal is also provided with UWB signal equipment, and the UWB signal equipment comprises a UWB receiver and a UWB processor;
the mobile terminal also establishes a communication link with the outdoor positioning module and the indoor positioning module.
In one embodiment of the present application, the system further includes a cloud positioning server communicatively connected to the mobile terminal, for determining a terminal efficiency and a set efficiency threshold of the mobile terminal for processing the outdoor positioning information and the indoor positioning information; and if the terminal efficiency is smaller than the efficiency threshold, sending the outdoor positioning information and the indoor positioning information to the cloud positioning server.
Specifically, the application sends a connection request to the WAPI authentication module through the mobile terminal, and the WAPI authentication module receives the connection request and responds to the connection request and authenticates the identity of the mobile terminal through information interaction; if the authentication is successful, generating outdoor positioning information through an outdoor positioning module and sending the outdoor positioning information to the mobile terminal, and generating indoor positioning information through an indoor positioning module and sending the indoor positioning information to the mobile terminal; the mobile terminal receives the outdoor positioning information and the indoor positioning information and generates a positioning switching signal according to the outdoor positioning information and the indoor positioning information; the positioning switching module is used for switching the positioning to the indoor or outdoor according to the positioning switching signal; the mobile terminal generates a positioning calibration signal according to the switching positioning information; the positioning calibration module performs positioning according to the positioning calibration signal, acquires positioning calibration information and sends the positioning calibration information to the mobile terminal; and finally, the mobile terminal displays final positioning according to the calibrated positioning calibration information.
Referring to fig. 2, in one embodiment of the present application, the WAPI authentication module includes a request receiving unit, a request responding unit, and an identity authentication unit that are sequentially connected in communication;
the request receiving unit is used for receiving the connection request sent by the mobile terminal;
The request response unit is used for sending a challenge message to the mobile terminal and receiving a challenge response fed back by the mobile terminal;
the identity authentication unit is used for decrypting the challenge response by using a shared secret key, and authenticating the identity of the mobile terminal to generate an authentication result; the method is also used for generating access rights according to the authentication result and sending the access rights to the mobile terminal;
wherein, the connection request comprises the identity information and the equipment parameters of the mobile terminal;
the challenge message is used for carrying out identity authentication on the mobile terminal;
the challenge response is: the mobile terminal encrypts the challenge message using a shared key.
Specifically, WAPI (Wireless Authentication and Privacy Infrastructure, wireless local area network authentication protocol) is an authentication protocol proposed by the national institute of standards for Wireless Local Area Networks (WLAN) and is designed to replace the conventional 802.1X/EAP (Extensible Authentication Protocol, extended authentication protocol) method to provide higher security and efficiency. WAPI adopts a national encryption algorithm as an encryption algorithm, wherein the encryption algorithm comprises an SM1 symmetric encryption algorithm, an SM2 elliptic curve public key encryption algorithm, an SM3 hash algorithm and the like, and aims to protect a wireless network from various security threats such as identity forging, data tampering, eavesdropping and the like. The WAPI authentication module of the embodiment adopts WAPI to carry out identity authentication, so that a subsequent indoor and outdoor positioning system can be based on the WAPI, and the network security is ensured.
In the WAPI authentication module of this embodiment, the request receiving unit receives a connection request sent by the mobile terminal, and then responds and interacts in the request responding unit, and finally performs identity authentication through the identity authentication unit, and if authentication is successful, the mobile terminal successfully accesses to the WAPI.
The method comprises the following steps: the mobile terminal sends a connection request to a WAPI Access Point (AP), wherein the connection request comprises identity information and related parameters of the mobile terminal; after receiving the connection request of the mobile terminal, the AP sends a challenge message (Challenge Message) to the mobile terminal, and requires the mobile terminal to perform identity authentication; after receiving the challenge message of the AP, the mobile terminal encrypts the challenge message by using a shared secret key in advance and sends the processed result back to the AP as a challenge response (Challenge Response); after receiving the challenge response of the mobile terminal, the AP decrypts the challenge response by using a pre-shared secret key, compares the challenge response with the identity information of the mobile terminal stored in the AP, and verifies the validity and the authenticity of the mobile terminal; according to the result of identity authentication, the AP sends a message of successful or failed authentication to the mobile terminal; if the authentication is successful, the mobile terminal will obtain the right to access the network.
Referring to fig. 3, in one embodiment of the present application, the mobile terminal includes a request generating unit, an information receiving unit, a signal generating unit, and an information processing unit that are sequentially connected in communication;
the request generation unit is used for generating the connection request and sending the connection request to the WAPI authentication module;
the information receiving unit is used for receiving the indoor positioning information, the outdoor positioning information, the positioning switching information and the positioning calibration information;
the signal generating unit is used for generating the positioning switching signal and the positioning calibration signal;
the information processing unit is used for processing signal information, calculating and displaying positions, transmitting data and updating information;
the mobile terminal comprises a smart phone, a tablet personal computer, a smart watch, smart navigation equipment, internet of things equipment and an unmanned aerial vehicle.
Specifically, the mobile terminal in this embodiment refers to a device capable of receiving and processing a satellite navigation system signal to obtain location information, which is used for performing information interaction and identity authentication with the WAPI authentication module, and also for generating a signal and processing positioning information; as shown in fig. 4, the interaction between the mobile terminal and the positioning system of the present embodiment includes the following steps:
S41, the mobile terminal receives signals from a satellite navigation system (such as GPS, GLONASS, galileo, beiDou and the like) through an internal GPS chip or a positioning receiver, wherein the satellite signals comprise position and time information;
s42, the mobile terminal processes the received satellite signals, including decoding the signals, checking the data integrity, calculating the signal propagation time and the like;
s43, in the signal processing process, the mobile terminal calculates the geographic position of the mobile terminal by utilizing the received satellite signals and a built-in positioning algorithm; in the embodiment, the positioning algorithm uses the triangulation principle and the arrival time difference of satellite signals for calculation;
s44, the mobile terminal displays the calculated position information on a screen, and a user can check the position of the mobile terminal through a map application program or navigation software and use related functions such as path planning, navigation guidance and the like; in addition, the mobile terminal can also use the location information for other applications, such as social media location sharing, fitness tracking, etc.;
s45, the mobile terminal can transmit the position information to a remote server or other terminal equipment through a wireless network (such as 4G, 5G, wi-Fi and the like); such data transmission may be used for location services, location sharing, data analysis, etc.; meanwhile, the positioning system can also send auxiliary data, calibration parameters and the like to the mobile terminal through the wireless network so as to improve positioning accuracy and performance.
In this embodiment, the positioning tag in the mobile terminal is a device for positioning and tracking the position of an object or person, which is a small-sized wireless device, and includes a positioning chip and a function of communicating with other devices. In this embodiment, the location tag may use a variety of location technologies, such as Global Positioning System (GPS), wi-Fi, bluetooth (BLE), radio Frequency Identification (RFID), etc.; the positioning tag can perform data transmission with other equipment in a wireless communication mode, such as Bluetooth, NFC (near field communication) and the like, so that communication and data exchange with other terminal equipment (such as a mobile phone and a tablet personal computer) or a base station are realized; the positioning tag has certain data processing capability, and can process and store positioning data in the equipment; in this embodiment, the positioning tag also supports data transmission to the cloud positioning server for further calculation and analysis; the positioning label adopted in the embodiment can realize accurate positioning and real-time tracking of objects or personnel.
Referring to fig. 5, in one embodiment provided by the present application, the outdoor positioning module includes a beidou positioning unit, a dual-frequency RTK unit and an outdoor positioning calculation unit; the outdoor positioning calculation unit is respectively in communication connection with the Beidou positioning unit and the dual-frequency RTK unit;
The Beidou positioning unit comprises a plurality of Beidou satellites and is used for generating satellite signals through the Beidou satellites and transmitting the satellite signals to the Beidou positioning chip;
the dual-frequency RTK unit comprises a reference station and a mobile station, and is used for receiving the satellite signals and generating observation data through the satellite signals; and further configured to send the observation data to the mobile terminal over the communication link;
the outdoor positioning calculation unit is used for calculating information data in the Beidou positioning unit and the dual-frequency RTK unit;
wherein, the reference station and the mobile station are internally provided with a double-frequency GNSS receiver.
Specifically, the outdoor positioning module in this embodiment includes a beidou positioning unit and a dual-frequency RTK unit, where the beidou positioning unit adopts a beidou positioning technology and includes a plurality of beidou satellites; the dual-frequency RTK unit adopts a dual-frequency RT technology, which is a high-precision real-time positioning technology, and realizes millimeter-level positioning precision by measuring and processing satellite navigation system signals with two different frequencies; in the dual-frequency RTK of this embodiment, satellite navigation system signals such as GPS, GLONASS, galileo or BeiDou (BeiDou) in two frequency bands of L1 and L2 are used; the L1 frequency band consists of a low-frequency carrier wave and a pseudo-random noise code, and the L2 frequency band has higher frequency and other specific modulation modes; the dual-frequency RTK technology can reduce the influence of factors such as atmospheric delay and ionosphere errors on measurement accuracy by using the signals with the two different frequencies, and provides more accurate real-time positioning capability, so that the dual-frequency RTK is widely applied to the fields such as mapping, land measurement, building engineering, aviation navigation and the like, and is very valuable for application scenes needing high-accuracy positioning. The outdoor positioning module obtains the application advantages of high precision, strong anti-interference capability, real-time performance and multi-system compatibility by combining the Beidou positioning technology and the dual-frequency RTK technology, and the combination can further improve the positioning precision and reliability and meet the requirements of various application scenes on high-precision positioning.
The outdoor positioning module in this embodiment includes the following steps:
s51, the mobile terminal receives signals transmitted by satellites through a built-in GPS chip or other satellite navigation system receivers;
s52, the received signals are subjected to signal processing in the mobile terminal, including decoding, checking, filtering and other operations, so that effective satellite signals can be extracted, interference is reduced, and accuracy of data is ensured;
s53, calculating the geographic position of the user by the mobile terminal through the received satellite signals by using a triangulation principle, a time difference and other methods;
s54, besides satellite signals, the outdoor positioning system can acquire auxiliary information by using other sensors, such as a gyroscope, an accelerometer, a barometer and the like, and the data of the sensors are fused with satellite positioning data, so that the positioning accuracy and reliability can be improved;
s55, through a positioning algorithm and data processing, the outdoor positioning system can give out current position estimation results of the user, the results are usually expressed in terms of longitude and latitude or other geographic coordinates, and the positioning system can continuously update the position estimation results so as to ensure real-time position information;
and S56, the positioning system outputs the calculated position information to a user and displays the position information through a screen of the mobile terminal.
Referring to fig. 6, in one embodiment of the present application, the indoor positioning module includes a UWB positioning unit, a bluetooth beacon unit, and an indoor positioning calculation unit; the indoor positioning calculation unit is respectively in communication connection with the UWB positioning unit and the Bluetooth beacon unit;
the UWB positioning unit comprises a UWB chip and a UWB antenna; the UWB chip is used for generating and transmitting UWB signals; the UWB antenna is configured to receive the UWB signal and transmit it to the UWB receiver;
the Bluetooth beacon unit comprises a Bluetooth beacon and is used for generating a broadcast signal at fixed time intervals and sending the broadcast signal to the Bluetooth module;
the indoor positioning calculation unit is used for calculating information data in the UWB positioning unit and the Bluetooth beacon unit.
Specifically, the indoor positioning module of the embodiment includes a UWB positioning unit and a bluetooth beacon unit; the UWB positioning unit adopts UWB (Ultra-Wideband) positioning technology, is an Ultra-Wideband technology, utilizes very wide frequency bandwidth to carry out wireless communication, can transmit a large amount of data in a short time, and has higher accurate positioning and distance measuring capability; the bluetooth beacon unit adopts bluetooth beacon technology, which is a wireless communication device for transmitting broadcast signals in a specific range so as to be convenient for other devices to identify and locate; the method is mainly used for indoor positioning, position sensing, quick identity recognition and other scenes; in the embodiment, the UWB positioning technology and the Bluetooth beacon technology are combined, so that the accuracy and reliability of indoor positioning are improved, and the accurate indoor positioning is realized.
Referring to fig. 7, in an embodiment of the present application, the positioning switching module includes a signal strength judging unit, a sensor data analyzing unit and a switching control unit; the switching control unit is respectively in communication connection with the signal intensity judging unit and the sensor data analyzing unit;
the signal strength judging unit is used for acquiring the signal strength of the outdoor positioning module and the signal strength of the indoor positioning module and judging the signal strength of the outdoor positioning module and the signal strength of the indoor positioning module, so as to acquire a judging result; switching a positioning technology according to the judging result;
the sensor data analysis unit is used for acquiring and analyzing the sensor data and the sensor system component data in the outdoor positioning module and the indoor positioning module to acquire an analysis result; switching the positioning technology according to the analysis result;
the switching control unit is used for controlling judgment of the signal intensity and analysis of the sensor data; the method is also used for combining the judging result and the analysis result to obtain a comprehensive result; switching the positioning technology through the comprehensive result;
the sensor comprises an accelerometer, a gyroscope and a magnetometer;
The sensor system components include the signal receiver, the UWB processor, a UWB chip, a UWB antenna, a bluetooth beacon, a reference station, and a mobile station.
The sensor system component of the present embodiment refers to a device for detecting and measuring various physical quantities or positioning signals in an environment, and the device converts environmental parameters into electrical signals or other signals, so as to facilitate processing and analysis by a mobile terminal or a cloud positioning server or a positioning system.
Referring to fig. 8, in one embodiment of the present application, the positioning calibration module includes a signal strength calibration unit, a geographic position calibration unit, a geometric calibration unit, a sensor calibration unit, and a calibration control unit;
the calibration control unit is respectively in communication connection with the signal intensity calibration unit, the geographic position calibration unit, the geometric calibration unit and the sensor calibration unit;
the signal intensity calibration unit is used for acquiring signal intensities in the outdoor positioning module and the indoor positioning module, establishing a mapping relation between the signal intensities and positions and constructing a signal intensity attenuation model/map database; positioning calibration is carried out through the mapping relation and the signal intensity attenuation model/map database;
The geographic position calibration unit is used for acquiring the equipment geographic positions of the positioning equipment in the outdoor positioning module and the indoor positioning module, and comparing and correcting the equipment geographic positions with the real geographic positions;
the geometric calibration unit is used for collecting and analyzing a plurality of signal source information, calculating positions by using the signal source information and obtaining clock errors, and calibrating the clock errors;
the sensor calibration unit is used for adjusting the precision of the sensor through a sensor calibration algorithm;
the calibration control unit is used for controlling the acquisition and processing of data, the calculation of position and the execution of position calibration in the signal intensity calibration unit, the geographic position calibration unit, the geometric calibration unit and the sensor calibration unit.
Referring to fig. 9, in an embodiment of the present application, the cloud positioning server includes a data management unit, a data calculation unit, a data fusion unit, a position calculation unit, a data analysis unit, and an interface calling unit that are sequentially connected in communication;
the data management unit is used for storing and backing up the information data collected by the positioning system; the information data includes position data, signal data, and map data;
The data calculation unit is used for carrying out algorithm operation and data processing by utilizing a positioning algorithm;
the data fusion unit is used for receiving the position data uploaded by the positioning sources, carrying out data fusion and calibration, and comparing and analyzing the data of different positioning sources; the positioning source comprises Beidou positioning, dual-frequency RTK, UWB, bluetooth positioning, GPS, wi-Fi and a cellular network;
the position calculation unit is used for carrying out position calculation and reasoning on the signal data by utilizing the information data and the positioning algorithm, and carrying out position estimation by matching with a pre-established map;
the data analysis unit is used for counting and analyzing the position data and performing visual display;
the interface calling unit is used for providing a callable service interface for a developer;
the service interface is used for constructing various application services based on positioning data and functions; the application services include navigation, geographic location services, and location monitoring.
Specifically, the cloud positioning server can be used for storing a large amount of position data, signal data, map data and the like collected by the positioning system, and the data can be effectively managed, stored and backed up through the cloud platform so as to facilitate subsequent analysis, processing and application;
The cloud positioning server is provided with powerful computing resources and can perform complex algorithm processing and computing; for example, in indoor positioning, the cloud positioning server may process received signal data using a fingerprint positioning algorithm or a machine learning model and generate a positioning result;
the cloud positioning server can receive position data uploaded by a plurality of positioning sources (such as GPS, wi-Fi and cellular network) and perform data fusion and calibration; by comparing and analyzing the data of different positioning sources, the accuracy and stability of positioning can be improved;
the cloud positioning server can utilize stored map data, a position database and a positioning algorithm to calculate and infer the position of the collected signal data, and can estimate the position of the receiver by matching with a pre-established map;
the cloud positioning server can provide a service interface and a calling mode for a developer so as to facilitate other application programs or service integration positioning functions; thus, a developer can construct various applications such as navigation, geographic location service, location monitoring and the like based on the positioning data and the functions;
the cloud positioning server can also perform statistical analysis and visual display of the position data; through analysis of the position data, useful information and insight can be extracted, and functions such as real-time position report, track tracking and the like are provided for a user;
In a word, the cloud positioning server in the embodiment plays roles in multiple aspects of data storage, algorithm processing, data fusion, position calculation, service interfaces, application development and the like in the positioning system, and provides support for functions and performances of the positioning system.
In summary, the application realizes the identity authentication of the mobile terminal based on WAPI, and ensures the safety of network communication in the positioning process; the Beidou satellite positioning technology and the dual-frequency RTK technology are combined in the outdoor positioning, and the UWB positioning technology and the Bluetooth beacon are combined in the indoor positioning, so that the accuracy of indoor and outdoor positioning is improved; on the basis of providing network security by WAPI, the indoor and outdoor hybrid positioning switching is realized without perception, and the continuity and the security of indoor and outdoor positioning are improved.
The application also has the following beneficial effects:
(1) The application receives and responds to the network connection request sent by the mobile terminal through the WAPI authentication module, and encrypts and decrypts the data by utilizing the shared secret key, thereby ensuring the safety in the data interaction process; the identity information sent by the mobile terminal is compared with the identity information stored in the WAPI, so that the accuracy and the credibility of the identity verification are ensured; the WAPI adopts a national encryption algorithm as an encryption algorithm thereof, so that the wireless network can be protected from various security threats such as identity falsification, data tampering, eavesdropping and the like.
(2) The mobile terminal is integrated with the positioning tag, so that the accurate positioning and real-time tracking of objects or personnel can be realized; the mobile terminal is also provided with a signal receiver, UWB signal equipment, a communication link and other devices which interact with the indoor and outdoor positioning technology, and can also bear the processing tasks of positioning information, such as receiving and decoding signals, calculating positions, fusing data and the like; therefore, information interaction in the positioning process is quicker, real-time and safer, the processing efficiency of positioning information is improved, and the real-time performance of positioning is ensured.
(3) The outdoor positioning module adopts a mode of combining Beidou positioning and dual-frequency RTK technology to realize outdoor positioning; the Beidou positioning technology is a global satellite navigation system independently researched and developed in China, can be better matched with WAPI, has the advantages of global coverage, high-precision positioning, multi-equipment support and the like, and can provide reliable and accurate positioning service; the dual-frequency RTK technology can provide very high positioning precision, and has real-time performance and strong anti-interference capability; therefore, the application combines the two positioning technologies together, can further improve the accuracy and reliability of outdoor positioning, and meets the requirements of various application scenes on high-accuracy positioning.
(4) The indoor positioning module adopts a mode of combining UWB positioning technology and Bluetooth beacon technology to realize indoor positioning; the UWB positioning technology is a positioning technology based on ultra-wideband signals, has the advantages of high-precision positioning, indoor and outdoor application, strong anti-interference capability, high-density positioning, quick data transmission, low power consumption and the like, and can provide accurate and reliable positioning and communication capability for various applications; the Bluetooth beacon is a wireless technology applied to the field of indoor positioning and position sensing, has the advantages of low power consumption, indoor positioning capability, instantaneity and the like, and can provide accurate positioning and reliable sensing capability for various applications; therefore, the application combines the two positioning technologies together, and can further improve the accuracy, the instantaneity, the reliability and the strong anti-interference capability of indoor positioning.
(5) The positioning switching module provided by the application distinguishes the indoor environment from the outdoor environment by judging the strength of the signals and analyzing the data of the sensor, and selects a proper positioning technology for switching according to the judging result and the analyzing result, so that the seamless switching between the indoor positioning technology and the outdoor positioning technology is realized when the indoor environment and the outdoor environment are judged, the positioning switching module can ensure that the positioning precision is not seriously deviated in the switching process of the positioning technology, larger perception fluctuation is not caused, the switching of the indoor positioning technology and the outdoor positioning technology is not perceived, and the positioning continuity is ensured.
(6) The positioning calibration module of the application performs signal intensity calibration, geographical position calibration, sensor calibration and positioning geometric calibration on positioning, thereby improving the positioning accuracy, precision and reliability, and further improving the performance and precision of the positioning system.
(7) The cloud positioning server has the functions of data storage and backup, processing data by using a positioning algorithm, carrying out data fusion and calibration, calculating the position of positioning, providing a service interface for application development and the like, and provides effective support for the functions and performances of a positioning system; according to the method and the system, the efficiency of processing indoor and outdoor information and data in the mobile terminal is judged through the cloud positioning server, whether the mobile terminal processes information data or the cloud positioning server processes the information data is determined through comparing the terminal efficiency with the set efficiency threshold, an effective guarantee platform is provided for information data processing, the information processing capacity and efficiency of the positioning system are improved, and the real-time performance and the high efficiency of the positioning system are guaranteed.
Example 2
Referring to fig. 10 to 11, the present application provides an indoor and outdoor integrated positioning method based on WAPI, which includes the following steps:
S1, a mobile terminal sends a connection request to an access point of WAPI; the connection request comprises identity information and terminal parameters of the mobile terminal;
s2, the access point receives the connection request and sends a challenge message to the mobile terminal; the challenge message is used for identity authentication;
s3, the mobile terminal receives the challenge message, encrypts the challenge message by using a shared key, and sends the encrypted challenge message to the access point as a challenge response;
s4, the access point receives the challenge response, decrypts the challenge response by using the shared secret key, compares and authenticates the decrypted challenge response with the identity information of the mobile terminal stored in the access point, and obtains an identity authentication result;
s5, the access point sends an authentication notice to the mobile terminal according to the identity authentication result;
s6, the mobile terminal obtains the authority of the access network according to the authentication notification; if the authentication notification is that the identity authentication is successful, the mobile terminal accesses the network; if the authentication notification is that the identity authentication fails, executing the step S1;
S7, generating outdoor positioning information and sending the outdoor positioning information to the mobile terminal;
s8, generating indoor positioning information and sending the indoor positioning information to the mobile terminal;
s9, the mobile terminal receives the outdoor positioning information and the indoor positioning information and performs position operation according to the outdoor positioning information and the indoor positioning information to generate positioning information;
s10, generating a positioning switching signal and a positioning calibration signal according to the positioning information;
s11, switching the positioning to indoor or outdoor according to the positioning switching signal;
s12, calibrating the positioning according to the positioning calibration signal, acquiring positioning calibration information and sending the positioning calibration information to the mobile terminal;
and S13, the mobile terminal displays the positioning according to the positioning calibration information.
The application realizes the identity authentication of the mobile terminal based on WAPI, and ensures the safety of network communication in the positioning process; the Beidou satellite positioning technology and the dual-frequency RTK technology are combined in the outdoor positioning, and the UWB positioning technology and the Bluetooth beacon are combined in the indoor positioning, so that the accuracy of indoor and outdoor positioning is improved; on the basis of providing network security by WAPI, the indoor and outdoor hybrid positioning switching is realized without perception, and the continuity and the security of indoor and outdoor positioning are improved.
In the application, the security in the data interaction process is ensured by receiving and responding to the network connection request sent by the mobile terminal and encrypting and decrypting the data by utilizing the shared secret key in the identity authentication of WAPI; the identity information sent by the mobile terminal is compared with the identity information stored in the WAPI, so that the accuracy and the credibility of the identity verification are ensured; the WAPI adopts a national encryption algorithm as an encryption algorithm thereof, so that the wireless network can be protected from various security threats such as identity falsification, data tampering, eavesdropping and the like.
The mobile terminal is integrated with the positioning tag, so that the accurate positioning and real-time tracking of objects or personnel can be realized; the mobile terminal is also provided with a signal receiver, UWB signal equipment, a communication link and other devices which interact with the indoor and outdoor positioning technology, and can also bear the processing tasks of positioning information, such as receiving and decoding signals, calculating positions, fusing data and the like; therefore, information interaction in the positioning process is quicker, real-time and safer, the processing efficiency of positioning information is improved, and the real-time performance of positioning is ensured.
According to the application, outdoor positioning is realized by combining the Beidou positioning technology and the dual-frequency RTK technology; the Beidou positioning technology is a global satellite navigation system independently researched and developed in China, can be better matched with WAPI, has the advantages of global coverage, high-precision positioning, multi-equipment support and the like, and can provide reliable and accurate positioning service; the dual-frequency RTK technology can provide very high positioning precision, and has real-time performance and strong anti-interference capability; therefore, the application combines the two positioning technologies together, can further improve the accuracy and reliability of outdoor positioning, and meets the requirements of various application scenes on high-accuracy positioning.
The application adopts a mode of combining UWB positioning technology and Bluetooth beacon technology to realize indoor positioning; the UWB positioning technology is a positioning technology based on ultra-wideband signals, has the advantages of high-precision positioning, indoor and outdoor application, strong anti-interference capability, high-density positioning, quick data transmission, low power consumption and the like, and can provide accurate and reliable positioning and communication capability for various applications; the Bluetooth beacon is a wireless technology applied to the field of indoor positioning and position sensing, has the advantages of low power consumption, indoor positioning capability, instantaneity and the like, and can provide accurate positioning and reliable sensing capability for various applications; therefore, the application combines the two positioning technologies together, and can further improve the accuracy, the instantaneity, the reliability and the strong anti-interference capability of indoor positioning.
According to the application, the indoor environment and the outdoor environment are distinguished through judging the strength of the signals and analyzing the data of the sensor, and the proper positioning technology is selected for switching according to the judging result and the analyzing result, so that the seamless switching between the indoor positioning technology and the outdoor positioning technology is realized when the indoor environment and the outdoor environment are judged, the positioning switching module can ensure that the positioning precision is not seriously deviated in the switching process of the positioning technology, larger perception fluctuation is not caused, the switching of the indoor positioning technology and the outdoor positioning technology is not perceived, and the positioning continuity is ensured.
According to the application, the accuracy, the precision and the reliability of positioning are improved by calibrating the signal intensity, the geographical position, the sensor and the positioning geometry, so that the performance and the precision of the positioning system are improved.
The cloud positioning server has the functions of data storage and backup, processing data by using a positioning algorithm, carrying out data fusion and calibration, calculating the position of positioning, providing a service interface for application development and the like, and provides effective support for the functions and performances of a positioning system; according to the method and the system, the efficiency of processing indoor and outdoor information and data in the mobile terminal is judged through the cloud positioning server, whether the mobile terminal processes information data or the cloud positioning server processes the information data is determined through comparing the terminal efficiency with the set efficiency threshold, an effective guarantee platform is provided for information data processing, the information processing capacity and efficiency of the positioning system are improved, and the real-time performance and the high efficiency of the positioning system are guaranteed.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the system is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, the specific names of the functional units and modules are only for distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The present application is not limited to the above embodiments, but is capable of modification and variation in detail, and other modifications and variations can be made by those skilled in the art without departing from the scope of the present application.
Claims (10)
1. Indoor and outdoor integrated positioning system based on WAPI, characterized in that: the system comprises a WAPI authentication module, a mobile terminal, an outdoor positioning module, an indoor positioning module, a positioning switching module and a positioning calibration module;
the WAPI authentication module is in communication connection with the mobile terminal;
the mobile terminal is respectively in communication connection with the outdoor positioning module and the indoor positioning module;
the outdoor positioning module and the indoor positioning module are respectively in communication connection with the positioning switching module;
the positioning switching module is in communication connection with the positioning calibration module;
The mobile terminal is used for sending a connection request to the WAPI authentication module;
the WAPI authentication module is used for receiving the connection request and responding to the connection request, and carrying out identity authentication through information interaction;
the outdoor positioning module is used for generating and sending out outdoor positioning information;
the mobile terminal is further used for receiving the outdoor positioning information;
the indoor positioning module is used for generating and sending indoor positioning information;
the mobile terminal is further used for receiving the indoor positioning information;
the mobile terminal is further used for generating a positioning switching signal according to the outdoor positioning information and the indoor positioning information;
the positioning switching module is used for switching positioning to indoor or outdoor according to the positioning switching signal and generating positioning switching information;
the mobile terminal is further used for generating a positioning calibration signal according to the positioning switching information;
the positioning calibration module is used for performing positioning calibration according to the positioning calibration signal, acquiring positioning calibration information and sending the positioning calibration information to the mobile terminal;
wherein, the mobile terminal is integrated with a positioning tag;
the mobile terminal is further provided with a signal receiver, and the signal receiver comprises a Beidou positioning chip and a Bluetooth module;
The mobile terminal is also provided with UWB signal equipment, and the UWB signal equipment comprises a UWB receiver and a UWB processor;
the mobile terminal also establishes a communication link with the outdoor positioning module and the indoor positioning module.
2. The WAPI-based indoor and outdoor integrated positioning system of claim 1, wherein: the WAPI authentication module comprises a request receiving unit, a request responding unit and an identity authentication unit which are sequentially connected in a communication mode;
the request receiving unit is used for receiving the connection request sent by the mobile terminal;
the request response unit is used for sending a challenge message to the mobile terminal and receiving a challenge response fed back by the mobile terminal;
the identity authentication unit is used for decrypting the challenge response by using a shared secret key, and authenticating the identity of the mobile terminal to generate an authentication result; the method is also used for generating access rights according to the authentication result and sending the access rights to the mobile terminal;
wherein, the connection request comprises the identity information and the equipment parameters of the mobile terminal;
the challenge message is used for carrying out identity authentication on the mobile terminal;
The challenge response is: the mobile terminal encrypts the challenge message using the shared key.
3. The WAPI-based indoor and outdoor integrated positioning system of claim 1, wherein: the mobile terminal comprises a request generation unit, an information receiving unit, a signal generation unit and an information processing unit which are connected in sequence in a communication way;
the request generation unit is used for generating the connection request and sending the connection request to the WAPI authentication module;
the information receiving unit is used for receiving the indoor positioning information, the outdoor positioning information, the positioning switching information and the positioning calibration information;
the signal generating unit is used for generating the positioning switching signal and the positioning calibration signal;
the information processing unit is used for processing signal information, calculating and displaying positions, transmitting data and updating information;
the mobile terminal comprises a smart phone, a tablet personal computer, a smart watch, smart navigation equipment, internet of things equipment and an unmanned aerial vehicle.
4. The WAPI-based indoor and outdoor integrated positioning system of claim 1, wherein: the outdoor positioning module comprises a Beidou positioning unit, a dual-frequency RTK unit and an outdoor positioning calculation unit; the outdoor positioning calculation unit is respectively in communication connection with the Beidou positioning unit and the dual-frequency RTK unit;
The Beidou positioning unit comprises a plurality of Beidou satellites and is used for generating satellite signals through the Beidou satellites and transmitting the satellite signals to the Beidou positioning chip;
the dual-frequency RTK unit comprises a reference station and a mobile station, and is used for receiving the satellite signals and generating observation data through the satellite signals; and further configured to send the observation data to the mobile terminal over the communication link;
the outdoor positioning calculation unit is used for calculating information data in the Beidou positioning unit and the dual-frequency RTK unit;
wherein, the reference station and the mobile station are internally provided with a double-frequency GNSS receiver.
5. The WAPI-based indoor and outdoor integrated positioning system of claim 1, wherein: the indoor positioning module comprises a UWB positioning unit, a Bluetooth beacon unit and an indoor positioning calculation unit; the indoor positioning calculation unit is respectively in communication connection with the UWB positioning unit and the Bluetooth beacon unit;
the UWB positioning unit comprises a UWB chip and a UWB antenna; the UWB chip is used for generating and transmitting UWB signals; the UWB antenna is configured to receive the UWB signal and transmit it to the UWB receiver;
The Bluetooth beacon unit comprises a Bluetooth beacon and is used for generating a broadcast signal at fixed time intervals and sending the broadcast signal to the Bluetooth module;
the indoor positioning calculation unit is used for calculating information data in the UWB positioning unit and the Bluetooth beacon unit.
6. The WAPI-based indoor and outdoor integrated positioning system of claim 1, wherein: the positioning switching module comprises a signal intensity judging unit, a sensor data analyzing unit and a switching control unit; the switching control unit is respectively in communication connection with the signal intensity judging unit and the sensor data analyzing unit;
the signal strength judging unit is used for acquiring the signal strength of the outdoor positioning module and the signal strength of the indoor positioning module and judging the signal strength of the outdoor positioning module and the signal strength of the indoor positioning module, so as to acquire a judging result; switching a positioning technology according to the judging result;
the sensor data analysis unit is used for acquiring and analyzing the sensor data and the sensor system component data in the outdoor positioning module and the indoor positioning module to acquire an analysis result; switching the positioning technology according to the analysis result;
the switching control unit is used for controlling judgment of the signal intensity and analysis of the sensor data; the method is also used for combining the judging result and the analysis result to obtain a comprehensive result; switching the positioning technology through the comprehensive result;
The sensor comprises an accelerometer, a gyroscope and a magnetometer;
the sensor system components include the signal receiver, the UWB processor, a UWB chip, a UWB antenna, a bluetooth beacon, a reference station, and a mobile station.
7. The WAPI-based indoor and outdoor integrated positioning system of claim 1, wherein: the positioning calibration module comprises a signal intensity calibration unit, a geographic position calibration unit, a geometric calibration unit, a sensor calibration unit and a calibration control unit;
the calibration control unit is respectively in communication connection with the signal intensity calibration unit, the geographic position calibration unit, the geometric calibration unit and the sensor calibration unit;
the signal intensity calibration unit is used for acquiring signal intensities in the outdoor positioning module and the indoor positioning module, establishing a mapping relation between the signal intensities and positions and constructing a signal intensity attenuation model/map database; positioning calibration is carried out through the mapping relation and the signal intensity attenuation model/map database;
the geographic position calibration unit is used for acquiring the equipment geographic positions of the positioning equipment in the outdoor positioning module and the indoor positioning module, and comparing and correcting the equipment geographic positions with the real geographic positions;
The geometric calibration unit is used for collecting and analyzing a plurality of signal source information, calculating positions by using the signal source information and obtaining clock errors, and calibrating the clock errors;
the sensor calibration unit is used for adjusting the precision of the sensor through a sensor calibration algorithm;
the calibration control unit is used for controlling the acquisition and processing of data, the calculation of position and the execution of position calibration in the signal intensity calibration unit, the geographic position calibration unit, the geometric calibration unit and the sensor calibration unit.
8. The WAPI-based indoor and outdoor integrated positioning system of claim 1, wherein: the cloud positioning server is in communication connection with the mobile terminal and is used for judging the terminal efficiency of the mobile terminal for processing the outdoor positioning information and the indoor positioning information and a set efficiency threshold; and if the terminal efficiency is smaller than the efficiency threshold, sending the outdoor positioning information and the indoor positioning information to the cloud positioning server.
9. The WAPI based indoor and outdoor integrated positioning system of claim 8, wherein: the cloud positioning server comprises a data management unit, a data calculation unit, a data fusion unit, a position calculation unit, a data analysis unit and an interface calling unit which are sequentially connected in a communication mode;
The data management unit is used for storing and backing up the information data collected by the positioning system; the information data includes position data, signal data, and map data;
the data calculation unit is used for carrying out algorithm operation and data processing by utilizing a positioning algorithm;
the data fusion unit is used for receiving the position data uploaded by the positioning sources, carrying out data fusion and calibration, and comparing and analyzing the data of different positioning sources; the positioning source comprises Beidou positioning, dual-frequency RTK, UWB, bluetooth positioning, GPS, wi-Fi and a cellular network;
the position calculation unit is used for carrying out position calculation and reasoning on the signal data by utilizing the information data and the positioning algorithm, and carrying out position estimation by matching with a pre-established map;
the data analysis unit is used for counting and analyzing the position data and performing visual display;
the interface calling unit is used for providing a callable service interface for a developer;
the service interface is used for constructing various application services based on positioning data and functions; the application services include navigation, geographic location services, and location monitoring.
10. A WAPI-based indoor and outdoor integrated positioning method is characterized by comprising the following steps of: the method comprises the following steps:
s1, a mobile terminal sends a connection request to an access point of WAPI; the connection request comprises identity information and terminal parameters of the mobile terminal;
s2, the access point receives the connection request and sends a challenge message to the mobile terminal; the challenge message is used for identity authentication;
s3, the mobile terminal receives the challenge message, encrypts the challenge message by using a shared key, and sends the encrypted challenge message to the access point as a challenge response;
s4, the access point receives the challenge response, decrypts the challenge response by using the shared secret key, compares and authenticates the decrypted challenge response with the identity information of the mobile terminal stored in the access point, and obtains an identity authentication result;
s5, the access point sends an authentication notice to the mobile terminal according to the identity authentication result;
s6, the mobile terminal obtains the authority of the access network according to the authentication notification; if the authentication notification is that the identity authentication is successful, the mobile terminal accesses the network; if the authentication notification is that the identity authentication fails, executing the step S1;
S7, generating outdoor positioning information and sending the outdoor positioning information to the mobile terminal;
s8, generating indoor positioning information and sending the indoor positioning information to the mobile terminal;
s9, the mobile terminal receives the outdoor positioning information and the indoor positioning information and performs position operation according to the outdoor positioning information and the indoor positioning information to generate positioning information;
s10, generating a positioning switching signal and a positioning calibration signal according to the positioning information;
s11, switching the positioning to indoor or outdoor according to the positioning switching signal;
s12, calibrating the positioning according to the positioning calibration signal, acquiring positioning calibration information and sending the positioning calibration information to the mobile terminal;
and S13, the mobile terminal displays the positioning according to the positioning calibration information.
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