CN211453961U - Indoor and outdoor combined positioning system - Google Patents
Indoor and outdoor combined positioning system Download PDFInfo
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- CN211453961U CN211453961U CN201922203012.5U CN201922203012U CN211453961U CN 211453961 U CN211453961 U CN 211453961U CN 201922203012 U CN201922203012 U CN 201922203012U CN 211453961 U CN211453961 U CN 211453961U
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Abstract
The utility model relates to a navigation technology field discloses an indoor outer combined positioning system, including satellite positioning module, ultra wide band label orientation module and processing module. The satellite positioning module is used for receiving satellite signals and generating first positioning information; the ultra-wideband tag positioning module is used for transmitting a pulse signal to the ultra-wideband tag positioning base station, receiving a response signal returned by the ultra-wideband tag positioning base station and generating second positioning information; the processing module is used for performing data integration on the first positioning information and the second positioning information, generating and outputting third positioning information; the satellite positioning module, the ultra-wide band tag positioning module and the processing module are integrated in the same module. The generation of the positioning information is realized at the user side, the user side can acquire the positioning information in real time, and the ultra-wideband tag positioning base station only needs to keep communicating with the ultra-wideband tag module and does not need communicating with the back end, so that the networking convenience is effectively improved, and the deployment difficulty and cost of the base station are reduced.
Description
Technical Field
The utility model relates to a navigation technology field especially relates to an indoor outer combined positioning system.
Background
The existing indoor and outdoor combined positioning method mainly refers to positioning a target by combining satellite positioning and indoor positioning. The ultra-wideband (UWB) tag positioning in indoor positioning is enthusiastic for users due to the advantages of strong penetrating power, low power consumption, high safety, high accuracy and the like.
The current combined positioning mode of satellite positioning and ultra-wide band tag positioning generally comprises the steps that after a tag user is positioned by a combined base station, original data are transmitted to a back end, and the back end performs data fusion and processing on the original data to finally obtain position information of the user. This approach has the following disadvantages: 1. the user can not know the position information of the user; 2. limited by the limitation of the positioning distance of the ultra-wideband tag, a large number of combined base stations must be deployed, and each base station must be connected with the back end at any time to prevent the positioning failure of the corresponding area, which undoubtedly greatly increases the deployment difficulty and cost of the base stations.
SUMMERY OF THE UTILITY MODEL
Therefore, it is necessary to provide an indoor and outdoor combined positioning system for solving the problems of high base station deployment difficulty and high cost in a satellite/ultra-wide band tag combined positioning mode.
An indoor-outdoor combined positioning system, comprising:
the satellite positioning module is used for receiving satellite signals and generating first positioning information;
the ultra-wide band tag positioning module is used for transmitting a pulse signal to an ultra-wide band tag positioning base station, receiving a response signal returned by the ultra-wide band tag positioning base station and generating second positioning information;
the processing module is respectively electrically connected with the satellite positioning module and the ultra-wideband tag positioning module, and is used for performing data integration on the first positioning information and the second positioning information, generating and outputting third positioning information;
the satellite positioning module, the ultra-wide band tag positioning module and the processing module are integrated in the same module.
In one embodiment, the satellite positioning module supports receiving one or more of satellite signals transmitted by a Beidou satellite navigation system, a global positioning satellite system, a Glonass satellite navigation system, a Galileo satellite navigation system, an Indian regional navigation satellite system, a quasi-zenith satellite system, and a satellite based augmentation system.
In one embodiment, the satellite positioning module supports dual-frequency differential positioning.
In one embodiment, the satellite positioning module and the processing module are integrated in the same chip.
In one embodiment, the satellite positioning module is an HD8040 navigation chip or an HD9300 navigation chip.
In one embodiment, the navigation system further comprises an inertial measurement unit electrically connected to the satellite positioning module, and configured to acquire inertial navigation data and send the inertial navigation data to the satellite positioning module.
In one embodiment, a wireless communication module is further integrated in the module, and the wireless communication module is electrically connected with the processing module and is used for wirelessly transmitting the third positioning information to the outside.
In one embodiment, the wireless communication module is a low-power wide area network communication module.
In one embodiment, the wireless communication module is a long-distance radio communication module.
In one embodiment, the mobile terminal further includes a wireless communication gateway, electrically connected to the wireless communication module, and configured to receive the third positioning information and transmit the third positioning information to a cloud or a local server.
According to the indoor and outdoor combined positioning system, the first positioning information generated by the satellite positioning module and the second positioning information generated by the ultra-wideband label positioning module are fused together through the processing module to generate the third positioning information, and therefore indoor and outdoor combined positioning is achieved. The satellite positioning module, the ultra-wideband tag positioning module and the processing module are integrated in the same module, namely, the generation of the first positioning information, the second positioning information and the third positioning information is realized at the user side, and the third positioning information is output to the rear end after being generated, so that the user side and the rear end can acquire the positioning information in real time during actual use, and the situation that the user side cannot acquire the positioning information in the traditional indoor and outdoor combined positioning mode is changed. In addition, a combined base station is not required to be deployed, only the ultra-wide band tag positioning base station with a single function is required to be deployed, and the ultra-wide band tag positioning base station only needs to be communicated with the ultra-wide band tag module and does not need to be communicated with the rear end, so that networking convenience is effectively improved, and base station deployment difficulty and cost are reduced.
Drawings
Fig. 1 is a schematic structural diagram of an embodiment of an indoor and outdoor positioning system provided by the present invention;
fig. 2 is a schematic structural diagram of an embodiment of the indoor and outdoor positioning system provided by the present invention;
fig. 3 is a schematic structural diagram of an embodiment of the indoor and outdoor positioning system provided by the present invention.
Reference numerals:
10-a satellite positioning module; 11-an ultra-wide band tag positioning module; 12-a processing module; 13-an ultra wideband tag positioning base station; 14-a module; 15-back end; 16-an inertial measurement unit; 17-a wireless communication module; 18-wireless communication gateway.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
An embodiment of the utility model provides an indoor outer combination positioning system, as shown in fig. 1, including satellite positioning module 10, ultra wide band label orientation module 11 and processing module 12.
The satellite positioning module 10 is configured to receive a satellite signal and generate first positioning information. Specifically, the satellite positioning module 10 may receive one or more satellite signals transmitted by various types of navigation systems such as a chinese beidou satellite navigation system (BDS), a Global Positioning System (GPS), a GLONASS satellite navigation system (GLONASS), a GALILEO satellite navigation system (GALILEO), a quasi-zenith satellite system (QZSS), an Indian Regional Navigation Satellite System (IRNSS), and a satellite-based augmentation system (SBAS), has high compatibility, and is applicable to positioning of multiple systems.
As a preferred embodiment, the satellite positioning module 10 supports dual-frequency differential positioning, that is, satellite signals of two frequency bands can be received simultaneously, and has higher resistance to multipath, reflected signals, and the like, thereby improving the anti-interference capability. Meanwhile, the two frequency bands can reduce errors of other signal sources, such as errors caused by electronic interference in an ionosphere, and improve positioning accuracy.
The ultra-wideband tag positioning module 11 is configured to transmit a pulse signal to the ultra-wideband tag positioning base station 13 and receive a response signal returned by the ultra-wideband tag positioning base station 13, and generate second positioning information. Specifically, the ultra-wideband technology is also called uwb (ultra wideband), which is a new communication technology that is quite different from the conventional communication technology, and does not need to use a carrier in the conventional communication system, but transmits data by sending and receiving extremely narrow pulses with nanosecond or nanosecond level or below, so that the ultra-wideband technology has a bandwidth with GHz level, and has the advantages of strong penetrating power, low power consumption, high safety and the like.
The principle of the positioning of the ultra-wide band label is as follows: the positioning labels carried by people or objects to be positioned can transmit pulse signals to a plurality of label positioning base stations which are arranged indoors in advance according to a certain frequency, after each label positioning base station receives the pulse signals, the distance between each label positioning base station and the positioning label is calculated according to the time and the speed of pulse signal transmission, and the specific positions of the positioning labels can be obtained according to the distances between the plurality of label positioning base stations and the positioning labels. Meanwhile, the tag positioning base station returns a response signal to the positioning tag after receiving the pulse signal, and the positioning tag (i.e. the ultra-wideband tag positioning module) calculates the distance from the positioning tag to each tag positioning base station according to the transmission time and speed of the pulse signal and the response signal, so as to acquire the position information (i.e. the second positioning information) of the positioning tag. Therefore, bidirectional positioning between the tag positioning base station and the positioning tag is realized.
The processing module 12 is electrically connected to the satellite positioning module 10 and the ultra-wideband tag positioning module 11, and is configured to perform data integration on the first positioning information generated by the satellite positioning module 10 and the second positioning information generated by the ultra-wideband tag positioning module 11, generate third positioning information, and output the third positioning information. The processing module 12 is an MCU main control chip, and is responsible for initialization and function control of the satellite positioning module 10 and the ultra-wideband tag positioning module 11, and is mainly used for receiving the first positioning information and the second positioning information, and performing data fusion on the first positioning information and the second positioning information to obtain indoor and outdoor combined positioning information (i.e., third positioning information). After the third positioning information is generated, the third positioning information is output to the back end 15, the back end 15 may be a cloud server or a local server, and the position information can be obtained and displayed on the map by logging in the server.
In this embodiment, the satellite positioning module 10, the ultra-wideband tag positioning module 11 and the processing module 12 are integrated into the same module 14. That is, the generation of the first positioning information, the second positioning information and the third positioning information is realized at the user end, and the third positioning information is output to the back end 15 after being generated, so that the user end and the back end can both obtain the positioning information in real time during actual use, and the situation that the user end cannot obtain the positioning information in the traditional indoor and outdoor combined positioning mode is changed. In addition, a combined base station is not required to be deployed, only the ultra-wide band tag positioning base station with a single function is required to be deployed, and the ultra-wide band tag positioning base station only needs to be communicated with the ultra-wide band tag module and does not need to be communicated with the rear end, so that networking convenience is effectively improved, and base station deployment difficulty and cost are reduced.
As a preferred embodiment, the satellite positioning module 10 and the processing module 12 are integrated in the same chip. Therefore, the hardware design is simplified, the product volume is reduced, the miniaturization development trend of the current equipment is met, the power consumption and the cost are reduced, and the operation speed is improved.
As a further preferred implementation, in this embodiment, the satellite positioning module 10 is an HD8040 navigation chip.
The HD8040 is a multi-system multi-frequency high-precision SoC chip which supports a new generation of Beidou three-number signal system in the world, the chip is a highly integrated MCU chip embedded with a GNSS navigation function and supports all global civil navigation systems, including a Chinese Beidou satellite navigation system (BDS), a Global Positioning System (GPS), a Glonass satellite navigation system (GLONASS), a Galileo satellite navigation system (GALILEO), an Indian Regional Navigation Satellite System (IRNSS), a quasi-zenith satellite system (QZSS) and a satellite-based augmentation system (SBAS), and can receive multi-frequency point signals (L1, L2 and L5). In addition, a brand-new CynosureIII framework and a multi-system multi-frequency differential technology are adopted, and the sub-meter positioning precision can be realized under the condition of no foundation or satellite-based reinforcement assistance. Besides, the HD8040 chip also has rich I/O resources, functions of UART, SPI, I2C, CAN, GPIO and the like greatly expand the functions of the whole device, all the I/O resources CAN be configured at will, and hardware development difficulty is greatly reduced.
In this embodiment, the satellite positioning module 10 may also select chips of the same series as the HD8040, such as 8040D, 8040S, 8041, 8041D,8041S, and other types of navigation chips.
As an alternative embodiment, in this embodiment, the navigation positioning module 10 is an HD9300 navigation chip, or a chip of the same series as the HD9300, for example, chips of 9301, 9310, 9311, etc.
Of course, other navigation chips with the same function can be selected for use, and the purpose of the utility model can be realized without much limitation.
As a preferred implementation manner, as shown in fig. 2, the indoor and outdoor integrated positioning system in this embodiment further includes an inertial measurement unit 16, where the inertial measurement unit 16 is electrically connected to the satellite positioning module 10, and is configured to acquire inertial navigation data and send the inertial navigation data to the satellite positioning module 10. Specifically, the Inertial Measurement Unit 16 is also referred to as an i.m.u. (Inertial Measurement Unit), the Inertial Measurement Unit 16 includes a gyroscope, an accelerometer, and a barometer, the gyroscope, the accelerometer, and the barometer are electrically connected to the satellite positioning module 10, the Inertial Measurement Unit 16 transmits acquired gyroscope data, acceleration data, and barometric data to the satellite positioning module 10, and the satellite positioning module 10 combines its own navigation positioning information and the above Inertial navigation data, and performs fusion analysis to obtain more comprehensive and accurate first positioning information.
In this embodiment, the inertial measurement unit 16 is integrated in the module 14, so as to further enrich the functions of the module 14 and improve the integration level of the indoor and outdoor positioning system.
As a preferred embodiment, as shown in fig. 3, a wireless communication module 17 is further integrated in the module 14, and the wireless communication module 17 is electrically connected to the processing module 12 and is used for wirelessly transmitting the third positioning information to the outside. In practical application, the wireless communication module 17 may be a Low Power Wide Area Network communication module, which is also called LPWAN (Low-Power Wide-Area Network), or LPWA (Low-Power Wide-Area Network) or LPN (Low-Power Network), and is a wireless Network used in the internet of things and capable of performing long-distance communication with a Low bit rate, and the transmission rate of each channel is between 0.3kbit/s and 50kbit/s, so that the wireless communication module has the advantages of Low Power consumption, Wide coverage and the like.
As a further preferred embodiment, the wireless communication module 17 is a long-distance wireless communication module. Long-distance radio communication is also called lora (long range), is an ultra-long-distance wireless transmission technology based on a spread spectrum technology, is mainly applied to unlicensed spectrum, can deploy an autonomous and controllable special network without depending on an operator, and has the characteristics of strong flexibility, quick layout, lower cost, low power consumption, high sensitivity and the like.
As an alternative, the wireless communication module 17 may also be an NB-IoT communication module. The NB-IoT is also called a narrowband Internet of Things (Narrow Band Internet of Things), and is popular with national policies, telecom operators, and industry factories, the NB-IoT technology develops rapidly in China, can work in authorized spectrum, and has the characteristics of strong coverage capability, large number of connections, low cost, low power consumption, high reliability and safety, and the like.
Except above-mentioned two kinds of wireless communication module, can also choose other wireless communication technique for use, the utility model discloses do not limit to this.
As a preferred implementation manner, the indoor and outdoor combined positioning system in this embodiment further includes a wireless communication gateway 18, and the wireless communication gateway 18 is electrically connected to the wireless communication module 17, and is configured to receive the third positioning information and transmit the third positioning information to a cloud or a local server. The LoRa wireless communication module sends the third positioning information to the LoRa gateway through a LoRaWAN protocol, and the LoRa gateway sends the third positioning information to a cloud end or a local server through an internet communication protocol. Thereby enabling communication between the module and the backend.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. An indoor and outdoor combined positioning system, comprising:
the satellite positioning module is used for receiving satellite signals and generating first positioning information;
the ultra-wide band tag positioning module is used for transmitting a pulse signal to an ultra-wide band tag positioning base station, receiving a response signal returned by the ultra-wide band tag positioning base station and generating second positioning information;
the processing module is respectively electrically connected with the satellite positioning module and the ultra-wideband tag positioning module, and is used for performing data integration on the first positioning information and the second positioning information, generating and outputting third positioning information;
the satellite positioning module, the ultra-wide band tag positioning module and the processing module are integrated in the same module.
2. The indoor-outdoor combined positioning system of claim 1, wherein the satellite positioning module supports receiving one or more of satellite signals transmitted by a Beidou satellite navigation system, a global positioning satellite system, a Glonass satellite navigation system, a Galileo satellite navigation system, an Indian regional navigation satellite system, a quasi-zenith satellite system and a satellite based augmentation system.
3. Indoor and outdoor combined positioning system according to claim 1, characterized in that the satellite positioning module supports dual-frequency differential positioning.
4. Indoor and outdoor combined positioning system according to claim 1, characterized in that the satellite positioning module and the processing module are integrated in the same chip.
5. The indoor and outdoor combined positioning system of claim 4, wherein the satellite positioning module is selected from an HD8040 navigation chip or an HD9300 navigation chip.
6. The indoor and outdoor combined positioning system of claim 1, further comprising an inertial measurement unit electrically connected to the satellite positioning module for acquiring inertial navigation data and sending the inertial navigation data to the satellite positioning module.
7. The indoor and outdoor combined positioning system of claim 1, wherein a wireless communication module is further integrated in the module, and the wireless communication module is electrically connected to the processing module and is configured to wirelessly transmit the third positioning information to the outside.
8. The indoor-outdoor combined positioning system of claim 7, wherein the wireless communication module is a low-power wide area network communication module.
9. An indoor-outdoor combined positioning system as claimed in claim 8, wherein the wireless communication module is a long-distance wireless communication module.
10. The indoor and outdoor combined positioning system of claim 7, further comprising a wireless communication gateway electrically connected to the wireless communication module, for receiving the third positioning information and transmitting the third positioning information to a cloud or a local server.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113156479A (en) * | 2021-03-23 | 2021-07-23 | 同济大学 | Combined positioning method for outdoor country road scene |
| CN114189805A (en) * | 2021-12-09 | 2022-03-15 | 上海聪链信息科技有限公司 | Wafer packaging factory equipment positioning system |
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2019
- 2019-12-10 CN CN201922203012.5U patent/CN211453961U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113156479A (en) * | 2021-03-23 | 2021-07-23 | 同济大学 | Combined positioning method for outdoor country road scene |
| CN114189805A (en) * | 2021-12-09 | 2022-03-15 | 上海聪链信息科技有限公司 | Wafer packaging factory equipment positioning system |
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Address after: 518000 room 201-2, Xinghe worldf building, No. 1 Yabao Road, Nankeng community, Bantian street, Longgang District, Shenzhen, Guangdong Patentee after: Shenzhen Huada Beidou Technology Co.,Ltd. Address before: 518172 5th floor, building 4, Yunli intelligent park, No.3, FAFA Road, Bantian street, Longgang District, Shenzhen City, Guangdong Province Patentee before: ALLYSTAR TECHNOLOGY (SHENZHEN) Co.,Ltd. |
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