WO2020048091A1 - 室内外无缝导航定位系统 - Google Patents

室内外无缝导航定位系统 Download PDF

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Publication number
WO2020048091A1
WO2020048091A1 PCT/CN2019/073860 CN2019073860W WO2020048091A1 WO 2020048091 A1 WO2020048091 A1 WO 2020048091A1 CN 2019073860 W CN2019073860 W CN 2019073860W WO 2020048091 A1 WO2020048091 A1 WO 2020048091A1
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positioning
indoor
wifi
cellular
base station
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English (en)
French (fr)
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王峰
智凯旋
揭云飞
潘观潮
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Guangdong University of Technology
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Guangdong University of Technology
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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
    • 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
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/33—Multimode operation in different systems which transmit time stamped messages, e.g. GPS/GLONASS
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system

Definitions

  • the utility model relates to the technical field of positioning systems, in particular to an indoor and outdoor seamless navigation positioning system.
  • GPS global positioning system
  • buildings and tunnels the satellite signals are severely attenuated, and the GPS-based positioning solution cannot meet the positioning requirements.
  • researchers have proposed a variety of indoor positioning technologies based on infrared, ultrasonic, Bluetooth signals, Wi-Fi signals, etc., and proposed some positioning schemes.
  • problems to be solved such as high system complexity, poor accuracy, and inconvenience, which makes indoor positioning and outdoor positioning incompatible.
  • the present invention addresses the lack of existing technologies, and its main purpose is to provide an indoor and outdoor seamless navigation and positioning system that simultaneously meets indoor positioning, outdoor positioning, and seamless navigation positioning between indoor and outdoor.
  • An indoor and outdoor seamless navigation and positioning system includes a GPS satellite, a cellular base station, a WIFI base station, and a receiver.
  • the GPS satellite, the cellular base station, and the WIFI base station are wirelessly paired with the receiver through a GPS signal, a cellular signal, and a WIFI signal.
  • the structure of the receiver includes an indoor and outdoor seamless positioning controller, a map display connected to the indoor and outdoor seamless positioning controller, a positioning result calculator, a positioning mode switcher, a cellular positioning module, a WIFI positioning module, and GPS, respectively.
  • a positioning module, the cellular positioning module is connected to a base station fingerprint database and a base station signal scanner, and the WIFI positioning module is connected to a WIFI fingerprint database and a WIFI signal scanner.
  • the GPS positioning module is an integrated circuit formed by integrating an RF radio frequency chip, a baseband chip and a core CPU, and adding related peripheral circuits.
  • the GPS positioning module uses a SiRFIII series GPS chip.
  • the WIFI positioning module uses an ESP8266 serial WIFI chip.
  • the cellular positioning module is selected from a position positioning module of SimCom company model LTE Cat M1.
  • the indoor and outdoor seamless positioning controller is selected from an intelligent module produced by Zhiwu Communication with a model number of ZM976.
  • the map display is a capacitive touch screen.
  • the receiver has a square-shaped casing, and the casing is provided with a charging and data interface, and the charging and data interface is externally provided with a soft rubber waterproof strip.
  • a corner of the casing is provided with a hanging hole for conveniently passing a hanging rope.
  • the utility model has obvious advantages and beneficial effects. Specifically, it can be known from the above technical solution that, due to the characteristics of wide outdoor coverage, high positioning accuracy, and strong real-time performance, GPS positioning is widely used in outdoor open space. Area positioning, but due to the obstruction of satellite signals by buildings, GPS positioning will fail in busy urban areas and indoor areas.
  • the WIFI network has the advantages of low cost and easy deployment. It is widely distributed in indoor places (airports, campuses, hospitals, commercial areas, and residential buildings), and it has also become a focus of indoor positioning research. The cellular signal can cover the promising indoor area, and the full coverage of the positioning scene can be achieved by referring to the cellular network.
  • the present invention designs a GPS satellite, a cellular base station, a WIFI base station, and a receiver.
  • the GPS satellite, the cellular base station, and the WIFI base station may be wirelessly paired with the receiver through a GPS signal, a cellular signal, and a WIFI signal, respectively.
  • the cellular positioning module, WIFI positioning module, and GPS positioning module are combined on one receiver, and a positioning mode switch is given to realize the switching between GPS / WIFI / cellular positioning modes to meet the indoor and outdoor seamless navigation positioning requirements.
  • FIG. 1 is a schematic diagram of a system structure according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing the structure of a receiver according to an embodiment of the present invention.
  • FIG. 3 is a perspective structural view of a receiver according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of a system positioning method according to an embodiment of the present invention.
  • FIG. 1 to FIG. 3 show a specific structure of a preferred embodiment of the present invention. It is an indoor and outdoor seamless navigation and positioning system.
  • the structure includes a GPS satellite 10, a cellular base station 20, and a WIFI base station. 30 and receiver 40.
  • the GPS satellite 10, the cellular base station 20, and the WIFI base station 30 are wirelessly paired with the receiver 40 through a GPS signal, a cellular signal, and a WIFI signal, respectively.
  • the structure of the receiver 40 includes an indoor and outdoor seamless positioning controller 41, a map display 42 connected to the indoor and outdoor seamless positioning controller 41, a positioning result calculator 43, and a positioning mode switch.
  • Device 44 a cellular positioning module 45, a WIFI positioning module 46, and a GPS positioning module 47.
  • the cellular positioning module 45 is connected to a base station fingerprint database 48 and a base station signal scanner 49.
  • the WIFI positioning module 46 is connected to a WIFI fingerprint database. 50 and WIFI signal scanner 51.
  • the GPS positioning module 47 is an integrated circuit formed by integrating an RF radio frequency chip, a baseband chip and a core CPU, and adding related peripheral circuits.
  • the GPS positioning module 47 uses a SiRFIII series GPS chip.
  • the WIFI positioning module 46 uses an ESP8266 serial WIFI chip.
  • the cellular positioning module 45 is selected from SimCom's LTE Cat M1 location positioning module, which can combine cellular functions with its powerful location / location module, which is becoming increasingly important in the Internet of Things.
  • the indoor and outdoor seamless positioning controller 41 is selected from a smart module manufactured by Zhiwu Telecommunications Co., Ltd. (ZM976). This controller can be applied to a smart handheld terminal and made into a receiver 40 similar to a cell phone or tablet.
  • the map display 42 is a capacitive touch screen, and the touch screen should be large enough to meet display and touch positioning functions (see FIG. 3).
  • the receiver 40 has a square-shaped housing 52.
  • the housing 52 is provided with a charging and data interface 53, and the charging and data interface 53 is externally provided with a soft rubber waterproof strip 54. And, a corner position of the casing 52 is provided with a hanging hole 55 for conveniently putting on a hanging rope.
  • the working principle of the indoor and outdoor seamless navigation positioning system of the present utility model is as follows: three positioning methods can be adopted: GPS positioning, WIFI fingerprint positioning, and cellular fingerprint positioning. However, according to the system requirements, positioning method positioning accuracy, coverage and complexity, etc., the priority is set by positioning method, and the highest priority positioning method that meets the requirements is selected when positioning.
  • the sequence of processes between indoor and outdoor seamless navigation and positioning systems is shown in Figure 4.
  • the receiver 40 uses the GPS positioning method outdoors. When the receiver 40 cannot receive four GPS satellites 10 signals at the same time, the environmental conditions at this time do not meet the basic requirements of GPS satellite 10 positioning, then the positioning mode switch is started. Judge. First, determine whether the WIFI fingerprint positioning conditions are met under this environmental condition. If they are met, switch to WIFI fingerprint positioning. If the WIFI fingerprint positioning conditions are not met, start to determine whether the cellular fingerprint positioning conditions are met, and then switch to using the cellular fingerprint positioning method.
  • the receiver 40 uses the WIFI fingerprint positioning method indoors. When the receiver 40 cannot search for more than 3 WIFI APs with fingerprint databases at the same time, it can be determined that the receiver 40 has left the WIFI positioning area, then the positioning mode switching judgment is started. . First, determine whether the cellular fingerprint positioning conditions are met under this environmental condition. If it is, then switch to using the cellular fingerprint positioning. If the cellular fingerprint positioning conditions are not met, then the user has moved from an indoor or obstructed environment to an open outdoor environment. Then it starts to judge the number of satellites received and enables the GPS positioning method.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

一种室内外无缝导航定位系统，包括GPS卫星（10）、蜂窝基站（20）、WIFI基站（30）和接收机（40），GPS卫星（10）、蜂窝基站（20）、WIFI基站（30）分别通过GPS信号、蜂窝信号、WIFI信号与接收机（40）无线配对相连，接收机（40）的结构包括室内外无缝定位控制器（41）、分别与该室内外无缝定位控制器（41）相接的地图显示器（42）、定位结果计算器（43）、定位方式切换器（44）、蜂窝定位模块（45）、WIFI定位模块（46）、GPS定位模块（47），蜂窝定位模块（45）相连接有基站指纹数据库（48）和基站信号扫描器（49），WIFI定位模块（46）相连接有WIFI指纹数据库（50）和WIFI信号扫描器（51）。系统实现了GPS/WIFI/蜂窝定位方式之间的切换，满足室内外无缝导航定位需求。

Description

室内外无缝导航定位系统
本实用新型要求于2018年09月03日提交中国专利局、申请号为201821437461.5、发明名称为“室内外无缝导航定位系统”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本实用新型涉及定位系统领域技术，尤其是指一种室内外无缝导航定位系统。
背景技术
随着社会的发展和科学技术的进步，位置信息对人们的生活和工作日益重要。对于室外空旷的区域，全球定位系统(GPS)被广泛使用，可以很好地满足人们对于位置信息的需求。而对于建筑物、隧道等建筑物内部，卫星信号被严重衰减，基于GPS的定位方案无法满足定位的需求。针对室内环境的定位问题，研究者们提出基于红外线、超声波、蓝牙信号、Wi-Fi信号等多种室内定位技术，并提出了一些定位方案。但仍然有很多问题需要解决，比如：系统复杂度高、精度差、不便于实现等，使得室内定位和室外定位无法兼容。
实用新型内容
有鉴于此，本实用新型针对现有技术存在之缺失，其主要目的是提供一种室内外无缝导航定位系统，同时满足室内定位、室外定位，以及室内外之间的无缝导航定位。
为实现上述目的，本实用新型采用如下之技术方案：
一种室内外无缝导航定位系统，包括GPS卫星、蜂窝基站、WIFI基站和接收机，所述GPS卫星、蜂窝基站、WIFI基站分别通过GPS信号、蜂窝信号、WIFI信号与接收机无线配对相连，所述接收机的结构包括室内外无缝定位控制器、分别与该室内外无缝定位控制器相接的地图显示器、定位结果计算器、定位方式切换器、蜂窝定位模块、WIFI定位模块、GPS定位模块，所述蜂窝定位模块相连接有基站指纹数据库和基站信号扫描器，所述WIFI定位模块相连接有WIFI指纹数据库和WIFI信号扫描器。
作为一种优选方案，所述GPS定位模块是集成了RF射频芯片、基带芯片和核心CPU，并加上相关外围电路而组成的一个集成电路。
作为一种优选方案，所述GPS定位模块采用SiRFIII系列GPS芯片。
作为一种优选方案，所述WIFI定位模块选用型号为ESP8266串口WIFI芯片。
作为一种优选方案，所述蜂窝定位模块选自SimCom公司型号为LTE Cat M1的位置定位模块。
作为一种优选方案，所述室内外无缝定位控制器选自智物通讯生产型号为ZM976的智能模块。
作为一种优选方案，所述地图显示器为电容触摸屏。
作为一种优选方案，所述接收机具有四方形的外壳，该外壳上设有充电和数据接口，该充电和数据接口外封设有软胶防水条。
作为一种优选方案，所述外壳的一个角落位置设有方便穿设吊绳的挂孔。
本实用新型与现有技术相比具有明显的优点和有益效果，具体而言，由上述技术方案 可知，由于GPS定位在室外覆盖广、定位精度高和实时性强特点，被广泛应用于室外开阔的区域定位，但是由于建筑物对卫星信号的遮挡，GPS定位在繁华市区和室内区域会有失效的现象发生。WIFI网络具有成本低、部署方便等优点，在室内场所(机场、校园、医院、商业区和住宅楼)广泛分布，从而也成为了室内定位研究的热点。蜂窝信号即可以覆盖繁华室内区域，通过引用蜂窝网络，可实现定位场景的全覆盖，基于以上所述，本实用新型设计了GPS卫星、蜂窝基站、WIFI基站和接收机。其中，所述GPS卫星、蜂窝基站、WIFI基站分别可以通过GPS信号、蜂窝信号、WIFI信号与接收机无线配对相连。通过蜂窝定位模块、WIFI定位模块、GPS定位模块组合在一台接收机上，并且赋予定位方式切换器，实现了GPS/WIFI/蜂窝定位方式之间的切换，满足室内外无缝导航定位需求。
为更清楚地阐述本实用新型的结构特征和功效，下面结合附图与具体实施例来对本实用新型进行详细说明。
附图说明
为了更清楚地说明本实用新型实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本实用新型中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它的附图。
图1是本实用新型之实施例的系统结构示意图。
图2是本实用新型之实施例的接收机结构组成框图。
图3是本实用新型之实施例的接收机立体结构图。
图4是本实用新型之实施例的系统定位方法流程图。
附图标识说明：
10、GPS卫星                20、蜂窝基站
30、WIFI基站               40、接收机
41、室内外无缝定位控制器   42、地图显示器
43、定位结果计算器         44、定位方式切换器
45、蜂窝定位模块           46、WIFI定位模块
47、GPS定位模块            48、基站指纹数据库
49、基站信号扫描器         50、WIFI指纹数据库
51、WIFI信号扫描器         52、外壳
53、充电和数据接口         54、软胶防水条
55、挂孔。
具体实施方式
为了使本技术领域的人员更好地理解本实用新型的方案，下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本实用新型的一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于实用新型请保护的范围。
请参照图1至图3所示，其显示出了本实用新型之较佳实施例的具体结构，是一种室内外无缝导航定位系统，其结构包括GPS卫星10、蜂窝基站20、WIFI基站30和接收机40。其中，所述GPS卫星10、蜂窝基站20、WIFI基站30分别通过GPS信号、蜂窝信号、WIFI信号与接收机40无线配对相连。
如图2所示，所述接收机40的结构包括室内外无缝定位控制器41、分别与该室内外无缝定位控制器41相接的地图显示器42、定位结果计算器43、定位方式切换器44、蜂窝定位模块45、WIFI定位模块46、GPS定位模块47，所述蜂窝定位模块45相连接有基站指纹数据库48和基站信号扫描器49，所述WIFI定位模块46相连接有WIFI指纹数据库50和WIFI信号扫描器51。
本实施例中，所述GPS定位模块47是集成了RF射频芯片、基带芯片和核心CPU，并加上相关外围电路而组成的一个集成电路。所述GPS定位模块47采用SiRFIII系列GPS芯片。所述WIFI定位模块46选用型号为ESP8266串口WIFI芯片。所述蜂窝定位模块45选自SimCom公司型号为LTE Cat M1的位置定位模块，其可以将蜂窝功能与其强大的位置/定位模块相结合，这在物联网中正变得越来越重要。所述室内外无缝定位控制器41选自智物通讯生产型号为ZM976的智能模块，此款控制器可应用于智能手持终端，制作成与手机、平板电脑外形类似的接收机40。所述地图显示器42为电容触摸屏，触摸屏应当足够大，满足显示和触摸定位功能(参见图3)。
如图3所示，所述接收机40具有四方形的外壳52，该外壳52上设有充电和数据接口53，该充电和数据接口53外封设有软胶防水条54。以及，所述外壳52的一个角落位置设有方便穿设吊绳的挂孔55。
本实用新型之室内外无缝导航定位系统的工作原理如下：可以采用三种定位方法：GPS定位、WIFI指纹定位和蜂窝指纹定位。然而依据系统要求、定位方式定位精度、覆盖范围和复杂度等特性，以定位方式设置优先级，定位时选择满足要求的最高优先定位方式。室内外无缝导航定位系统定位方式之间的流程顺序如图4所示。
室外到室内：接收机40在室外使用GPS定位方法，当接收机40无法同时接收到四颗GPS卫星10信号时，此时的环境条件不满足GPS卫星10定位的基本要求，则开始定位方式切换判断。首先判断此环境条件下是否满足WIFI指纹定位条件，如满足则切换使用WIFI指纹定位；如果不满足WIFI指纹定位条件，则开始判断是否满足蜂窝指纹定位条件，从而切换使用蜂窝指纹定位方式。
室内到室外：接收机40在室内使用WIFI指纹定位方法，当接收机40无法同时搜索到3个以上存在指纹数据库的WIFI AP，可以确定接收机40已离开WIFI定位区域，则开始定位方式切换判断。首先判断此环境条件下是否满足蜂窝指纹定位条件，如果满足则切换使用蜂窝指纹定位；如果不满足蜂窝指纹定位条件，那么用户此时已经从室内或者有障碍物遮挡的环境运动到室外开阔环境，则开始判断接收到的卫星数，启用GPS定位方法。
以上所述，仅是本实用新型的较佳实施例而已，并非对本实用新型的技术范围作任何限制，故凡是依据本实用新型的技术实质对以上实施例所作的任何细微修改、等同变化与修饰，均仍属于本实用新型技术方案的范围内。

Claims (9)

  1. 一种室内外无缝导航定位系统，其特征在于：包括GPS卫星、蜂窝基站、WIFI基站和接收机，所述GPS卫星、蜂窝基站、WIFI基站分别通过GPS信号、蜂窝信号、WIFI信号与接收机无线配对相连，所述接收机的结构包括室内外无缝定位控制器、分别与该室内外无缝定位控制器相接的地图显示器、定位结果计算器、定位方式切换器、蜂窝定位模块、WIFI定位模块、GPS定位模块，所述蜂窝定位模块相连接有基站指纹数据库和基站信号扫描器，所述WIFI定位模块相连接有WIFI指纹数据库和WIFI信号扫描器。
  2. 根据权利要求1所述的室内外无缝导航定位系统，其特征在于：所述GPS定位模块是集成了RF射频芯片、基带芯片和核心CPU，并加上相关外围电路而组成的一个集成电路。
  3. 根据权利要求1所述的室内外无缝导航定位系统，其特征在于：所述GPS定位模块采用SiRFIII系列GPS芯片。
  4. 根据权利要求1所述的室内外无缝导航定位系统，其特征在于：所述WIFI定位模块选用型号为ESP8266串口WIFI芯片。
  5. 根据权利要求1所述的室内外无缝导航定位系统，其特征在于：所述蜂窝定位模块选自SimCom公司型号为LTE Cat M1的位置定位模块。
  6. 根据权利要求1所述的室内外无缝导航定位系统，其特征在于：所述室内外无缝定位控制器选自智物通讯生产型号为ZM976的智能模块。
  7. 根据权利要求1所述的室内外无缝导航定位系统，其特征在于：所述地图显示器为电容触摸屏。
  8. 根据权利要求1所述的室内外无缝导航定位系统，其特征在于：所述接收机具有四方形的外壳，该外壳上设有充电和数据接口，该充电和数据接口外封设有软胶防水条。
  9. 根据权利要求8所述的室内外无缝导航定位系统，其特征在于：所述外壳的一个角落位置设有方便穿设吊绳的挂孔。
PCT/CN2019/073860 2018-09-03 2019-01-30 室内外无缝导航定位系统 Ceased WO2020048091A1 (zh)

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