WO2021098028A1 - 渐进式全球定位系统及其方法 - Google Patents
渐进式全球定位系统及其方法 Download PDFInfo
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- WO2021098028A1 WO2021098028A1 PCT/CN2020/000285 CN2020000285W WO2021098028A1 WO 2021098028 A1 WO2021098028 A1 WO 2021098028A1 CN 2020000285 W CN2020000285 W CN 2020000285W WO 2021098028 A1 WO2021098028 A1 WO 2021098028A1
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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
- G01S5/0284—Relative positioning
- G01S5/0289—Relative positioning of multiple transceivers, e.g. in ad hoc networks
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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
- H04W4/02—Services making use of location information
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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
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0081—Transmission between base stations
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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
- G01S5/0205—Details
- G01S5/0221—Receivers
- G01S5/02213—Receivers arranged in a network for determining the position of a transmitter
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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
- G01S5/0205—Details
- G01S5/0244—Accuracy or reliability of position solution or of measurements contributing thereto
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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
- G01S5/0284—Relative positioning
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/04—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks
- H04L63/0428—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload
- H04L63/0442—Network architectures or network communication protocols for network security for providing a confidential data exchange among entities communicating through data packet networks wherein the data content is protected, e.g. by encrypting or encapsulating the payload wherein the sending and receiving network entities apply asymmetric encryption, i.e. different keys for encryption and decryption
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L63/00—Network architectures or network communication protocols for network security
- H04L63/12—Applying verification of the received information
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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
- H04L9/3236—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 cryptographic hash functions
- H04L9/3239—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 cryptographic hash functions involving non-keyed hash functions, e.g. modification detection codes [MDCs], MD5, SHA or RIPEMD
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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
- H04L9/50—Cryptographic mechanisms or cryptographic arrangements for secret or secure communications; Network security protocols using hash chains, e.g. blockchains or hash trees
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/03—Protecting confidentiality, e.g. by encryption
- H04W12/033—Protecting confidentiality, e.g. by encryption of the user plane, e.g. user's traffic
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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
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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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
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
Definitions
- the present invention relates to the use of data collection methods to reuse geographic coordinate data and precision indices of neighboring communication nodes to construct a global positioning service network especially for indoor environments.
- GNSS global navigation satellite systems
- WiFi wireless network name can reasonably represent the geographic location of the WiFi AP (access point).
- the operating system of the smart phone determines that the location of the phone is also an open secret only by comparing the SSID (and possibly the MAC address) database.
- WiFi “mark” is the signal strength of the WiFi AP. Assume that there are multiple WiFi devices in a field, including fixed APs and their client devices (such as mobile phones). First, perform "fingerprint” measurements on the radio signal strength of these fixed APs point by point in the entire indoor venue. After that, any mobile client device in the indoor location only needs to measure the received signal strength of these APs and compare the readings with those pre-measured values to determine the most likely location of the device in the indoor location.
- CSI Channel State Information
- a fingerprint database can be created for indoor places. This fingerprint database can then be used to identify the location of the mobile device in the location. This method has a low (location) recognition error rate, and if supplemented by artificial intelligence (AI), an accuracy of ⁇ 1cm can be achieved.
- AI artificial intelligence
- the disadvantage of the fingerprint comparison method is that it needs to be measured in advance, which is a prerequisite. Regardless of whether it is carried out with automated equipment, spot-by-point measurement in advance is a step that cannot be omitted.
- the present invention proposes a progressive global positioning system, which includes a plurality of absolute coordinates (hereinafter referred to as "geographical coordinates"), or Cartesian coordinates (Cartesian coordinates).
- a communication node with an accurate index the multiple communication nodes are distributed in a space and are adjacent to each other.
- Cartesian space coordinates x, y, z
- geographic coordinates ie, latitude, longitude, and altitude
- one of the multiple communication nodes may not yet know its geographic coordinates, or is uncertain whether its geographic coordinates are correct (for example, it has been turned off and then turned on again), and it is desired to determine its geographic coordinates and precise index from the neighboring communications node.
- the communication node that wants to determine its geographic coordinates can perform a relative positioning algorithm calculation with the neighboring communication node (referred to as the "first hub communication node") to determine the geographic coordinates and precision index of the communication node.
- the present invention provides a progressive global positioning method, which includes the following steps: distributing a plurality of communication nodes carrying geographic coordinates and precise indices in a space, wherein the plurality of communication nodes Are adjacent to each other; and make the communication node of the plurality of communication nodes whose geographic coordinates and precise index are to be determined relative to the first hub communication node that carries the geographic coordinates and precise index and is adjacent to the plurality of communication nodes The calculation of the algorithm to determine the geographic coordinates and precise index of this communication node.
- the present invention provides a system and method to enable peer-to-peer radio communication nodes to cooperate to share geographic coordinates, and to improve their accuracy through classification and evaluation.
- the device with wireless ranging function is designed to participate in the acquisition of geographic location information and hub forwarding.
- the participating radio devices operate under the same or different communication standards.
- the method of this invention focuses on WiFi devices, the method is also applicable to other radio standards.
- the aforementioned communication node may be an AP or a client. Connecting multiple participating communication nodes in a mesh network (Mesh) or Ad-hoc network can help each communication node connect to the Internet, but forming a mesh network or an Ad-hoc network is not a prerequisite of the present invention.
- the communication node in a general household may include 3-5 APs and some smart phones.
- the invention obtains geographic coordinates from other nodes by executing AP firmware and smart phone applications, measures the distance to other nodes, and determines its own geographic coordinates according to a relative positioning algorithm.
- Bluetooth devices Through the network bridge between Bluetooth and WiFi, the Bluetooth device can be connected to the WiFi node and become a member of the peer communication node. Multiple Bluetooth devices can also form a mesh network connected to each other. In the field of indoor positioning, Bluetooth devices also have several ranging and positioning functions. In the present invention, the Bluetooth device can not only be used to detect nearby cooperative Bluetooth devices, but also can perform trilateral measurement with nearby Bluetooth devices with known geographic coordinates to determine their geographic coordinates. Bluetooth has the advantages of low power consumption and long-lasting use. Bluetooth even has the "advantage" that it can only work within a short distance, so the position error is relatively low.
- the Bluetooth device and the WiFi node bridging with it can exchange geographic coordinates and ranging results, and then use the trilateration method to confirm the location of the Bluetooth device. This can be used to find items when they are lost.
- Other radio technologies are also suitable for use as communication nodes. These radio technologies include but are not limited to LTE, 5G, UWB, LoRa, Zigbee, and so on.
- FIG. 1A is a first schematic diagram of the progressive global positioning system according to the first embodiment of the present invention.
- FIG. 1B is a second schematic diagram of the progressive global positioning system according to an embodiment of the present invention.
- FIG. 2 is a third schematic diagram of the progressive global positioning system according to an embodiment of the present invention.
- FIG. 3 is a flowchart of accurate index estimation when the progressive global positioning system of an embodiment of the present invention executes the trilateral measurement method.
- FIG. 4 is a first flowchart of a progressive global positioning method according to an embodiment of the present invention.
- FIG. 5 is a second flowchart of a progressive global positioning method according to an embodiment of the present invention.
- FIG. 6A is a first schematic diagram of a vehicle positioning application of a progressive global positioning system according to an embodiment of the present invention.
- FIG. 6B is a second schematic diagram of the vehicle positioning application of the progressive global positioning system according to an embodiment of the present invention.
- FIG. 7 is a schematic diagram of an advanced application of the progressive global positioning system according to an embodiment of the present invention.
- N 0 , N 1 , N 2 , N Ha , N Hb communication node; N A , N B , N C -first hub communication node; N D , N E - a second hub communications node; N J, N K, N L, N M, N F, N v - hub communication node; A, B- group of nodes; N i - smart phones (mobile node); the WS -Warning server; M-mobile phone; L-lost item; T-train; C-car; (x 0 , y 0 , z 0 ), (x 1 , y 1 , z 1 ), (x A , y A , z A ), (x B , y B , z B ), (x C , y C , z C ), (x D , y D , z D ), (x E , y E , z
- FIG. 1A is a first schematic diagram of a progressive global positioning system according to an embodiment of the present invention.
- the progressive global positioning system 1 includes a plurality of communication nodes N 0 , N 1 and a first anchor node (first anchor node or first hinge node) N A , N B and N C.
- first anchor node first anchor node or first hinge node
- N A first anchor node or first hinge node
- N B first anchor node
- N C first anchor node
- This embodiment is only an example, and the number of communication nodes and first hub communication nodes is not limited to the number in the figure, and the progressive global positioning system 1 may include more communication nodes and first hub communication nodes.
- the communication nodes N 0 and N 1 are in the initial state (that is, the communication nodes N 0 and N 1 are installed in a location for the first time and have never been used before), they will also have their preset geographic coordinates and precise index.
- Any one or more of the plurality of communication nodes N 0 and N 1 wants to perform relative positioning algorithm calculations with one or more first hub communication nodes N A , N B, and N C to determine or update their geographic coordinates and Precision index.
- the following description plurality of communication nodes N 0, N 1 how the relative positioning calculation algorithm from the first communication hub node N A, N B and N C to obtain a set of geographic coordinates.
- the calculation of a relative positioning algorithm includes capturing the geographic coordinates of the neighboring first hub communication node as described below, measuring the distance to the neighboring first hub communication node, and using the trilateration method to determine its geographic coordinates.
- the three first hub communication nodes N A , N B , and N C that do not form a straight line have known geographic coordinates (x i , y i , z i ).
- the geographical coordinates of the first communication hub and the node N A precise indices are (x A, y A, z A) and AM A;
- the geographical coordinates of the first communication hub and the node N B of precise indices are (x B, y B , z B ) and AM B ;
- the geographic coordinates and accuracy index of the first hub communication node N C are (x C , y C , z C ) and AM C ;
- the geographic coordinates and accuracy index of the communication node N 0 They are (x 0 , y 0 , z 0 ) and AM 0, respectively ;
- the geographic coordinates of the communication node N 1 and their precise indices are (x 1 , y 1 , z 1 ) and AM 1, respectively .
- Communication node N 0 to be within radio range of the first communication hub node N A, N B, N C is determined which geographical coordinates.
- the distances d A , d B , and d C to the first hub communication nodes N A , N B , and N C actually provide the relative or offset position and coordinates of the communication node N 0 first; then add , Subtraction to obtain the geographic coordinates (x 0 , y 0 , z 0 ) of the communication node N 0.
- This job also assigns an accurate index to the geographic coordinates of each communication node, so that both the ranging measurement error and the error inherited from its hub communication node can be included, which will be defined in detail later.
- At least one communication node (such as communication node N 0 ) that wants to determine its geographic coordinates and accuracy index and the plurality of first hub communication nodes N A , N B , and N C perform relative positioning algorithm calculations to determine Its geographic coordinates and precise index.
- the (x 0 , y 0 , z 0 ) obtained by the communication node N 0 will produce a mirror image Ambiguous location (ambiguous location).
- the correct (x 0 , y 0 , z 0 ) can be determined by adding another hub communication node or moving any one of the first hub communication nodes N A , N B , and N C slightly, but this is A multilateral geometric problem is not within the scope of the present invention.
- the term "trilateral measurement” is used to indicate the application of such relative positioning algorithms, but it also includes other related relative positioning algorithms, such as triangulation and phase/angle of arrival methods. , AoA), etc.; these other related relative positioning algorithms require different mathematical operation models and the common working mode of different communication nodes.
- the 802.11mc standard is a ranging tool that can be used now. WiFi devices (including APs and smart phones) that support 802.11mc are becoming more and more popular. Devices using 802.11mc can be defined as "initiator" or "responder". 1A, the communication node N 0, N 1, N A , N B, N C according to any one can be the initiator or responder. Using the fine time measurement (Fine Time Measurement, FTM) of the signal round trip time (RTT) between the initiator and the responder, the distance between two nodes can be determined through the principle of time-of-flight ranging, such as some It is disclosed in the prior art literature.
- FTM Fine Time Measurement
- RTT signal round trip time
- the general practice is to deploy multiple APs that obtain geographic coordinates through geographic measurement and use 802.11mc as the responder in a space.
- a smart phone that supports 802.11mc will be the initiator.
- the 802.11mc ranging mechanism to measure the distance to these responders and retrieve the known geographic coordinates of the responders, the smart phone can obtain its geographic coordinates through trilateral measurement.
- the Relative Signal Strength Indicator (RSSI) of a wireless device can also be received by the communication node from N 0 , N 1 from N A , N B , and N C The signal strength determines the distance from them.
- the ranging technology used in the present invention includes signal strength, time-of-flight ranging and all other possible means.
- the method of this embodiment is to claim that not all responders need to perform geographic surveys in advance.
- APs such as the communication nodes N 0 and N 1 in FIG. 1A
- APs can obtain their geographic coordinates from APs (such as the first hub communication nodes N A , N B , and N C) with known geographic coordinates and precise indices. After that, when any node with a higher accuracy index appears, the AP (such as the communication nodes N 0 and N 1 in FIG. 1A) will re-take trilateration and seek to improve the accuracy of its geographic coordinates.
- FIG. 1B is a second schematic diagram of a progressive global positioning system according to an embodiment of the present invention.
- the second communication hub node second anchor node or the second hinge node
- AP or the corresponding node communication node N 0 N 1
- the re-three in FIG. from node N 0 and the second communication hub communications node N D, N E, respectively, and d D d E
- the measurement accuracy of the edge seek to increase its geographic coordinates.
- the geographical coordinates of the second communication node N D hub and precise index was (x D, y D, z D) and AM D; geographic coordinates of the second communication hub node N E and precise index was (x E, y E , z E ) and AM E.
- the communication node N 0 uses the second hub communication node N D and NE to perform the trilateralization in addition to selecting the N C with a higher accuracy index from the first hub communication node N A , N B , and N C used previously. Surveying method in order to seek to obtain more accurate geographic coordinates.
- the communication node N 0 compares the geographic coordinates and accuracy index obtained this time with those previously obtained, and uses the one with the highest accuracy index.
- the AP's firmware and the application in the smart phone can be programmed to enable the responder and the initiator to exchange distance measurement data.
- Google There is an API called "RangingRequest", which can connect multiple APs participating in ranging or (It is also an industry standard)
- the communication node is included in a mutual ranging cooperation list. Multiple APs or Wi-Fi Aware cooperative communication nodes can be specified in a ranging request. After execution, API will reply the measured distance of all devices.
- geographic coordinate information (such as latitude, longitude, and altitude) in a geospatial format can be embedded in the LCI information (see below) of the FTM frame.
- These coordinate information can enable an AP with 802.11mc enabled (such as the communication node N 0 or N 1 in FIG. 1A) to obtain its geographic coordinates through the trilateration method.
- the problem is how to find communication nodes with reliable geographic coordinates in the same space where the AP is located to cooperate with each other and participate in positioning measurement and calculation.
- the precise coordinates obtained from the professional geographical measurement will be given the highest accuracy index and become a "super hub node.”
- Other solutions can be as simple as using one or more smart phones as hub communication nodes in the same radio field and placing them where GPS signals can be received. When the number of GPS signal receptions increases in the same place, accurate geographic coordinates with high reliability can be obtained through statistical calculations, and a reliable accurate index can be obtained.
- Some advanced distance measurement tools of smart phones, such as UWB or LiDAR, can be used to improve the accuracy of short-distance distance measurement.
- Wi-Fi Aware helps to search for nearby APs that can cooperate with each other, so as to have the opportunity to find more hub communication nodes (anchor node or hinge node). Every time a wireless measurement is performed, the accuracy index drops due to the measurement error added, so that the "rear" communication nodes will continue to inherit the front error and cause the accuracy index to decrease. Therefore, as long as all nodes implement a common standard to define the accuracy index, AP can continue to find better mutual cooperation hub communication nodes to participate in the measurement, and gradually fine-tune its geographic coordinates to better accuracy, and become trustworthy by others The hub communication node.
- the present embodiment also follows the "initiator” (such as communication node N 0 or N 1, or a movement of the smart phone N i, as shown in FIG. 2) to indicate the required location of the initial or improved communication nodes, and in "responder” indicating participation hub communications node (e.g., a first communication hub node N a, N B, N C, or the second communication hub node N D, N E).
- the participation hub communications node e.g., a first communication hub node N a, N B, N C, or the second communication hub node N D, N E.
- an independent initiator communication node can obtain its geographic coordinates through calculation.
- the meaning of "independence” here is that the initiator and the responder only need to carry out limited radio communication.
- three hub communication nodes must be able to "broadcast” their geographic coordinates (one-way communication).
- the communication node needs to measure the distance, if it is signal strength, it needs to conduct one-way or two-way communication; if it is time-of-flight ranging, it needs to conduct two-way communication.
- the hub communication node can also move (such as a mobile phone, please see below), the hub communication node can also provide individual geographic coordinate data at different points of the movement trajectory at different times, so that the initiator communication node can measure the distance one by one. As long as the point-by-point geographic coordinate data and measurement data are obtained at the same time. In other words, in addition to broadcast coordinates and distance measurement, there is no need for wireless cooperation such as mesh networking or synchronization among participating nodes. Even if the Android RangingRequest API is used, the listed APs or Wi-Fi Aware devices that cooperate with each other do not need to enter the mesh network link. The participating smartphones do not need to be "WiFi associated" with the AP, nor do they need to perform time synchronization. If you consider using other relative positioning algorithms, such as triangulation or angle of reception, more radio cooperation may be required.
- Inertial navigation helps to "transport" geographic location data from a known geographic coordinate location to another location.
- Smart phones can obtain their geographic coordinates by using nearby hub communication nodes or simply by receiving GNSS (GPS) signals. Later, when the smart phone is moving, according to the principle of inertial navigation, as long as the information received by the motion sensor (such as accelerometer and gyroscope) is integrated, the position, direction and speed of the smart phone can be continuously recognized. If a smart phone moves to a space where an initiator communication node that needs to obtain its geographic coordinates is located, the point on its moving trajectory can serve as a temporary hub communication node.
- GPS GNSS
- the initiator communication node can obtain its geographic coordinates through the trilateration method.
- the disadvantage of inertial navigation is that errors will be accumulated in the calculation of each position shift.
- there are still many techniques to improve accuracy I believe that in the near future, hardware or software will be able to provide more accurate results.
- FIG. 2 is a third schematic diagram of a progressive global positioning system according to an embodiment of the present invention.
- Figure 2 shows how a hub communication node with reliable geographic coordinates can provide positioning services for other nodes.
- you can set the (first or second) communication hub node NJ reliable geographical coordinates, N K, N L, N M, such as smart phones let N i like
- the mobile communication node acts as the initiator and uses relative positioning algorithms to identify its geographic coordinates.
- the geographic coordinates and accuracy index of the hub communication node N J are (x J , y J , z J ) and AM J respectively ;
- the geographic coordinates and accuracy index of the hub communication node N K are (x K , y K , z K) and AM K;
- hub communications node N L geographical coordinates and the precision index was (x L, y L, z L) and AM L;
- the geographical coordinates of hub communications node N M and precise index was (x M, y M, z M) and AM M;
- communication node N i (smart phone) the geographical coordinates and the precision index was (x i, y i, z i) and AM i (smart phone N i and hub communications node N J, from N K, N L, N M, respectively d J, d K, d L and d M).
- the smart phone N i relative positioning algorithm After the smart phone N i relative positioning algorithm to get its geographical coordinates, you can use its newly acquired position information in a variety of applications. For example, you can send location data to an on-line map service, so smart phone N i will be able to display its location on the map. Position data may be transmitted to the device through a third party tracking servers in the cloud, carrying this to notify the smart phone N i position of the person. Or you can send it to the game server to get game responses that vary from location to location. That is, a smart phone N i is the position of a data consumer, can use the location data.
- the communication node N i is a mobile device, a mobile device which can be transmitted (communication node N i) to another geographic location application to display its geographic coordinates, or mobile transmitting device (communication node N i) of to track the server, and the server provides tracking mobile devices (communication node N i) geographic coordinates to an electronic device.
- each communication node is assigned a unique identifier, which can be implemented by hardware or software. Examples of hardware methods are serializing the chip or programming the serial number to the flash memory. It is also possible to register with a public key mechanism by using private/public key cryptography (private/public key cryptography) well known in the industry. A communication node can randomly generate and secretly hold a private key. Based on the private key, each communication node generates a unique public key as its unique identifier for public identification. The conversion from the private key to the public key is accomplished through the industry-known ECDSA or Elliptic Curve Digital Signature Algorithm (Elliptic Curve Digital Signature Algorithm), or "digital signature" technology.
- ECDSA Equiliptic Curve Digital Signature Algorithm
- Elliptic Curve Digital Signature Algorithm Elliptic Curve Digital Signature Algorithm
- the private key coding space is usually very large, and no one can guess or choose the same private key by calculation.
- the public key space is also very large, so the possibility of repetition is almost zero. Therefore, taking the public key as the identifier of a communication node can be regarded as unique (hereinafter also referred to as "unique public key") and can be used as a serial number. Once enabled, other communication nodes can identify this communication node through the unique public key.
- the accuracy index is designed to provide users with easy-to-understand indicators for location data.
- the value of the accuracy index can be easily designed from 0 to 5, where 5 represents the highest accuracy and is used for professional credibility certification (details below) In the "Super Hub Node” of the above), 0 is used for communication nodes that cannot provide proper certificates.
- 0 is used for communication nodes that cannot provide proper certificates.
- Table 1 for an exemplary corresponding situation of accuracy index and error range (ie, coordinate inaccuracy).
- Table 1 only uses an integer AM value to demonstrate the approximate range of the corresponding E C (coordinate error); the AM value varies continuously from 0 to 5, not just an integer; the E C value also changes continuously correspondingly.
- FIG. 3 is a flowchart of accurate index estimation when the progressive global positioning system is executed by the trilateral measurement method according to an embodiment of the present invention.
- Figure 3 illustrates how the accuracy index (AM) is evaluated when the trilateral measurement method is implemented. Initiating communication node N 0 from the first communication hub node N A, N B, N C ( FIG. 1A, FIG.
- inclined triangular communication nodes N 0 and a first communication hub node N A, N B, N C is formed may be higher than the pyramid shape of regular pyramids results in greater error trilateration.
- accuracy index of the communication node N A is much higher than that of N B and N C
- the accuracy index of the communication node N A is much higher than that of N B and N C
- the original "error range" spheres of N B and N C are larger, for N B , N
- the error sensitivity of the C two points (Sensitivity) will be much higher than that of the N A point.
- E C represents the inaccuracy of the coordinate (Coordinate), which is converted from the AM value according to Table 1;
- E R represents the inaccuracy of the distance measurement (Radio Ranging).
- the subscript 0 indicates initiator N 0, the index i includes all nodes participating communication hub, the hub in this case a first communication node N A, N B, N C .
- the upper horizontal line means taking the average value from i cases.
- E CA is converted from AM A according to Table 1;
- E CB is converted from AM B , and so on.
- the inaccuracy of coordinates E C is definitely not only the inaccuracy of the smallest digit.
- E CA reflects how accurate (x A , y A , z A ) is, and is represented by AM A.
- Evaluation E R is rather complex, but still allowed the degree of the lookup table (Look-up Table) is managed by standard distance based on theoretical and empirical data.
- the upper horizontal line indicates that the simple average value is taken from i cases, but in fact, if it encounters a tilted triangular pyramid, or when combined with mixed measurement techniques (such as d A , d B , FTM measurement and d C Using RSSI measurement, see the description in the following paragraph), formula (1) will be replaced by other non-simple average calculation formulas.
- the coordinate inaccuracy E C0 of the initiator communication node N 0 not only inherits the error E Ci from the multiple hub communication nodes, but also accumulates the error E Ri in each distance measurement.
- the evaluation factor of the accurate index of the initiator communication node N 0 But there are mathematical constraints. In terms of ranging, if smart phones are equipped with UWB or LiDAR, E R may be greatly improved.
- the communication node N 0 calculates the accuracy index based on multiple error factors. Precise index and the corresponding node N 0 comprises performing a first error factor hub communications node N A, N B, N C relative positioning of the first communication node N 0 to the communication node N A hub algorithm obtained from N B, N C is Inaccuracy. Table 1 below illustrates the relationship between precision index and error E C:
- AM Accuracy Index
- the measurement information communication nodes N 0 and a first communication hub node N A, N B, N C carried by radio signals may include, but are not limited to: (1) a public key; (2) current geographic Coordinates (x i , y i , z i ); (3) accuracy index AM i ; (4) flight ranging response; and (5) other network connection and synchronization information.
- the IEEE 802.11-2016 standard has defined how to provide indications of geographic coordinates and accuracy, and its location configuration information (LCI) includes latitude, longitude, altitude and its inaccuracy (quantization error).
- LCR or CIVIC Location Civic Report
- Step S31 receiving communication nodes N 0 and the precise geographical coordinates of the first index from the communication hub node N A, N B, N C and measuring a first distance d A hub communication node N A, N B, N C a, d B , D C.
- Step S32 a first reading precision index AM A communication node N A of the hub, a second hub accurate index AM B corresponding node N B and the third communication node N C hub precise index AM C.
- Step S33 Obtain the inaccuracy of the distance d A , the inaccuracy of the distance d B , and the inaccuracy of the distance d C from the inaccuracy look-up table.
- Step S34 Execute the scoring formula (1).
- Step S35 get new index AM 0 N 0 accurate communication node.
- FIG. 4 is a first flowchart of a progressive global positioning method according to an embodiment of the present invention.
- Fig. 4 illustrates the method of gradually improving the accuracy index of the communication node.
- Each communication node will try to improve its accuracy index in order to provide more reliable geographic coordinates in the subsequent sharing and use of location data.
- Each communication node can do this by continuously checking for any signs of new hub communication nodes available nearby. If a hub communication node with a higher accuracy index level within the radio range is identified, the relative positioning algorithm will add more "weights" to the geographic coordinates of the hub communication node in the trilateration method.
- any hub communication node with a higher accuracy index level will be used to execute another relative positioning algorithm, but any hub communication node with a similar accuracy index level is equally important. This is because the inaccuracy of radio measurement is statistically random. Performing multiple measurements on hub communication nodes with similar accuracy index levels can ultimately help the geographic coordinates of the communication nodes to converge to a statistically meaningful higher accuracy index level.
- statistical methods may include Mean, Variance analyses, Kalman filtering, Linear least-squares estimation, and Iteratively reweighted least squares estimation.
- the exact index is a composite index.
- an initiator communication node needs to import its own global geographic coordinates from other hub communication nodes that have been recognized by the system and have global geographic coordinates to evaluate the accuracy index, so the accuracy index is traceable. Compared with the initiator communication node that is adjacent to the hub communication node located by GPS, the initiator communication node located near the "super hub node" can innately obtain a higher accuracy index.
- the accuracy index also includes the evaluation of coordinate inaccuracy and distance measurement inaccuracy in a single relative positioning calculation (i.e. In cumulative errors), where E C further from the successive error during the previous optimum relative positioning algorithm performs all communications hub nodes.
- the precision index integrates the traceability of global geographic coordinates and accuracy in the progressive positioning of the embodiment of the present invention, the occurrence, inheritance, and statistical improvement of errors, and becomes the only numerical indicator of the merits of geographic coordinates. Although it may not be able to universally make extremely precise and correct comparisons, it provides the power for the entire progressive global positioning system to improve the accuracy of geographic coordinates in the long term.
- Step S41 receiving communication nodes N 0 and the precise geographical coordinates of the first index from the communication hub node N A, N B, N C and measuring a first distance d A hub communication node N A, N B, N C a, d B , D C , and go to step S42.
- Step S42 The communication node N 0 obtains its geographic coordinates by the trilateration method and evaluates the accuracy index accompanying the set of geographic coordinates, and then proceeds to step S43.
- Step S43 The communication node N 0 judges whether the accuracy index is improved? If yes, go to step S44; if not, go to step S431; if it is approximate, go to step S432.
- Step S431 The communication node N 0 abandons this set of geographic coordinates.
- Step S432 The communication node N 0 performs statistical analysis based on the geographic coordinates and the historical records of the precision index, and returns to step S43.
- Step S44 The communication node N 0 starts the accuracy index level upgrade procedure.
- the execution of the trilateration method may generate a set of geographic coordinates with higher accuracy or higher accuracy index classification.
- the level of accuracy index must be strictly reviewed.
- FIG. 5 is a second flowchart of a progressive global positioning method according to an embodiment of the present invention.
- Figure 5 shows an innovative way to keep a record of transactions that increase the accuracy of the index (a transaction refers to a fair judgment of an event of an increase of the accuracy of the index).
- a transaction refers to a fair judgment of an event of an increase of the accuracy of the index.
- the calculation data of this transaction must be verified by an impartial third party.
- An impartial third party checks the participant’s past accuracy index upgrade history and the validity of the calculation, and approves it after confirming that the geographic coordinates of each communication node and the inheritance relationship of the accuracy index are correct. As a result, the communication node has officially obtained the accuracy index level upgrade.
- the blockchain adopts distributed ledger, it has the characteristics of non-tampering, which can assist the system to confirm the geographical coordinates and precise index inheritance relationship between communication nodes.
- fair third-party verification can be accomplished through smart contracts.
- the communication node N 0 is the initiator who wants to obtain the approval of the accuracy index level upgrade.
- the communication node N 0 submits the calculation data of this transaction to the smart contract for review.
- Smart contract is Ethereum Computer programs such as blockchain platforms running on the Internet or a service cloud. Smart contracts are used to execute, control and record events and actions according to the terms of the contract.
- the calculation data provided by N 0 to the smart contract needs to be encrypted with a private key through a digital signature method, and then decrypted and identified by the smart contract with the public key of N 0.
- This smart contract decides whether to accept the application for this precision index level upgrade according to the pre-agreed preconditions or terms.
- the executed smart contract clearly retains the participating communication nodes of the trilateral measurement method implemented and the accurate index level and detailed information generated by the current index level upgrade in the distributed ledger of the blockchain (hereinafter referred to as the ⁇ ledger'') in. Due to the nature of the blockchain, any new smart contract can be tracked and cannot be changed.
- the final geographic coordinates of each participating communication node not only gradually become more accurate, but also have the characteristics of tamper-proof.
- the "calculation data" provided by the communication node N 0 includes the geographical coordinates and accuracy index before and after the trilateration calculation, the judgment basis of the new accuracy index, the communication node N 0 and the first hub communication node N A , The unique identifier of N B and N C.
- the judgment basis in the calculated data also includes: whether the improvement comes from the traceable E C (coordinate inaccuracy) in the ledger, or from the judgment of E R by the communication node N 0 according to the standard ranging inaccuracy look-up table, or only It is a result obtained through statistical improvement, or a combination thereof, and its supporting data.
- the calculation data further includes physical restriction information of the communication node N 0 such as the following VID/DID and/or the frequency and bandwidth used for distance measurement with the first hub communication node.
- the acceptance conditions (contract terms) of this smart contract include: (1) The hub communication node is traceable; that is, the geographic coordinates and precision index of the first hub communication node have been pre-existed in the ledger of the blockchain; (2) The communication node N 0 The implemented trilateral measurement method is correct.
- the hub communication node can be traced, the smart contract can be queried from the ledger;
- the trilateral measurement method executed by the communication node N 0 is correct, the smart contract can verify the judgment of the accuracy index level upgrade submitted by the communication node N 0 Basic, and can query from the available records in the ledger. For example, if the communication node N 0 claimed improved from traceable E C, first smart hub communications contract coin node N A, N B, N C is the unique identifier from each of the first E C books hub communications node Confirmation; if the communication node N 0 claims that the improvement is the result of statistical improvement, the smart contract can be confirmed with its supporting data.
- the supporting data for statistical improvement can include the number of samples, key statistical parameters, and the length of the measurement period. Smart contracts can still be checked for statistical rationality and whether the declared measurement period can be checked in the ledger. If the communication node N 0 claims that the improvement comes from the judgment of E R by the inaccuracy look-up table, the smart contract needs to make the judgment based on the wireless measurement physical limit of the communication node N 0. As mentioned above, the standard ranging inaccuracy lookup table is based on theoretical and empirical data related to radio operating frequency and bandwidth; therefore, these inaccuracies are dependent on the physical limitations of the wireless measurement of the device.
- Vender ID VID
- DID Device ID
- the model of a smart phone can be identified by the Type Allocation Code (TAC) in its IMEI number.
- TAC Type Allocation Code
- the smart contract can be designed to view the VID/DID provided by the communication node in advance with a unique identifier, so that the technology used by the hub communication node can be obtained from the VID/DID data of the hub communication node in the ledger.
- TAC Type Allocation Code
- this progressive global positioning system 1 will be very successful. This mechanism also encourages the willingness of communication nodes with a higher accuracy index to contribute. If there is sufficient motivation, better inertial navigation algorithms, technologies that can make more accurate assessments of GNSS signals, and mobile communication nodes with more accurate ranging methods will be developed. All these can help improve the effectiveness and popularity of this progressive global positioning system 1. As shown in Figure 5, after confirming the calculation of the precision index upgrade, as part of the smart contract, the price is transferred from the communication node N 0 to the contributing first hub communication node N A , N B , according to predetermined rules N C.
- the event of the relative positioning algorithm benefits the communication node N 0 to obtain geographic coordinates with higher accuracy
- the communication node N 0 submits the calculation data of the relative positioning algorithm to a blockchain to start the execution of the The first smart contract of the blockchain (as shown in Figure 5).
- the acceptance conditions of this first smart contract include: (1) The geographic coordinates and accuracy index of the first hub communication node have been pre-existed in the blockchain ledger; (2) According to The relative positioning algorithm calculation data submitted by the communication node and the geographic coordinates and precision index data recorded in the ledger. The geographic coordinates and precision index obtained by the communication node are judged to meet the physical and mathematical constraints.
- the first smart contract can be judged by the physical limitations of existing known communication nodes, or more specifically by VID/DID.
- Mathematical limitations include calculations the elements of.
- the first smart contract can determine whether it meets the mathematical restriction based on the principle that the inaccuracy of the initiator's communication node cannot be better than that of the hub communication node.
- Mathematical restrictions can also include restrictions on statistical methods used, such as the number of samples considered and how long the measurement time is.
- the ledger will still generate corresponding records, including the unique identifiers of the participating communication nodes.
- the price transferred from the beneficiary communication node N 0 to the second hub communication node is also recorded in the ledger.
- the communication node N 0 can know from the first smart contract API, or know from the ledger that the first smart contract has passed, and then officially update its geographic coordinates and accuracy index. According to the above process, the communication node N 0 obtains a set of geographic coordinates with low inaccuracy, that is, the smart contract located in the service cloud recalibrated the geographic coordinates of the communication node N 0.
- the communication node N 0 submits the calculation data of the relative positioning algorithm to the blockchain to start the implementation of the first intelligence of the blockchain contract.
- the first smart accept the conditions of the contract comprises a first plurality of hub communications node N A, N B, N C already exists in the account book block chain, and the geographical coordinates of the corresponding node N 0 is obtained in accordance with the corresponding node and precise index
- the calculation data of the relative positioning algorithm submitted by N 0 and the geographic coordinates and precise index analysis recorded by the first hub communication nodes N A , N B , and N C already existing in the ledger of the blockchain conform to physical and mathematical constraints.
- the ledger record of the blockchain contains the geographic coordinates and the precision index with a higher precision index obtained by the communication node N 0.
- Step S51 The communication node N 0 calculates the geographical coordinates and the precision index before and after the trilateration calculation, the judgment basis of the new precision index, the unique identifiers of the communication node N 0 and the first hub communication nodes N A , N B , and N C Enter the first smart contract and go to step S52.
- Step S52 The first smart contract accepts the above input data and judges whether it meets the acceptance conditions? If yes, go to step S53; if not, go to step S521.
- the first acceptance condition may comprise a first intelligent hub contract communication node N A, N B, N C and the precise geographic coordinates of the last index is valid, and determines the precise basis for the new index is valid.
- Step S521 The first smart contract denies that the accuracy index level of the communication node N 0 is increased.
- Step S53 The first contract through intelligent communication node N 0 accurate index level increases, and the communication node N 0 obtained precise geographic coordinates and index books distributed block chain stores, and the price of gold will be transferred from the communication node N 0 To the first hub communication nodes N A , N B , and N C , and go to step S54.
- Step S54 The communication node N 0 updates its geographic coordinates and precision index.
- each smart contract execution can be retrieved by the public key of the initiator.
- Past transactions can be retrieved and checked from the public ledger.
- Each transaction information contained in the ledger includes, but is not limited to, the unique identifier of the participating communication node, the geographic coordinates of the communication node N 0 , the accuracy index level, the running time, the VID/DID, and the paid price, etc.
- Retrieval helps the communication node N 0 to check in advance whether the new hub communication node is credible. If the hub communication node is not credible, the execution of the relative positioning algorithm and the request for accurate index upgrade of the smart contract can be completely skipped to save resources.
- either Transaction hash or Address hash can be used to retrieve executed smart contracts.
- the address is a unique value converted from the unique public key and will not be repeated; the conversion formula from the unique public key to the address should be known to those with ordinary knowledge in the field.
- the ledger record of the blockchain contains the unique identifier of each communication node, and an initiator communication node can obtain the geographic location of the first hub communication node from the blockchain ledger according to the unique identifier of the first hub communication node. Coordinates and precision index for calculation of relative positioning algorithm.
- Adjacent communication nodes may be pivotally used by other communication nodes. In this case, due to multiple Calculation, so inaccuracy will continue to accumulate. Accurate index levels take longer to stabilize, and statistical methods are extremely important. In the case of multiple pivoting, it is more important to use blockchain technology, because it can verify the accuracy index level increase successively, avoid any deceptive communication nodes in these communication nodes, and ensure reliability.
- the wireless connection between communication nodes can be one-way or two-way.
- the 802.11mc communication protocol can be implemented without a wireless network connection (association), and geographic coordinates and distances can still be exchanged between communication nodes. Parameters not included in this communication protocol standard (such as precision index and public key) can be passed through the "Location Civic Report" frame or through a network connection.
- the ledger can be accessed publicly, as long as the unique public key of the hub communication node can be obtained, its geographic coordinates and precise index can be obtained through the ledger in the cloud, avoiding local IP network connections. If the initiator has any doubts, it can confirm and check from the ledger.
- the system can obtain the geographic coordinates and precise index of a (first or second) hub communication node from the blockchain ledger with a unique identifier.
- the ledger is a publicly searchable database. If the initiator requires that the unique ID of the hub communication node is used, the latest geographic coordinates, precision index, and effective time/date of the hub communication node can be immediately obtained. Since the unique identifier of the communication node can be publicly broadcast through the SSID (or Bluetooth beacon, Beacon) or in the LCR, from the perspective of compatibility with multiple ranging methods, querying the ledger becomes a very powerful tool.
- Initiator communication nodes can mix signal strength, FTM, UWB, and LiDAR, etc., to measure the distance to adjacent hub communication nodes, and at the same time query the communication nodes of these communication nodes from the ledger. Geographical coordinates, that is, the geographic coordinates can be obtained by the trilateral measurement method. If a hub communication node fails to use its unique identifier as its SSID (or Bluetooth beacon) to publicly broadcast, it can still use a small area (for example, the location of the initiator communication node to determine which small area it belongs to) SSID through the coordinated conversion server And Bluetooth beacon database query, may also be supplemented by MAC address identification, converted into a unique identifier of the hub communication node.
- SSID or Bluetooth beacon
- a user of location data enters a space, and a plurality of hub communication nodes are set in this space, and these hub communication nodes have geographic coordinates with a specific precision index level. Due to the inaccuracy of distance measurement, the smart phone will obtain a set of geographic coordinates whose accuracy index is lower than that of the hub communication node. If the use of location data of this type of consumption level does not involve an increase in the precision index level, there is usually no price transaction or only a small amount of price transaction. However, the smart phone can also submit the calculation data of the relative positioning algorithm to a blockchain to initiate the execution of the first smart contract of the blockchain, and record its geographic coordinates and precise index in the ledger. As mentioned above, when necessary, this smart phone can also be used as a temporary hub communication node.
- the communication node After multiple calculations of the relative positioning algorithm, the communication node can reach a higher level of accuracy index. However, this system is designed to provide location services that can be used globally for everyone. The fixed communication node must not "move” otherwise its precision index level must be cancelled. Therefore, the firmware of the communication node must be designed to detect changes in its location.
- the ultra-high-precision communication node may need to detect whether its position has been moved through hardware. Communication nodes need to perform relative positioning calculations frequently or after power failures, and compare the measured distance and geographic coordinates with the past historical records of the unique identifiers of the communication nodes that cooperate with each other in the same area to confirm that the position has not changed; if the distance changes Obviously exceeding the E R value, indicating that the position has moved. At this time, the firmware needs to trigger the execution of the first smart contract to obtain the new geographic coordinates and precise index, and use it to invalidate the previous geographic coordinates and precise index in the ledger.
- GPS signal generators can be used to broadcast fake GPS coordinates. Therefore, it is possible to define a rule to avoid forging geographic coordinates. For example, during the verification process of the accuracy index level increase, any GPS signal that appears must be able to be verified and coexist with other communication nodes with good accuracy index level increase records in the space. .
- An amateur geo-surveyor can use a smart phone. If the GPS location is valid, refer to The coordinates can be used to label the geographic coordinates of a hub communication node. Smart phone applications can verify the validity of the GPS location and the wireless link with the labeled hub communication node to obtain a minimum credibility certification. There are many existing documents that can estimate the measurement error of GPS. Use the table 1 can be converted into its precise index. In addition to GPS, geographic coordinates obtained by other positioning systems can also be used as a reference hub communication node under the condition of verification. A hub communication node located by an amateur geographic surveyor can adopt a "progressive observation" mechanism.
- the communication node can perform trilateral calculations together with a nearby hub communication node (via a smart phone) that has been verified by a smart contract, it can obtain its accuracy index level through the approval of the first smart contract.
- the first smart contract can only use the communication nodes that have been verified by the smart contract and the credibility certification provided by the smart phone application as the basis for judgment.
- the accuracy index of the communication node may be further improved.
- Using the aforementioned method of labeling its geographic coordinates with the GPS location can also convert a traditional WiFi AP without relative positioning algorithm capabilities into a "quasi" hub communication node.
- the SSID is set as its unique ID
- the neighboring geographic information consumers can query their geographic coordinates and precise index from the public account book.
- the "quasi" hub communication nodes converted from traditional WiFi APs can also use the aforementioned "progressive observation” mechanism to obtain a higher accuracy index, but may be limited by the lack of ranging capabilities, and the obtained accuracy index will not be too high.
- the design of this system can incorporate a hub communication node that obtains a high-precision geographic location by actual geographic measurement.
- the geographic coordinates obtained by geographic measurement, reference satellite positioning, or reference to other positioning systems are referred to herein as geographic coordinates obtained by "external resources".
- a special "reference hub node” or “super hub node” second smart contract can be triggered under a supervised mechanism, and its accuracy can be created according to the accuracy of the external resource. Index rating. Therefore, the acceptance condition of this second smart contract must include a provable signer, that is, this external resource and its accuracy index must have credibility certification.
- Signatures with credibility certification can be implemented using restricted access control of smart contracts in blockchain practice; or using multi-signature contracts (multi-signature contracts, multisig), that is, multi-signature contracts from different addresses are required.
- Signatures to execute the transaction In other words, the communication node can obtain its geographic coordinates and accuracy index from external resources, and the communication node submits its geographic coordinates and accuracy index and its credibility to the blockchain for certification to initiate the execution of the second smart contract. In this way, the second smart contract is triggered to execute, and the acceptance condition of the second smart contract includes a verifiable signatory, that is, this external resource has credibility certification. After the acceptance condition of the second smart contract is passed, the blockchain ledger records the geographic coordinates and precision index obtained by this communication node.
- the first smart contract and the second smart contract of the foregoing embodiment can also be replaced by a computer program of a cloud service and execute the verification program. That is, the communication node N 0 with the first communication hub node N A, N B, N C relative positioning calculation algorithm is obtained that the communication node N 0 geographic coordinates with higher precision index, the communication node submits the opposite data location calculation algorithm to a first authentication program, receiving condition of the first verification process comprises a first communication hub node N a, N B, N C already exists in the log of the first authentication program, and the communication node N 0 is obtained geographical coordinates and precise index submitted in accordance with the relative positioning of the corresponding node N 0 and a first arithmetic operation data communications hub node N a, N B, N C already exists in the geographical coordinates of the first log record of the verification process and analyze the exact index
- the log records of the first verification program include the geographic coordinates and the accuracy index with a
- any communication node such as communication node N 0 , obtains its geographic coordinates and accuracy index from external sources
- the communication node N 0 submits its geographic coordinates, accuracy index, and credibility certification to the second verification procedure, and the second verification procedure
- the acceptance condition includes that the external resource has credibility certification
- the log of the first verification procedure records the geographic coordinates and accuracy index obtained by the communication node N 0.
- the log record of the first verification program may also record the unique identifiers of the communication node N 0 and the first hub communication nodes N A , N B , and N C.
- a first communication node N 0 is obtained by a hub communication node N A logging a first authentication program according to a unique identifier of the first communication hub node N A, N B, N C, geographical coordinates N B, N C and precise Exponent for the calculation of the relative positioning algorithm.
- FIGS. 6A and 6B are a first schematic diagram and a second schematic diagram of a vehicle positioning application of a progressive global positioning system according to an embodiment of the present invention.
- 6A and 6B illustrate the application of the progressive global positioning method in the interior space of the vehicle.
- Multiple communication nodes N v will be set on the vehicle. These communication nodes N v not only obtain the geographic coordinates of the vehicle in real time when it is moving, but also serve as hub communication nodes for users of the vehicle's internal position information.
- a plurality of "vehicle communication nodes" N v are arranged on the train T and the car C; in another embodiment, these vehicle communication nodes N v may also be arranged on buses and various other transportation vehicles.
- the first roadside vehicle communication nodes fixed communications hub node N F (first communication hub node) to perform relative positioning algorithm to obtain absolute precise geographic coordinates and index.
- these vehicle communication nodes Nv can be used as hub communication nodes of the portable devices on the vehicle to facilitate the use of their location data. In this way, even if there is no GPS or Internet connection, the portable device on the vehicle can know its precise location.
- An application on a portable device (such as a smart phone) can not only rely on its absolute location to identify its location on a geographic map, but also learn its reference location in the vehicle. Therefore, in some application examples, passengers can be directed to a certain seat or find a moving train conductor.
- the accuracy of the absolute geographical coordinates of the vehicle collected in inertial motion sensors may further be used to increase the data communication node N v of the vehicle. This can be done with the known trajectory of the vehicle and the known position of the starting point of this trajectory. Inertial navigation aids, even if temporarily unable to obtain roadside assistance fixed communications hub node N F, the vehicle communication node N v the continuity of service. That is to say, multiple communication nodes N v are distributed in the interior space of the moving vehicle and the fixed hub communication node N F (the first hub communication node) is set at a fixed position outside the vehicle, and is obtained through the calculation of the relative positioning algorithm. After the geographic coordinates and the precision index, the communication node N v participates in the execution of the relative positioning algorithm of a mobile device inside the vehicle.
- inertial motion sensors such as accelerometers and gyroscopes
- the present invention also relates to a communication node for vehicle collision avoidance.
- Adjacent vehicles on the road can be equipped with a vehicle communication node N v , so that inter-vehicle distance measurement can be performed to find the relative position between vehicles in motion.
- the radio interference between adjacent vehicles is less and the signal attenuation is small due to the short distance; therefore, high-precision relative positioning can be obtained in a very short cooperation time. In this way, it is possible to design collision avoidance mechanisms between vehicles regardless of whether they have an Internet connection.
- the latency can be as low as 7.6mS when OFDMA is turned on, as described in some existing references; in addition, even if the vehicle is traveling at 70Km/h, the vehicle’s The response accuracy will also reach the sub-meter (Sub-meter) level.
- the present invention also relates to the application of proximity sensing; the communication node (this communication node has participated in the calculation of the aforementioned relative positioning algorithm) can contain an actuator to trigger the movement of an object.
- This application will be very helpful for building access control.
- the method is as follows: when a mobile communication node (such as a smart phone) approaches a building, the hub communication node with an actuator at the entrance of the building requires authentication.
- This mobile communication node can encrypt its identity information, such as a clear text "I am Zhang San” with its private key, and the hub communication node can decrypt it with the mobile communication node's unique public key (ie unique identifier), as long as The decrypted identity information (such as the aforementioned plaintext) is identifiable, and the authentication is successful; on the contrary, if the unique public key of the mobile communication node is maliciously copied, but the malicious communication node that is copying does not have the original public key holder’s Private key, no matter what private key is used to encrypt the identity information, no meaningful plaintext can be obtained through the unique public key. This is the existing "digital signature" technology.
- the hub communication node can decrypt and obtain the identifiable identity information, and thus activate the actuator to trigger the movement of the door to open the door.
- the mobile communication node If the mobile communication node is installed in a car and has an identifiable unique public key, the mobile communication node can also enter and exit the parking lot in a similar way.
- the actuator is used to open the gate of a building or parking lot.
- the aforementioned building access control hub communication node requires authentication and ciphertext transmission. Although it is not within the scope of the simple communication rules of one-way broadcasting and two-way time-of-flight measurement commonly used in relative positioning algorithms, it can still pass the "Position Public Notation" frame or Pass information through a network connection.
- the communication node determines whether to activate the actuator to control the controlled device according to the identity information.
- FIG. 7 is a schematic diagram of an advanced application of a progressive global positioning system according to an embodiment of the present invention.
- Figure 7 illustrates how to extend the present invention to high availability and high security applications. If the neighboring nodes agree to enter the mutual assistance mechanism, in addition to exchanging geographic coordinates and precise indexes, the communication node can identify the other party through a unique public key to exchange information with each other. Although the transmission of mutual assistance information is not within the scope of the simple communication rules of one-way broadcasting and two-way flight time ranging commonly used in relative positioning algorithms, information can still be transmitted through the "Position Public Representation" frame or through a network connection.
- a warning communication node such as a mobile phone M used by a user who wants to send a distress signal or a lost item L (such as baggage) installed with a Bluetooth Low Energy (BLE) tag enters the group of cooperative nodes ( Hereinafter referred to as "node group") A service area.
- This node group A is composed of multiple communication nodes N Ha , some of which have Bluetooth bridges.
- the encrypted alarm information Fr can be transmitted to another communication node N Hb in node group B (within radio range), or to the warning server WS in the Internet, even when the Internet connection of node group A is disconnected You can also proceed as usual.
- adjacent communication nodes such as the adjacent communication nodes N Ha and N Hb in the figure
- a communication node N Ha can bypass its normal Internet connection and report a connection interruption, warning or emergency signal with the help of a neighboring communication node N Hb (if the alarm information Fr does indicate the destination of the alarm information Fr). If an adjacent communication node with a high accuracy index level disappears, it may also constitute a warning. If the geographic location data is an important part of the warning, the unique identifier or geographic coordinates of the hub communication node can also be forwarded.
- the battery-powered Bluetooth low energy communication node is very suitable for keeping the alarm state for a long period of time when the power is interrupted.
- the lost item L is installed with the firmware of the cooperating communication node, it may be found in a secret way.
- at least one communication node involved in the calculation of the relative positioning algorithm can transmit the alarm information Fr of the warning communication node (such as mobile phone M or missing item L) to another A communication node (such as any communication node in node group B) or an Internet location designated by a warning communication node.
- the alarm information Fr can be designed to express evidence that is undeniable in a certain position (Undeniable Presence).
- a communication node in node group B (or node group A, if node group B does not maintain an Internet connection) can trigger a "Null" relative positioning algorithm and accuracy index after detecting an alert
- the execution of the first smart contract with a higher level The purpose of the request is not to pass a smart contract, because there is no new hub communication node with a higher accuracy index level. It is designed to keep a record in the ledger to mark the time it has coexisted with the device in an alert state.
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Abstract
Description
精确指数(AM) | E C误差范围(meters) |
5 | 0.1具有专业的公信力认证 |
4 | 0.3 |
3 | 1 |
2 | 5 |
1 | 25 |
0 | 不可全信(untrustworthy) |
Claims (28)
- 一种渐进式全球定位系统,其特征在于,包含:乘载地理坐标及精确指数的多个通讯节点,分布于一空间内且互为相邻;以及乘载地理坐标及精确指数的一第一枢纽通讯节点,与该多个通讯节点互为相邻;其中,该多个通讯节点的欲决定其地理坐标及精确指数的该通讯节点与该第一枢纽通讯节点进行一相对定位算法的运算,以决定该通讯节点的地理坐标及精确指数。
- 如权利要求1所述的渐进式全球定位系统,其特征在于,当该多个通讯节点中的至少一与乘载地理坐标及精确指数的一第二枢纽通讯节点再度进行该相对定位算法计算该通讯节点的地理坐标及精确指数时,该通讯节点比对该通讯节点的地理坐标及精确指数与前次所获的地理坐标及精确指数并选择具较高精确指数的地理坐标。
- 如权利要求1所述的渐进式全球定位系统,其特征在于,若该相对定位算法的运算使该通讯节点获得具有更高精确指数的地理坐标,则该通讯节点提交该相对定位算法的运算数据至一区块链以启动执行该区块链之一第一智能合约,该第一智能合约的接受条件包括该第一枢纽通讯节点已存在于该区块链的账本,且该通讯节点获得的地理坐标及精确指数依照该通讯节点所提交该相对定位算法的运算数据及第一枢纽通讯节点已存在于该区块链的账本所记录的地理坐标及精确指数分析符合物理及数学限制,且该第一智能合约的接受条件通过后,该区块链的账本记录包含该通讯节点获得的具有更高精确指数的地理坐标及精确指数。
- 如权利要求3所述的渐进式全球定位系统,其特征在于,任一个该通讯节点自一外部资源取得该通讯节点的地理坐标及精确指数,则该通讯节点提交其地理坐标及精确指数及一公信力认证至该区块链以启动执行一第二智能合约,该第二智能合约的接受条件包括该外部资源具一公信力认证,且该第二智能合约的接受条件通过后,该区块链的账本记录该通讯节点获得的地理坐标及精确指数。
- 如权利要求3所述的渐进式全球定位系统,其特征在于,该区块链的账本记录包含该通讯节点及该第一枢纽通讯节点的唯一标识符。
- 如权利要求3所述的渐进式全球定位系统,其特征在于,该通讯节点根据该第一枢纽通讯节点的一唯一标识符由该区块链的账本获得该第一枢纽通讯节点的 地理坐标及精确指数,以进行该相对定位算法的运算。
- 如权利要求1所述的渐进式全球定位系统,其特征在于,若该相对定位算法的运算使该通讯节点获得具有更高精确指数的地理坐标,则该通讯节点提交该相对定位算法的运算数据至第一验证程序,该第一验证程序的接受条件包括该第一枢纽通讯节点已存在于该第一验证程序的日志,且该通讯节点获得的地理坐标及精确指数依照该通讯节点所提交该相对定位算法的运算数据及该第一枢纽通讯节点已存在于该第一验证程序的日志所记录的地理坐标及精确指数分析符合物理及数学限制,且该第一验证程序的接受条件通过后,该第一验证程序的日志记录包含该通讯节点获得的具有更高精确指数的地理坐标及精确指数。
- 如权利要求7所述的渐进式全球定位系统,其特征在于,任一个该通讯节点自一外部资源取得该通讯节点的地理坐标及精确指数,则该通讯节点提交其地理坐标及精确指数及一公信力认证至一第二验证程序,该第二验证程序的接受条件包括该外部资源具一公信力认证,且该第二验证程序的接受条件通过后,该第一验证程序的日志记录包含该通讯节点获得的地理坐标及精确指数。
- 如权利要求1所述的渐进式全球定位系统,其特征在于,各个该通讯节点根据多个误差因素计算其精确指数,该多个误差因素包含该第一枢纽通讯节点的精确指数及该通讯节点执行该相对定位算法所获得该通讯节点与该第一枢纽通讯节点的距离的不准度。
- 如权利要求9所述的渐进式全球定位系统,其特征在于,各个该通讯节点根据该通讯节点的地理坐标历史记录进行一地理坐标统计分析,以提升该通讯节点的地理坐标的精确度及其精确指数。
- 如权利要求1所述的渐进式全球定位系统,其特征在于,该多个通讯节点的至少一该通讯节点为一行动装置,并传递该行动装置的地理位置至另一应用程序以显示其地理坐标,或传送该行动装置的地理位置至一追踪服务器,而该追踪服务器提供该行动装置的地理坐标给一电子装置。
- 如权利要求1所述的渐进式全球定位系统,其特征在于,至少一个参与该相对定位算法的运算的该通讯节点将一警示通讯节点的一警报信息传递到另一该通讯节点或该警示通讯节点所指定的一互联网位置。
- 如权利要求1所述的渐进式全球定位系统,其特征在于,当至少一个参与该相对定位算法的运算的该通讯节点具有一致动器且利用一移动通讯节点的一唯一标识符以一数字签名技术解密由该移动通讯节点的一私钥加密的一身份信息时,该 通讯节点根据该身份信息决定是否启动该致动器以控制一受控装置。
- 如权利要求1所述的渐进式全球定位系统,其特征在于,该多个通讯节点分布在移动中的一车辆的内部空间,且该第一枢纽通讯节点设置于该车辆以外的一固定位置,而经由该相对定位算法决定其地理坐标及精确指数之后,该通讯节点参与该车辆内部的一行动装置的该相对定位算法的执行。
- 一种渐进式全球定位方法,其特征在于,包含:使乘载地理坐标及精确指数的多个通讯节点分布于一空间内,其中该多个通讯节点互为相邻;以及使该多个通讯节点的欲决定其地理坐标及精确指数的该通讯节点与乘载地理坐标及精确指数且与该多个通讯节点相邻的一第一枢纽通讯节点进行一相对定位算法的运算,以决定该通讯节点的地理坐标及精确指数。
- 如权利要求15所述的渐进式全球定位方法,其特征在于,更包含:当该多个通讯节点中的至少一与乘载地理坐标及精确指数的一第二枢纽通讯节点再度进行该相对定位算法计算该通讯节点的地理坐标及精确指数时,该通讯节点比对该通讯节点的地理坐标及精确指数与前次所获的地理坐标及精确指数并选择具较高精确指数的地理坐标。
- 如权利要求15所述的渐进式全球定位方法,其特征在于,更包含:若该相对定位算法的运算使该通讯节点获得具有更高精确指数的地理坐标,则该通讯节点提交该相对定位算法的运算数据至一区块链以启动执行该区块链的一第一智能合约,其中该第一智能合约的接受条件包括该第一枢纽通讯节点已存在于该区块链的账本,且该通讯节点获得的地理坐标及精确指数依照该通讯节点所提交该相对定位算法的运算数据及该第一枢纽通讯节点已存在于该区块链的账本所记录的地理坐标及精确指数分析符合物理及数学限制,且该第一智能合约的接受条件通过后,该区块链的账本记录包含该通讯节点获得的具有更高精确指数的地理坐标及精确指数。
- 如权利要求17所述的渐进式全球定位方法,其特征在于,任一个该通讯节点自一外部资源取得该通讯节点的地理坐标及精确指数,则该通讯节点提交其地理坐标及精确指数及一公信力认证至该区块链以启动执行一第二智能合约,该第二智能合约的接受条件包括该外部资源已一公信力认证,且该第二智能合约的接受条件通过后,该区块链的账本记录该通讯节点获得的地理坐标及精确指数。
- 如权利要求17所述的渐进式全球定位方法,其特征在于,该区块链的账本 记录包含该通讯节点及该第一枢纽通讯节点的唯一标识符。
- 如权利要求17所述的渐进式全球定位方法,其特征在于,该通讯节点根据该第一枢纽通讯节点的一唯一标识符由该区块链的账本获得该第一枢纽通讯节点的地理坐标及精确指数,以进行该相对定位算法的运算。
- 如权利要求15所述的渐进式全球定位方法,其特征在于,更包含:若该相对定位算法的运算使该通讯节点获得具有更高精确指数的地理坐标,则该通讯节点提交该相对定位算法的运算数据至一第一验证程序,该第一验证程序的接受条件包括该第一枢纽通讯节点已存在于该第一验证程序的日志,且该通讯节点获得的地理坐标及精确指数依照该通讯节点所提交该相对定位算法的运算数据及该第一枢纽通讯节点已存在于该第一验证程序的日志所记录的地理坐标及精确指数分析符合物理及数学限制,且该第一验证程序的接受条件通过后,该第一验证程序的日志记录包含该通讯节点获得的具有更高精确指数的地理坐标及精确指数。
- 如权利要求21所述的渐进式全球定位方法,其特征在于,任一个该通讯节点自一外部资源取得该通讯节点的地理坐标及精确指数,则该通讯节点提交其地理坐标及精确指数及一公信力认证至一第二验证程序,该第二验证程序的接受条件包括该外部资源具一公信力认证,且该第二验证程序的接受条件通过后,该第一验证程序的日志记录该通讯节点获得的地理坐标及精确指数。
- 如权利要求15所述的渐进式全球定位方法,其特征在于,更包含:经由各个该通讯节点根据多个误差因素计算其精确指数,其中该多个误差因素包含该第一枢纽通讯节点的精确指数及该通讯节点执行该相对定位算法所获得该通讯节点与该第一枢纽通讯节点的距离的不准度。
- 如权利要求23所述的渐进式全球定位方法,其特征在于,更包含:通过各个该通讯节点根据该通讯节点的地理坐标历史记录进行一地理坐标统计分析,以提升该通讯节点的地理坐标的精确度及其精确指数。
- 如权利要求15所述的渐进式全球定位方法,其特征在于,该多个通讯节点的至少一该通讯节点为一行动装置,并传递该行动装置的地理位置至另一应用程序以显示其地理坐标,或传送该行动装置的地理位置至一追踪服务器,而该追踪服务器提供该行动装置的地理坐标给一电子装置。
- 如权利要求15所述的渐进式全球定位方法,其特征在于,更包含:经由至少一个参与该相对定位算法的运算的该通讯节点将一警示通讯节点的一警报信息传递到另一该通讯节点或该警示通讯节点所指定的一互联网位置。
- 如权利要求15所述的渐进式全球定位方法,其特征在于,更包含:当至少一个参与该相对定位算法的运算的该通讯节点具有一致动器且利用一移动通讯节点的一唯一标识符以一数字签名技术解密由该移动通讯节点的一私钥加密的一身份信息时,由该通讯节点根据该身份信息决定是否启动该致动器以控制一受控装置。
- 如权利要求15所述的渐进式全球定位方法,其特征在于,该多个通讯节点分布在移动中的一车辆的内部空间,且该第一枢纽通讯节点设置于该车辆以外的一固定位置,而经由该相对定位算法的运算决定其地理坐标及精确指数之后,该通讯节点参与该车辆内部的一行动装置的该相对定位算法的执行。
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- 2020-11-20 WO PCT/CN2020/000285 patent/WO2021098028A1/zh active Application Filing
- 2020-11-20 GB GB2206675.7A patent/GB2604491A/en active Pending
- 2020-11-20 US US16/953,399 patent/US11762055B2/en active Active
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TWI767414B (zh) | 2022-06-11 |
GB2604491A (en) | 2022-09-07 |
JP7207633B2 (ja) | 2023-01-18 |
US20210156949A1 (en) | 2021-05-27 |
CN112824924A (zh) | 2021-05-21 |
TW202127919A (zh) | 2021-07-16 |
US11762055B2 (en) | 2023-09-19 |
JP2021081434A (ja) | 2021-05-27 |
CN112824924B (zh) | 2024-04-02 |
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