Multi-information fusion indoor and outdoor seamless positioning method

Abstract

The invention discloses a multi-information fusion indoor and outdoor seamless positioning method. The method comprises the following steps: S1, arranging Bluetooth beacons at places where pedestrianspass through; acquiring the satellite navigation data, the ibeacon information and the real-time relative position information of the pedestrian in real time to form multi-source information fusion data; S2, indoor and outdoor judgment is carried out; whether the satellite navigation positioning data receiving quality and the real-time relative position information are in an indoor map range or not is comprehensively judged in combination with the Bluetooth beacon signal intensity receiving condition; and S3, combining the judgment in the step S2 to estimate the position of the pedestrian. The method has the advantages of low cost, high precision, long-time reliable positioning and the like in a complex indoor and outdoor environment.

Description

technical field [0001] The invention mainly relates to the technical field of positioning, in particular to a multi-information fusion indoor and outdoor seamless positioning method. Background technique [0002] With the development of modern information technologies such as wireless networks and mobile computing, location-based services have been widely used in all aspects of mass production and life. The successive establishment of GPS, GLONASS and Beidou positioning system makes it no longer difficult to realize real-time and accurate outdoor positioning. However, due to factors such as signal occlusion and multi-channel effect, when indoors, satellite positioning systems such as GPS cannot meet people's requirements for positioning accuracy. Therefore, various indoor positioning technologies and methods have emerged as the times require. Among these indoor positioning methods, some are purely based on a certain technology, such as: based on Bluetooth, based on WIFI, b...

AI Technical Summary

Problems solved by technology

[0007] In complex indoor and outdoor environments, the positioning method based on radio technology will inevitably increase the positioning cost and decrease the accuracy due to factors such as signal occlusion and multi-channel effect.

Outdoors, in most cases, positioning results that meet the accuracy requirements can be obtained through satellite navigation, but when the target is close to a high wall or a narrow passage, the positioning becomes unstable and the accuracy decreases

In indoor environments, positioning methods based on radio signal strength (such as Bluetooth positioning, WIFI positioning, radio frequency RFID positioning, etc.) have poor positioning accuracy and require dense layout

For ultra-wideband positioning, due to the narrow indoor space and the occlusion of many walls and furnishings, it cannot take advantage of the wide range of ultra-wideband positioning. It needs to increase the deployment of base stations, so it is necessary to increase the cost and construction difficulty, and also due to occlusion and The positioning accuracy is reduced due to the influence of multi-channel effect

The method based on inertial navigation is not easy to be disturbed by the complex indoor environment because it does not rely on external information during work. Micro inertial navigation, error accumulation and direction drift are relatively large, which cannot meet the long-term positioning requirements

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