Indoor pseudo-satellite constellation high-precision adaptive positioning method, device and related components

Abstract

The present invention discloses a method, device and related components for indoor pseudo-satellite constellation high-precision adaptive positioning. The method comprises: a receiver terminal receives in real time the tag data broadcast by the electromagnetic tag in the current positioning scenario, parses the tag data to obtain the positioning prior information of the current positioning scenario; based on the positioning prior information, switches the corresponding positioning dimension, positioning algorithm and positioning configuration, and calculates the corresponding positioning result. The method utilizes the receiver terminal to detect the tag data in real time, and transforms the dimension, selects the satellite configuration, and intelligently adjusts the algorithm parameters to adapt to the positioning scenario through the matched positioning prior information, so as to solve the problems of low pseudo-satellite positioning solution success rate and poor accuracy caused by multiple influences on three-dimensional positioning accuracy, thereby making indoor pseudo-satellite positioning more adaptable, with higher positioning success rate and higher accuracy.

Description

Technical Field

[0001] The present invention relates to the field of indoor positioning pseudo-satellite positioning, and in particular to a high-precision adaptive positioning method and device for indoor pseudo-satellite constellation and related components. Background Art

[0002] Pseudo-satellite is a positioning signal generator that can emit a signal similar to space-based navigation signals. According to data provided by Nokia, people spend 87%-90% of their time indoors. As indoor spaces become increasingly large and complex, it has become increasingly difficult to reversely find cars in parking lots, find goods in shopping malls, locate people, and perform smart manufacturing, so indoor positioning technology has been born.

[0003] In indoor environments, according to the GPS positioning principle, the receiver can calculate its own position based on the pseudoranges of four or more satellites and the positions of pseudosatellites received. However, in the actual application of pseudosatellite systems, since most of the positioning is done indoors or in some special places, it is difficult to ensure that the DOP value of each three-dimensional dimension is small due to the limited indoor space. At this time, if the positioning accuracy in a certain direction is too poor, the positioning accuracy and positioning success rate in the other two directions will be directly affected. At the same time, the user receiver cannot directly know its current location, so it is impossible to obtain the precision factor of the current location, and thus it is impossible to determine what satellite geometry should be used to ensure that the positioning DOP value is kept to a minimum. Summary of the invention

[0004] The purpose of the present invention is to provide a method, device and related components for high-precision adaptive positioning of an indoor pseudo-satellite constellation, aiming to solve the problems of poor applicability and low positioning success rate of existing indoor pseudo-satellites.

[0005] In order to solve the above technical problems, the object of the present invention is to achieve the following technical solutions: to provide a method for indoor pseudo-satellite constellation high-precision adaptive positioning, which comprises:

[0006] The receiver terminal receives the tag data broadcast by the electromagnetic tag in the current positioning scene in real time, and parses the tag data to obtain the positioning prior information of the current positioning scene; wherein, a plurality of electromagnetic tags are pre-arranged in the current positioning scene, and each of the electromagnetic tags continuously broadcasts the tag data to the outside;

[0007] Based on the positioning prior information, the corresponding positioning dimension, positioning algorithm and positioning configuration are switched, and the corresponding positioning result is calculated.

[0008] In addition, the technical problem to be solved by the present invention is to provide a high-precision adaptive positioning device for indoor pseudo-satellite constellation, which comprises:

[0009] A parsing unit is used for the receiver terminal to receive in real time the tag data broadcast by the electromagnetic tag in the current positioning scene, and parse the tag data to obtain the positioning prior information of the current positioning scene; wherein, a plurality of electromagnetic tags are pre-arranged in the current positioning scene, and each of the electromagnetic tags continuously broadcasts the tag data to the outside;

[0010] The conversion unit is used to switch the corresponding positioning dimension, positioning algorithm and positioning configuration based on the positioning prior information, and calculate the corresponding positioning result.

[0011] In addition, an embodiment of the present invention provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the indoor pseudo-satellite constellation high-precision adaptive positioning method described in the first aspect is implemented.

[0012] In addition, an embodiment of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor executes the indoor pseudo-satellite constellation high-precision adaptive positioning method described in the first aspect above.

[0013] The embodiment of the present invention discloses a method, device and related components for indoor pseudo-satellite constellation high-precision adaptive positioning, wherein the method includes: a receiver terminal receives in real time the tag data broadcast by the electromagnetic tag in the current positioning scene, and parses the tag data to obtain the positioning prior information of the current positioning scene; wherein, a number of electromagnetic tags are pre-arranged in the current positioning scene, and each of the electromagnetic tags broadcasts tag data outward uninterruptedly; based on the positioning prior information, the corresponding positioning dimension, positioning algorithm and positioning configuration are switched, and the corresponding positioning result is calculated. The method uses the receiver terminal to detect the tag data in real time, and transforms the dimension, selects the satellite configuration, and intelligently adjusts the algorithm parameters to adapt to the positioning scene through the matched positioning prior information, so as to solve the problems of low pseudo-satellite positioning solution success rate and poor accuracy caused by the three-dimensional positioning accuracy being affected by multiple parties, thereby making indoor pseudo-satellite positioning more adaptable, with higher positioning success rate and higher accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying any creative work.

[0015] Figure 1A schematic diagram of a flow chart of a method for high-precision adaptive positioning of an indoor pseudo-satellite constellation provided by an embodiment of the present invention;

[0016] Figure 2 A schematic diagram of indoor pseudo-satellite positioning provided by an embodiment of the present invention;

[0017] Figure 3 A schematic diagram of positioning results of a simulation experiment provided by an embodiment of the present invention;

[0018] Figure 4 A schematic diagram of three-dimensional error results of a simulation experiment provided by an embodiment of the present invention;

[0019] Figure 5 Schematic diagram of a sub-process of a method for high-precision adaptive positioning of an indoor pseudo-satellite constellation provided by an embodiment of the present invention

[0020] Figure 6 A schematic diagram of the Bluetooth beacon uuid and AD Structure data format provided in an embodiment of the present invention;

[0021] Figure 7 A schematic diagram of a custom AD Structure data format for a Bluetooth beacon provided in an embodiment of the present invention;

[0022] Figure 8 A schematic diagram of the data format of a Bluetooth beacon in a server query system provided by an embodiment of the present invention;

[0023] Fig. 9 A schematic diagram of the structure of an existing indoor positioning scenario provided by an embodiment of the present invention;

[0024] Fig.10 A schematic block diagram of a high-precision adaptive positioning device for an indoor pseudo-satellite constellation provided by an embodiment of the present invention;

[0025] Fig.11 A schematic block diagram of a computer device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0028] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0029] It should be further understood that the term "and / or" used in the present description and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0030] In the prior art, according to the GPS positioning principle, a receiver can calculate its own position based on the pseudo-ranges of four or more satellites and the positions of pseudo-satellites received, but there are the following problems.

[0031] The first type: Pseudo-satellite single-point positioning measurement information has large uncertainty;

[0032] One reason for this problem is the large pseudo-range error caused by multipath error. The essence of the multipath error satellite navigation signal is an electromagnetic wave. When it encounters objects such as walls indoors, it will be reflected by these objects. For example, in an indoor pseudo-satellite positioning environment, when the user (mobile phone) receiver receives the navigation signal that can be transmitted in a straight line, it may also receive the same satellite signal after one or more reflections from the earth or wall surface. At the same time, these reflected signals have undergone one or more reflections during the propagation process. This signal is called the multipath effect.

[0033] If the direct signal is weaker than the reflected signal under the multipath effect, the pseudorange value obtained by the user's receiver may even be calculated based on the reflected signal. The physical meaning of pseudorange is the distance from the satellite signal to the receiver. The calculated pseudorange value includes the reflection path, resulting in a large measurement error. At the same time, the receiver may receive multiple reflected signals from the same satellite, thereby superimposing these signals with the direct signal. At this time, the multipath signal will also increase the measurement error of the system.

[0034] In the pseudo-satellite positioning system, due to the complex indoor environment, the multipath effects of the same pseudo-satellite at different locations are different, and the multipath effects of different pseudo-satellites at the same location are also inconsistent. However, the receiver cannot detect the multipath effect at its location in real time. As a result, when the user receiver performs pseudo-range solution, if pseudo-satellite measurement data with large errors caused by the multipath effect is introduced, the positioning result error will be large, or positioning will not be possible (such as least squares positioning has no solution, filtering divergence, etc.).

[0035] Another reason for this problem is the uncertainty of measurement errors caused by unstable working conditions of different pseudo-satellites. Since the state of the pseudo-satellite itself is unstable, if some pseudo-satellites in the pseudo-satellite system are unstable and the system error is large, while the errors of the remaining pseudo-satellites are small, then among the several pseudo-satellites received, some pseudo-satellites will have poor pseudo-range measurement values.

[0036] Taking into account the errors in the above two pseudorange measurements, the user receiver uses the pseudorange values ​​of inaccurate satellites to calculate the position, which will lead to large errors in the measurement results and even make it impossible to obtain the calculation results.

[0037] In order to verify the influence of the above errors on the positioning results, the following experimental simulation is designed:

[0038] Combination Figure 2 , if the receiver terminal can receive measurement data from six satellites indoors, three of which have a pseudo-range error of 5m due to multipath or measurement error, and the error of the pseudo-range measurement value of the remaining three is 3m, the result of the three-dimensional solution is Figure 3 and Figure 4 From the simulation results shown in the figure, we can see that in the 1500 positioning processes, only 40 positionings were successful, with a success rate of only 2.7%, and the errors in the XYZ three-dimensional directions were relatively large. This means that in the actual GNSS positioning scenario, users need 50 calculations to get a result, which is often unacceptable. At the same time, the accuracy of the positioning results is also relatively poor.

[0039] The second type: the three-dimensional positioning accuracy is affected by many factors, and the uncertainty of the precision factor is large, resulting in large positioning errors;

[0040] Generally speaking, the positioning accuracy of a pseudolite system is related to the following two factors: one is the pseudo-range measurement error between the pseudolite and the receiver, and the other is the geometric distribution of pseudolites. In navigation, the DOP is usually used to characterize the quality of pseudolite layout. If the DOP value is larger, the pseudolite layout is worse, and the positioning accuracy is worse under the premise of the same pseudo-range measurement error; conversely, the better the pseudolite layout, the higher the positioning accuracy of the pseudolite system.

[0041] The weight matrix H is a representation of the precision factor of the quantified pseudo-satellite. In a three-dimensional positioning system that includes a time system, it is a 4*4 symmetric matrix, in which the matrix G is only related to the positions of each pseudo-satellite and the receiver, so it is also called a geometric matrix.

[0042] Satellite pseudorange geometric positioning equation:

[0043]

[0044] Among them, r (n) is the length of the observation vector of satellite n at the user receiver, (x (n) -x) is the X-direction component of this observation, Represents the geometric distance r of the nth satellite (n) , the value of the partial derivative of x at x, that is

[0045]

[0046] The variance of the positioning error is obtained by amplifying the variance σ of the pseudorange measurement error by the weight matrix H. It can be inferred that the positioning accuracy of the pseudo-satellite system is affected by two aspects. One is the measurement error. If the error of the pseudo-range measurement is larger, the positioning error is larger. The second is the value of the weight matrix H, that is, the position relationship between the pseudo-satellite and the receiver. Since the receiver can move at will in the pseudo-satellite system, if we want to reduce the positioning error, we can only find a way to reduce the pseudo-range measurement error and optimize the layout of pseudo-satellites at the same time.

[0047] In navigation science, the following precision factors are defined to measure the quality of pseudo-satellite layout:

[0048]

[0049]

[0050]

[0051]

[0052]

[0053] in are the diagonal elements of the weight matrix H, PDOP is called the spatial position precision factor, TDOP is called the clock error precision factor, and GDOP is called the geometric precision factor. After obtaining the definition of the precision factor, we take the measurement error and positioning error in spatial position as examples to analyze the role of the precision factor.

[0054] The standard deviation of positioning error in each direction can be expressed as:

[0055] σ G =GDOP·σ URE

[0056] Where, represents the standard deviation of geometric positioning error. Under the same measurement error conditions, if the value of is larger, the error will be magnified more, which means the positioning accuracy is lower and the positioning success rate is lower. The value of the entire geometric positioning accuracy is determined by the XYZ in space and the clock error.

[0057] In the actual application system of the pseudo-satellite system, since most of the positioning scenarios are indoors or in some special places, due to the limited indoor environment space, it is difficult to ensure that the DOP value of each three-dimensional dimension is small. At this time, if the positioning accuracy in one direction is too poor, the positioning accuracy and positioning success rate in the other two directions will be directly affected; at the same time, the user receiver cannot directly know the current position, so it is impossible to obtain the precision factor of the current position, and thus it is impossible to determine what satellite geometric configuration should be used to ensure that the positioning DOP value is kept to the minimum.

[0058] See also Figure 1 , Figure 1 A schematic diagram of a flow chart of a method for high-precision adaptive positioning of an indoor pseudo-satellite constellation provided by an embodiment of the present invention;

[0059] like Figure 1 As shown, the method includes steps S101 to S102.

[0060] S101, a receiver terminal receives tag data broadcast by an electromagnetic tag in a current positioning scenario in real time, and parses the tag data to obtain positioning priori information of the current positioning scenario; wherein a plurality of electromagnetic tags are pre-arranged in the current positioning scenario, and each of the electromagnetic tags continuously broadcasts tag data to the outside;

[0061] S102: Based on the positioning priori information, switch the corresponding positioning dimension, positioning algorithm and positioning configuration, and calculate and obtain the corresponding positioning result.

[0062] In this embodiment, the receiver terminal includes but is not limited to a mobile phone; the electromagnetic tag is pre-placed in a corresponding indoor pseudo-satellite positioning scenario, for example Fig. 9The electromagnetic tags 1 to 9 in the figure continuously broadcast tag data. After receiving the tag data, the receiver terminal parses the tag data to obtain the positioning prior information of the current positioning scene, and transforms the dimension based on the positioning prior information, selects the satellite configuration, and intelligently adjusts the algorithm parameters to adapt to the positioning scene, so as to solve the problems of low success rate of pseudo-satellite positioning solution and poor accuracy of three-dimensional positioning due to multiple influences, thereby making indoor pseudo-satellite positioning more adaptable, with higher positioning success rate and higher accuracy.

[0063] The step S101 is to parse the tag data to obtain the positioning priori information of the current positioning scene, which specifically includes the following three types of parsing methods:

[0064] Combination Figure 5 , the first parsing method includes the following steps:

[0065] S10, the receiver terminal receives the tag data, and queries a local tag database based on the tag data;

[0066] S11, judging whether there is corresponding prior positioning information in the local tag database, if there is corresponding prior positioning information in the local tag database, executing step S12, if there is no corresponding prior positioning information in the local tag database, executing step S13;

[0067] S12, obtaining corresponding positioning prior information;

[0068] S13, sending the tag data to a server query system, so that the server query system returns corresponding positioning prior information based on the tag data;

[0069] The second parsing method includes the following steps:

[0070] S20. The receiver terminal directly sends the tag data to a server query system based on the received tag data, so that the server query system returns corresponding positioning prior information based on the tag data.

[0071] The third parsing method includes the following steps:

[0072] S30: The receiver terminal parses the tag data to obtain the custom data frame therein, and parses the positioning priori information of the custom data frame according to a predetermined format.

[0073] According to the actual application scenario, any of the above-mentioned analysis methods can be used to parse the label data to obtain the corresponding prior information. When necessary, all three methods can be used simultaneously. This application does not make specific limitations.

[0074] Preferably, after step S13, the following steps are further included:

[0075] S14: Send the returned priori positioning information to the local tag database, so that the local tag database stores and updates the priori positioning information.

[0076] In this way, the missing information in the local tag database is filled, making it easier to directly parse the tag data next time.

[0077] It should be noted that the electromagnetic beacon described in this application is one of a Bluetooth beacon, a geomagnetic beacon, a WiFi beacon, an RFID beacon, and an NFC beacon.

[0078] In this embodiment, the electromagnetic beacon is a Bluetooth beacon.

[0079] Bluetooth beacon is an external device for mobile phone applications. Its working principle is to send its own ID to the surrounding through low-power Bluetooth, such as MAC address, manufacturer data and other information in Bluetooth broadcast data packet. In the standard Bluetooth beacon broadcast information frame format, each data packet is 31 bytes, which is divided into two parts: valid data and invalid data. Figure 6 As shown in the figure, the valid data contains several broadcast data units, called AD Structure. The components of AD Structure are length Len and type AD Type. The length Len represents the length of this AD Structure (excluding the length Len itself 1), and the type AD Type represents the data type of this broadcast data, such as uuid, custom data (Manufacturespecific data), etc. It should be noted that the length of the data packet must be 31 bytes. If the valid data part is less than 31 bytes, the rest will be padded with 0.

[0080] The Bluetooth broadcast information frame contains two parts. The first part is used to distinguish the digital ID of the Bluetooth beacon. Figure 6 The Bluetooth beacon uuid and AD Structure data formats shown in the figure define and distinguish the broadcast data format. The second part contains the fixed-format broadcast data frame, such as Figure 7 The Bluetooth beacon custom AD Structure data format is shown, where AD Structure and AD Type are carried by the device itself, and the remaining current scene identification, current lane identification, valid satellite sequence length, satellite SVID1~satellite SVIDn are all custom data, where n is an integer greater than 0.

[0081] By measuring the Bluetooth beacons in the current positioning scenario on site, the tag data and information data of each Bluetooth beacon are obtained, such as Figure 7The current scene identification, current lane identification, effective satellite sequence length, and custom data of satellite SVID1 to satellite SVIDn shown are stored with key values ​​according to the uuid of the Bluetooth beacon for access and query by the receiver terminal or downloaded to the local receiver terminal.

[0082] In this embodiment, the receiver terminal scans the tag data broadcast by the Bluetooth beacon in real time and parses out the custom representation uuid. Due to the broadcast characteristics of Bluetooth itself, the Bluetooth beacon can continuously send tag data to the outside, and the receiver terminal does not need to establish a connection with the Bluetooth beacon to continuously and cyclically scan the Bluetooth beacons in the current positioning scene. Once the receiver terminal enters the signal coverage range of the Bluetooth beacon, the information receiving function can be realized without the user's unnecessary manual operation.

[0083] In step S30, the Manufacture specific data frame with AD Type 0xFF in the Bluetooth broadcast frame is transmitted as follows: Figure 7 The Bluetooth beacon UUID and AD Structure data format shown are related to the positioning prior information.

[0084] In a specific embodiment, the positioning prior information includes the current environment mode represented by the electromagnetic tag, position coordinate information, precise position information in a self-built coordinate system, additional feature information in the current positioning environment, and valid satellite sequence information.

[0085] Bluetooth beacons are distinguished according to the uuid carried in the tag data, and the positioning prior information corresponding to the Bluetooth beacon is stored in the server query system. The specific positioning prior information storage format is as follows Figure 8 shown.

[0086] In one embodiment, step S102 includes the following steps:

[0087] S40. Acquire measurement data of all pseudolites, filter and process the measurement data based on the valid sequence information, and use the measurement data of the remaining pseudolites to perform positioning and solution, wherein the measurement data of the pseudolites include pseudorange, carrier phase, carrier-to-noise ratio measurement value, and Doppler frequency shift measurement value.

[0088] In this embodiment, after the receiver terminal receives the positioning prior information, it obtains the measurement data of all pseudo-satellites, such as pseudo-range, carrier phase, carrier-to-noise ratio measurement value, and Doppler frequency shift measurement value. Then, based on the valid sequence information in the positioning prior information, some pseudo-satellites that are not helpful for positioning accuracy or even reduce the positioning accuracy are filtered out, and the measurement data of the retained pseudo-satellites are used for positioning solution.

[0089] In one embodiment, the step S40 includes the following steps:

[0090] S50. Based on the valid sequence information, remove the measurement data of pseudolites whose precision factor is greater than a preset precision threshold, and remove the measurement data of pseudolites whose error value is greater than a preset error threshold.

[0091] In this embodiment, the valid sequence information in the positioning prior information includes the satellite serial numbers with poor error and small DOP value near the current position, so the pseudo satellites that are not suitable for inclusion in the positioning solution can be eliminated according to the positioning prior information, for example, combined with Fig. 9 In the current positioning scenario, the valid satellite sequences included in the received tag data 1 are 4, 5, 6, 7, and 8, but the pseudolite measurement data received by the receiver terminal include pseudolite measurement data numbered 1, 2, 3, 4, 5, 6, 7, and 8. Therefore, the receiver terminal will automatically filter out pseudolites 1, 2, and 3, and will no longer use the measurement data of these three pseudolites for positioning solution. Instead, the remaining measurement data of pseudolites numbered 4 to 8 will be used for positioning. In this way, pseudolites with poor data quality can be filtered out, thereby improving the positioning accuracy of pseudolites.

[0092] In one embodiment, the additional feature information in the current environment includes lane marking information; wherein, after step S50, the following steps are further included:

[0093] S60, based on the returned lane sign information, selecting corresponding pseudolites on the same lane to construct a pseudolites configuration;

[0094] S61, and performing positioning calculation using the one-dimensional position coordinates of each pseudo-satellite in the pseudo-satellite configuration.

[0095] In this embodiment, since the tag data broadcast by the Bluetooth beacon represents the selection of the pseudo-satellite configuration, for example, if the receiver terminal receives one of the tag data 1 to 8, it means that the receiver terminal is located in area 1, and pseudo-satellites 1 to 7 are used for positioning. It should be noted that the uuid of each tag data corresponds to a Bluetooth beacon one-to-one, that is, the tag data broadcast by Bluetooth beacon 1 is tag data 1.

[0096] Similarly, if the receiver terminal receives tag data 9, it means that the receiver terminal is located in area 2 at this time, and pseudo satellites 8 to 14 are used for positioning. Fig. 9 As shown, Bluetooth beacon 1 and Bluetooth beacon 2 are located on road 3. If the receiver terminal receives tag data 1 or tag data 2, it means that the receiver terminal is located on road 3 at this time, and then pseudo satellites 1, 2, and 3 are used to perform one-dimensional position coordinates on the road for positioning and solution. According to the definition of geometric precision factor:

[0097]

[0098] GDOP stands for Geometric Dilution of Precision. Among the four precision factor determining parameters, if the tag data broadcast by the Bluetooth beacon also includes the coordinates XYZ of the Bluetooth beacon's location, then in the current positioning scenario of Road 3, only one-dimensional positioning is required along Road 3. Then, under the premise of determining the other two dimensional information, This means that the entire geometric precision factor will be greatly reduced. Under the same measurement error conditions, the positioning success rate and positioning accuracy of pseudo-satellites can be significantly improved.

[0099] The embodiment of the present invention further provides an indoor pseudo-satellite constellation high-precision adaptive positioning device, which is used to execute any embodiment of the indoor pseudo-satellite constellation high-precision adaptive positioning method. Fig.10 , Fig.10 It is a schematic block diagram of a high-precision adaptive positioning device for an indoor pseudo-satellite constellation provided by an embodiment of the present invention.

[0100] like Fig.10 As shown, the indoor pseudo-satellite constellation high-precision adaptive positioning device 500 includes:

[0101] The parsing unit 501 is used for the receiver terminal to receive the tag data broadcast by the electromagnetic tag in the current positioning scene in real time, and parse the tag data to obtain the positioning prior information of the current positioning scene; wherein, a plurality of electromagnetic tags are pre-arranged in the current positioning scene, and each of the electromagnetic tags continuously broadcasts the tag data to the outside;

[0102] The conversion unit 502 is used to switch the corresponding positioning dimension, positioning algorithm and positioning configuration based on the positioning prior information, and calculate the corresponding positioning result;

[0103] The device can solve the problems of low success rate of pseudo-satellite positioning solution and poor accuracy of three-dimensional positioning due to multiple influences, thereby making indoor pseudo-satellite positioning more adaptable, with higher positioning success rate and higher accuracy.

[0104] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0105] The indoor pseudo-satellite constellation high-precision adaptive positioning device can be implemented in the form of a computer program. The computer program can be used in Fig.11 Runs on the computer device shown.

[0106] See also Fig.11 , Fig.11 11 is a schematic block diagram of a computer device provided by an embodiment of the present invention. The computer device 1100 is a server, which may be an independent server or a server cluster composed of multiple servers.

[0107] See also Fig.11 The computer device 1100 includes a processor 1102 , a memory, and a network interface 1105 connected via a system bus 1101 , wherein the memory may include a non-volatile storage medium 1103 and an internal memory 1104 .

[0108] The non-volatile storage medium 1103 may store an operating system 11031 and a computer program 11032. When the computer program 11032 is executed, the processor 1102 may execute a method for indoor pseudo-satellite constellation high-precision adaptive positioning.

[0109] The processor 1102 is used to provide computing and control capabilities to support the operation of the entire computer device 1100 .

[0110] The internal memory 1104 provides an environment for the operation of the computer program 11032 in the non-volatile storage medium 1103. When the computer program 11032 is executed by the processor 1102, the processor 1102 can execute the indoor pseudo-satellite constellation high-precision adaptive positioning method.

[0111] The network interface 1105 is used for network communication, such as providing data information transmission, etc. Those skilled in the art will understand that Fig.11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present invention, and does not constitute a limitation on the computer device 1100 to which the solution of the present invention is applied. The specific computer device 1100 may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0112] Those skilled in the art will understand that Fig.11 The embodiments of the computer device shown in the figure do not constitute a limitation on the specific composition of the computer device. In other embodiments, the computer device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently. For example, in some embodiments, the computer device may only include a memory and a processor. In such embodiments, the structure and function of the memory and the processor are the same as those of the embodiment of the present invention. Fig.11 The embodiments shown are consistent and will not be described again here.

[0113] It should be understood that in the embodiment of the present invention, the processor 1102 may be a central processing unit (CPU), and the processor 1102 may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0114] In another embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium may be a non-volatile computer-readable storage medium. The computer-readable storage medium stores a computer program, wherein when the computer program is executed by a processor, the indoor pseudo-satellite constellation high-precision adaptive positioning method of the embodiment of the present invention is implemented.

[0115] The storage medium is a physical, non-transient storage medium, for example, it can be a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, etc., which can store program codes.

[0116] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0117] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A high-precision adaptive positioning method for indoor pseudo-satellite constellation, characterized in that: include: The receiver terminal receives the tag data broadcast by the electromagnetic tag in the current positioning scene in real time, and parses the tag data to obtain the positioning prior information of the current positioning scene; wherein, a number of electromagnetic tags are pre-arranged in the current positioning scene, and each of the electromagnetic tags continuously broadcasts tag data outward; the positioning prior information includes additional feature information and valid satellite sequence information in the current positioning environment; the additional feature information in the current positioning environment includes lane marking information; Based on the positioning prior information, switch the corresponding positioning dimension, positioning algorithm and positioning configuration, and calculate the corresponding positioning result; The switching of the corresponding positioning dimension, positioning algorithm and positioning configuration based on the positioning prior information, and calculating the corresponding positioning result, includes: acquiring the measurement data of all pseudolites, filtering and processing the measurement data based on the valid satellite sequence information, and performing positioning solution using the measurement data of the remaining pseudolites; The filtering and processing of the measurement data based on the valid satellite sequence information includes: based on the valid satellite sequence information, removing the measurement data of pseudolites whose precision factor is greater than a preset precision threshold, and removing the measurement data of pseudolites whose error value is greater than a preset error threshold; After eliminating the measurement data of pseudolites whose precision factor is greater than a preset precision threshold and eliminating the measurement data of pseudolites whose error value is greater than a preset error threshold based on the valid satellite sequence information, the method further includes: selecting corresponding pseudolites on the same lane to construct a pseudolites configuration based on the returned lane sign information; and performing positioning solution using the one-dimensional position coordinates of each pseudolites in the pseudolites configuration.

2. The indoor pseudo-satellite constellation high-precision adaptive positioning method according to claim 1, characterized in that: The step of parsing the tag data to obtain the positioning priori information of the current positioning scene includes: The receiver terminal queries the local tag database based on the received tag data to determine whether the local tag database has corresponding prior positioning information. If the local tag database has corresponding prior positioning information, the receiver terminal obtains the corresponding prior positioning information. If the local tag database does not have corresponding prior positioning information, the receiver terminal sends the tag data to the server query system, so that the server query system returns the corresponding prior positioning information based on the tag data. Alternatively, the receiver terminal directly sends the tag data to a server query system based on the received tag data, so that the server query system returns corresponding positioning prior information based on the tag data; Alternatively, the receiver terminal parses the tag data to obtain the custom data frame therein, and parses the positioning priori information of the custom data frame according to a predetermined format.

3. The indoor pseudo-satellite constellation high-precision adaptive positioning method according to claim 1, characterized in that: The electromagnetic tag is one of a Bluetooth beacon, a geomagnetic beacon, a WiFi beacon, an RFID beacon, and an NFC beacon.

4. The indoor pseudo-satellite constellation high-precision adaptive positioning method according to claim 1, characterized in that: The positioning prior information also includes the current environment mode represented by the electromagnetic tag, the position coordinate information, and the precise position information in the self-built coordinate system.

5. The indoor pseudo-satellite constellation high-precision adaptive positioning method according to claim 4, characterized in that: The measurement data of the pseudo-satellite includes pseudo-range, carrier phase, carrier-to-noise ratio measurement value, and Doppler frequency shift measurement value.

6. An indoor pseudo-satellite constellation high-precision adaptive positioning device, characterized in that: include: A parsing unit is used for receiving the tag data broadcast by the electromagnetic tag in the current positioning scene in real time by the receiver terminal, and parsing the tag data to obtain the positioning prior information of the current positioning scene; wherein, a number of electromagnetic tags are pre-arranged in the current positioning scene, and each of the electromagnetic tags continuously broadcasts tag data externally; the positioning prior information includes additional feature information and valid satellite sequence information in the current positioning environment; the additional feature information in the current positioning environment includes lane marking information; A conversion unit, used to switch the corresponding positioning dimension, positioning algorithm and positioning configuration based on the positioning prior information, and calculate the corresponding positioning result; The switching of the corresponding positioning dimension, positioning algorithm and positioning configuration based on the positioning prior information, and calculating the corresponding positioning result, includes: acquiring the measurement data of all pseudolites, filtering and processing the measurement data based on the valid satellite sequence information, and performing positioning solution using the measurement data of the remaining pseudolites; The filtering and processing of the measurement data based on the valid satellite sequence information includes: based on the valid satellite sequence information, removing the measurement data of pseudolites whose precision factor is greater than a preset precision threshold, and removing the measurement data of pseudolites whose error value is greater than a preset error threshold; After eliminating the measurement data of pseudolites whose precision factor is greater than a preset precision threshold and eliminating the measurement data of pseudolites whose error value is greater than a preset error threshold based on the valid satellite sequence information, the method further includes: selecting corresponding pseudolites on the same lane to construct a pseudolites configuration based on the returned lane sign information; and performing positioning solution using the one-dimensional position coordinates of each pseudolites in the pseudolites configuration.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the indoor pseudo-satellite constellation high-precision adaptive positioning method according to any one of claims 1 to 5 is implemented.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to execute the indoor pseudo-satellite constellation high-precision adaptive positioning method according to any one of claims 1 to 5.

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