Switching method and system for indoor and outdoor positioning of pseudolite

Abstract

The embodiment of the present invention discloses a switching method and system for indoor and outdoor positioning of pseudo-satellite. The method includes constructing a guide area with an intersection area between an outdoor area and an indoor area, sequentially arranging a multi-level pseudo-satellite cluster for transmitting a transition signal in the guide area; setting the Doppler frequency and phase of the transition signal of the multi-level pseudo-satellite cluster to be set step by step from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction; when the receiver enters the indoor area from the outdoor area or from the indoor area to the outdoor area, searching step by step for the transition signal emitted by the pseudo-satellite clusters of each level in the guide area for position positioning, until the positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed. The method realizes rapid positioning of the receiver after the satellite signal is switched between the outdoor area and the indoor area.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a switching method and system for indoor and outdoor positioning of pseudo-satellite. Background Art

[0002] At present, satellite navigation systems can provide receivers with all-weather position, speed and time information at any location on the Earth's surface or in near-Earth space. In indoor environments, due to the weak satellite signals and the presence of interference sources, the positioning accuracy of satellite navigation systems is seriously reduced or even unavailable. In indoor spaces such as large venues, factories and parking lots, pseudo-satellite systems are a feasible high-precision indoor positioning solution.

[0003] In the design of the satellite system, due to the reduced power of the satellite landing, the information rate is only 50bps, and the number of parallel channels of the receiver is limited by the power consumption of the receiver. During the cold start of the receiver, it is necessary to first complete the visible satellite capture, tracking, bit synchronization, frame synchronization and complete telegram parsing before effective positioning can be achieved. During the cold start of the receiver, the first positioning time usually exceeds 30 seconds. Under weak signal conditions, the first positioning time reaches several minutes. The user experience of the pseudo-satellite positioning system is highly correlated with the first positioning time. When the user's receiver goes from outdoor to indoor or from indoor to outdoor, it usually takes more than 30 seconds to complete the capture and first positioning. The long initialization time seriously restricts the promotion and application of the pseudo-satellite positioning system. Summary of the invention

[0004] The embodiment of the present invention provides a method and system for switching indoor and outdoor positioning of a pseudo-satellite, aiming to solve the problem in the prior art that the positioning time is long when a receiver switches indoor and outdoor satellite signals.

[0005] In a first aspect, an embodiment of the present invention provides a method for switching indoor and outdoor positioning of a pseudolite, which includes:

[0006] A guide area is constructed by using the intersection area between the outdoor area and the indoor area, and multiple pseudo-satellite clusters for transmitting transition signals are sequentially arranged in the guide area, each pseudo-satellite cluster including multiple pseudo-satellites;

[0007] The Doppler frequency of the multi-level pseudo-satellite cluster transition signal is set to be a step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof, and the phase of the multi-level pseudo-satellite cluster transition signal is set to be a step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof;

[0008] When the receiver enters the indoor area from the outdoor area or enters the outdoor area from the indoor area, it searches step by step for transition signals emitted by the pseudo-satellite clusters of each level in the guidance area, and performs position positioning according to the transition signals until the positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guidance area.

[0009] In a second aspect, an embodiment of the present invention provides a switching system for indoor and outdoor positioning of a pseudolite, comprising:

[0010] A region division module is used to construct a guide region with an intersection region between an outdoor region and an indoor region, wherein multiple pseudo-satellite clusters for transmitting transition signals are sequentially arranged in the guide region, each pseudo-satellite cluster including multiple pseudo-satellites;

[0011] a pseudo-satellite cluster setting module, configured to set the Doppler frequency of the multi-level pseudo-satellite cluster transition signal to be set to be a step-by-step transition from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof, and to set the phase of the multi-level pseudo-satellite cluster transition signal to be a step-by-step transition from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof;

[0012] The receiver is used to search step by step for transition signals emitted by pseudo-satellite clusters of various levels in the guide area when entering the indoor area from the outdoor area or entering the outdoor area from the indoor area, and to locate the position according to the transition signals until the positioning switch from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guide area.

[0013] The embodiment of the present invention provides a switching method and system for indoor and outdoor positioning of pseudo-satellite. The method includes constructing a guide area with an intersection area between an outdoor area and an indoor area, sequentially arranging a multi-level pseudo-satellite cluster for transmitting a transition signal in the guide area; setting the Doppler frequency of the transition signal of the multi-level pseudo-satellite cluster to be set to be a step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof, and setting the phase of the transition signal of the multi-level pseudo-satellite cluster to be a step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof; when the receiver enters the indoor area from the outdoor area or enters the outdoor area from the indoor area, searching step by step for the transition signal emitted by each level of pseudo-satellite cluster in the guide area where it is located, and positioning is performed according to the transition signal, until the positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guide area. The method constructs a guide area between the outdoor area and the indoor area, divides the guide area into multiple transition areas, and designs the pseudo-satellite signal broadcast in each transition area in the guide area in a hierarchical transition manner. The receiver switches the satellite signal in a small range step by step based on the transition signal, starts initialization in advance when entering the indoor area from the outdoor area or when entering the outdoor area from the indoor area, completes the rapid reception and demodulation of the satellite signal in the guide area, thereby realizing rapid positioning when switching between indoor and outdoor satellite signals. 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 1 A schematic flow chart of a method for switching indoor and outdoor positioning of pseudolite provided in an embodiment of the present invention;

[0016] Figure 2 for Figure 1 A detailed flow chart of step S110 in an embodiment;

[0017] Figure 3 for Figure 1 A detailed flow chart of step S130 in an embodiment;

[0018] Figure 4 for Figure 1 A detailed flow chart of another embodiment of step S130;

[0019] Figure 5 A schematic diagram of the modules of a switching system for indoor and outdoor positioning of pseudolite provided by an embodiment of the present invention;

[0020] Figure 6 A schematic diagram of a guide area for a switching method for indoor and outdoor positioning of pseudolite provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] See also Figure 1 As shown, Figure 1 A schematic flow chart of a method for switching indoor and outdoor positioning of pseudolite provided in an embodiment of the present invention, the method comprising steps S110 to S130.

[0026] Step S110, constructing a guide area with the intersection area between the outdoor area and the indoor area, and sequentially arranging multiple levels of pseudo-satellite clusters for transmitting transition signals in the guide area, each level of pseudo-satellite cluster including multiple pseudo-satellites;

[0027] In this embodiment, in order to facilitate the guidance of the receiver to switch the positioning between the indoor area and the outdoor area, as shown in FIG. Figure 6 As shown, the guide area is constructed by the intersection area between the outdoor area and the indoor area, and multiple levels of pseudo-satellite clusters for transmitting transition signals are sequentially arranged at intervals in the guide area. Each level of pseudo-satellite cluster includes a number of pseudo-satellites.

[0028] like Figure 2As shown, in one embodiment, step S110 includes:

[0029] Step S210, splitting the guide area to obtain N transition areas;

[0030] Step S220, determining the order of the pseudolite cluster according to the number N of the transition regions;

[0031] Step S230: Arrange N levels of pseudolite clusters in the guide region in sequence, wherein the number of pseudolite clusters in each level is the same, and the pseudolite clusters in each level have the same number.

[0032] In this embodiment, in order to guide the receiver to achieve rapid positioning switching when passing through the guide area, the guide area is split to arrange multiple levels of pseudo-satellite clusters, specifically including: splitting the guide area to obtain N transition areas; then determining the number of pseudo-satellite clusters according to the number of transition areas N, and sequentially arranging N levels of pseudo-satellite clusters in the guide area, wherein the number of pseudo-satellites in each level of pseudo-satellite cluster is the same, the pseudo-satellite numbers in each level of pseudo-satellite cluster are the same, and the transition signals of multiple pseudo-satellites in each level of pseudo-satellite cluster are broadcast after digital synthesis. The pseudo-satellite numbers of each transition area in the indoor area and the guide area are the same as those of outdoor satellites, and the receiver's satellite number search range is consistent with that of outdoor satellites.

[0033] For example, the guide region is divided into 6 transition regions, each transition region is provided with a first-level pseudo-satellite cluster, and the pseudo-satellite clusters of each transition region are numbered in sequence, and then the first-level pseudo-satellite cluster, the second-level pseudo-satellite cluster, the third-level pseudo-satellite cluster, the fourth-level pseudo-satellite cluster, the fifth-level pseudo-satellite cluster and the sixth-level pseudo-satellite cluster are arranged in sequence in the guide region. M pseudo-satellites are provided in each transition region, and the numbers of the M pseudo-satellites are PRN_i (1≤i≤M), for example, M=32, then PRN_i (1≤i≤32, PRN_i∈1~32).

[0034] Step S120, setting the Doppler frequency of the multi-level pseudolite cluster transition signal to be set to transition step by step from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof, and setting the phase of the multi-level pseudolite cluster transition signal to be set to transition step by step from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof;

[0035] Step S130: When the receiver enters the indoor area from the outdoor area or enters the outdoor area from the indoor area, it searches step by step for transition signals emitted by the pseudo-satellite clusters of each level in the guidance area, and performs position positioning according to the transition signals until the positioning switch from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guidance area.

[0036] In this embodiment, the characteristics of the transition signal include pseudosatellite number, Doppler frequency and phase. According to the Doppler frequency of the transition signal of the multi-level pseudosatellite cluster, a step-by-step transition is set from the outdoor area to the inner area or from the indoor area to the outdoor area according to the arrangement direction of the pseudosatellite cluster, and, according to the phase of the transition signal of the multi-level pseudosatellite cluster, a step-by-step transition is set from the outdoor area to the inner area or from the indoor area to the outdoor area according to the arrangement direction of the pseudosatellite cluster. By reasonably setting the transition signal of the transition area, when the receiver enters the indoor area from the outdoor area or enters the outdoor area from the indoor area, the transition signal emitted by the pseudosatellite clusters at all levels in the guide area is searched step by step and the position is located, until the rapid positioning after the satellite signal switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guide area.

[0037] Specifically, the phase of the pseudo-satellite cluster transition signal at each level is determined by the following formula: i =f 室外 +i*Δf; where Δf=(f 室内 -f 室外 ) / N,f i is the Doppler frequency of the ith pseudo-satellite cluster, f 室内 represents the Doppler frequency of the pseudo-satellite cluster in the indoor area, f 室外 represents the Doppler frequency of satellite signals in the outdoor area, Δf represents the Doppler frequency difference, i = 1 to N;

[0038] The phase of the multi-level pseudolite cluster transition signal is determined as follows: i =ρ 室外 +i*Δρ; where Δρ=(ρ 室内 –ρ 室外 ) / N,ρ i is the phase of the ith pseudo-satellite cluster, ρ 室内 represents the phase of the pseudo-satellite cluster in the indoor area, ρ 室外 represents the phase of the satellite signal in the outdoor area, Δρ represents the phase difference, and i=1~N.

[0039] For example, by sampling the Doppler frequency and phase of the indoor pseudo-satellite signal and the outdoor satellite signal, the Doppler frequency and phase of the outdoor satellite signal are f1 and ρ1 respectively, and the Doppler frequency and phase of the indoor pseudo-satellite signal are f2 and ρ2 respectively. According to the Doppler frequency difference, phase difference and transition area size of the indoor and outdoor satellite signals, the characteristics of the transition signals at all levels in the guidance area are designed, and the Doppler frequency difference and phase difference of the transition signals at all levels are Δf and Δρ respectively; the Doppler frequency and phase of the guidance area are gradually increased or decreased between f1~f2, ρ1~ρ2 with Δf and Δρ as steps. If the Doppler frequency and phase of the satellite signal increase during the movement of the receiver, the Doppler frequency and phase of the pseudo-satellite cluster signals at all levels in the guidance area increase; when the Doppler frequency and phase of the satellite signal decrease during the movement, the Doppler frequency and phase of the pseudo-satellite cluster signals at all levels in the guidance area decrease; during the signal switching, the Doppler frequency and phase search range of the receiver is reduced by N times, and the search time is reduced by N 2 By setting the transition area reasonably and broadcasting transition signals with similar characteristics to indoor and outdoor satellites in the transition area, the auxiliary receiver can quickly complete the capture and reception of satellite signals when switching between indoor and outdoor, and the first positioning when switching between indoor and outdoor satellite signals can be achieved in about 1 second.

[0040] It should be noted that in this embodiment, the transition signals set for step-by-step transition have the same Doppler frequency difference or phase difference. In addition, the Doppler frequency difference or phase difference between each level of transition signals may also be different, and the Doppler frequency difference or phase difference of each level of transition signals may be adjusted according to actual needs.

[0041] like Figure 3 As shown, in one embodiment, step S130 includes:

[0042] Step S310: When the receiver enters the indoor area from the outdoor area, it first enters the primary transition area of ​​the guide area, searches for the primary transition signal emitted by the pseudo-satellite cluster corresponding to the primary transition area, and completes the position positioning of the receiver in the primary transition area according to the primary transition signal;

[0043] Step S320: When the receiver enters the secondary transition area of ​​the guide area, searching for the secondary transition signal emitted by the pseudo-satellite cluster corresponding to the secondary transition area, and completing the position positioning of the receiver in the secondary transition area according to the secondary transition signal;

[0044] Step S330: When the receiver enters the third-level transition area of ​​the guide area, searching for the third-level transition signal emitted by the pseudo-satellite cluster corresponding to the third-level transition area, and completing the position positioning of the receiver in the third-level transition area according to the third-level transition signal;

[0045] Step S340, and so on, when the receiver enters the N-level transition area of ​​the guide area, searching for the N-level transition signal emitted by the pseudo-satellite cluster corresponding to the N-level transition area, and completing the position positioning of the receiver in the N-level transition area according to the N-level transition signal;

[0046] Step S350: When the receiver enters the indoor area from the N-level transition area, the N-level transition signal is used to perform position positioning to complete the position switching from the outdoor area to the indoor area.

[0047] In this embodiment, if the guide area is divided into 6 transition areas, 6 levels of pseudo-satellite clusters are set, and the split points of each transition area in the guide area are arranged in sequence from the first level to the fifth level of pseudo-satellite clusters, and the sixth level of pseudo-satellite clusters are arranged at the junction of the guide area and the indoor area. The Doppler frequency difference and phase difference of the transition signals at each level are Δf and Δρ respectively, and the sixth level of transition signal is the same as the satellite signal of the indoor area. Then, the process of the receiver entering the indoor area from the outdoor area includes: first entering the first level transition area of ​​the guide area, searching for the first level transition signal emitted by the pseudo-satellite cluster corresponding to the first level transition area, and completing the position positioning of the receiver in the first level transition area according to the first level transition signal; when the receiver enters the second level transition area of ​​the guide area, searching the second level transition area The receiver searches for the second-level transition signal emitted by the pseudo-satellite cluster corresponding to the domain, and completes the position positioning of the receiver in the second-level transition area according to the second-level transition signal; when the receiver enters the third-level transition area of ​​the guide area, it searches for the third-level transition signal emitted by the pseudo-satellite cluster corresponding to the third-level transition area, and completes the position positioning of the receiver in the third-level transition area according to the third-level transition signal; by analogy, when the receiver enters the sixth-level transition area of ​​the guide area, it searches for the sixth-level transition signal emitted by the pseudo-satellite cluster corresponding to the sixth-level transition area, and completes the position positioning of the receiver in the sixth-level transition area according to the sixth-level transition signal; when the receiver enters the indoor area from the sixth-level transition area, it uses the sixth-level transition signal for position positioning, and completes the position switching from the outdoor area to the indoor area. Among them, since the sixth-level transition signal corresponding to the sixth-level transition area is the same as the pseudo-satellite signal in the indoor area, when the receiver enters the indoor area, the search for the pseudo-satellite signal in the indoor area has been completed, and it only needs to obtain the current ephemeris data for positioning and solution, so as to realize the rapid switching of the outdoor area and indoor area positioning based on the pseudo-satellite signal of the receiver. After testing, based on the above method, when the receiver switches between indoors and outdoors, it takes about 1 second to complete the acquisition of the observation value of the pseudo-satellite signal, and uses the ephemeris data obtained in the guidance area for positioning solution. The first positioning time can be shortened from 36 seconds in cold start to about 1 second, realizing rapid switching between indoor and outdoor positioning.

[0048] In one embodiment, the guide area is divided into six transition areas, and a five-level pseudo-satellite cluster can also be arranged. It should be noted that the arrangement of the five-level pseudo-satellite cluster is based on the arrangement of the six-level pseudo-satellite cluster, and the six-level pseudo-satellite cluster arranged at the intersection of the guide area and the indoor area is removed. The process of the receiver entering the indoor area from the outdoor area includes: first entering the first-level transition area of ​​the guide area, searching for the first-level transition signal emitted by the pseudo-satellite cluster corresponding to the first-level transition area, and completing the position positioning of the receiver in the first-level transition area according to the first-level transition signal; when the receiver enters the second-level transition area of ​​the guide area, searching for the second-level transition signal emitted by the pseudo-satellite cluster corresponding to the second-level transition area , and completes the position positioning of the receiver in the secondary transition area according to the secondary transition signal; when the receiver enters the third-level transition area of ​​the guidance area, the third-level transition signal emitted by the pseudo-satellite cluster corresponding to the third-level transition area is searched, and the position positioning of the receiver in the third-level transition area is completed according to the third-level transition signal; by analogy, when the receiver enters the sixth-level transition area of ​​the guidance area, the indoor signal emitted by the pseudo-satellite cluster corresponding to the indoor area is searched, and the position positioning of the receiver in the sixth-level transition area is completed according to the indoor signal; when the receiver enters the indoor area from the sixth-level transition area, the position is positioned by the indoor signal, and the position switching from the outdoor area to the indoor area is completed.

[0049] like Figure 4 As shown, in one embodiment, step S130 further includes:

[0050] Step S410: When the receiver enters the outdoor area from the indoor area, it first enters the N-level transition area of ​​the guide area, searches for the N-level transition signal emitted by the pseudo-satellite cluster corresponding to the N-level transition area, and completes the position positioning of the receiver in the N-level transition area according to the N-level transition signal;

[0051] Step S420: When the receiver enters the N-1 level transition area of ​​the guide area, searching for the N-1 level transition signal emitted by the pseudo-satellite cluster corresponding to the N-1 level transition area, and completing the position positioning of the receiver in the N-1 level transition area according to the N-1 level transition signal;

[0052] Step S430: When the receiver enters the N-2 transition area of ​​the guide area, searching for the N-2 transition signal emitted by the pseudo-satellite cluster corresponding to the N-2 transition area, and completing the position positioning of the receiver in the N-2 transition area according to the N-2 transition signal;

[0053] Step S440, and so on, when the receiver enters the primary transition area of ​​the guide area, searching for the primary transition signal emitted by the pseudo satellite cluster corresponding to the primary transition area, and completing the position positioning of the receiver in the primary transition area according to the primary transition signal;

[0054] Step S450: When the receiver enters the outdoor area from the primary transition area, the outdoor signal of the outdoor area is searched for position positioning, and the position switching from the indoor area to the outdoor area is completed.

[0055] In this embodiment, if the guide area is divided into 6 transition areas, 6 levels of pseudo-satellite clusters are set, and the split points of each transition area in the guide area are arranged in sequence from the first level to the fifth level of pseudo-satellite clusters, and the sixth level of pseudo-satellite clusters are arranged at the junction of the guide area and the indoor area. The Doppler frequency difference and phase difference of the transition signals at each level are Δf and Δρ respectively, and the sixth level of transition signal is the same as the satellite signal of the indoor area. Then, the process of the receiver entering the outdoor area from the indoor area includes: first entering the sixth level transition area of ​​the guide area, searching for the sixth level of transition signal emitted by the pseudo-satellite cluster corresponding to the sixth level of transition area, and completing the position positioning of the receiver in the sixth level of transition area according to the sixth level of transition signal; when the receiver enters the fifth level of transition area of ​​the guide area, searching for the fifth level of transition area corresponding to the pseudo-satellite cluster; The receiver searches for the fifth-level transition signal emitted by the corresponding pseudo-satellite cluster in the fourth-level transition area, and locates the position of the receiver in the fifth-level transition area according to the fifth-level transition signal; when the receiver enters the fourth-level transition area of ​​the guide area, it searches for the fourth-level transition signal emitted by the pseudo-satellite cluster corresponding to the fourth-level transition area, and locates the position of the receiver in the fourth-level transition area according to the fourth-level transition signal; by analogy, when the receiver enters the first-level transition area of ​​the guide area, it searches for the first-level transition signal emitted by the pseudo-satellite cluster corresponding to the first-level transition area, and locates the position of the receiver in the first-level transition area according to the first-level transition signal; when the receiver enters the outdoor area from the first-level transition area, it searches for the outdoor signal in the outdoor area for position positioning, and completes the position switching from the indoor area to the outdoor area.

[0056] In one embodiment, if the guide area is divided into 6 transition areas and a 5-level pseudo-satellite cluster is set, the process of the receiver entering the outdoor area from the indoor area includes: first entering the 6-level transition area of ​​the guide area, searching for the indoor signal emitted by the pseudo-satellite cluster corresponding to the indoor area, and completing the position positioning of the receiver in the 6-level transition area according to the indoor signal; when the receiver enters the 5-level transition area of ​​the guide area, searching for the 5-level transition signal emitted by the pseudo-satellite cluster corresponding to the 5-level transition area, and completing the position positioning of the receiver in the 5-level transition area according to the 5-level transition signal; when the receiver enters the 4-level transition area of ​​the guide area, searching for the 4-level transition signal emitted by the pseudo-satellite cluster corresponding to the 4-level transition area, and completing the position positioning of the receiver in the 4-level transition area according to the 4-level transition signal; and so on, when the receiver enters the 1-level transition area of ​​the guide area, searching for the 1-level transition signal emitted by the pseudo-satellite cluster corresponding to the 1-level transition area, and completing the position positioning of the receiver in the 1-level transition area according to the 1-level transition signal; when the receiver enters the outdoor area from the 1-level transition area, searching for the outdoor signal in the outdoor area for position positioning, and completing the position switching from the indoor area to the outdoor area.

[0057] The method constructs a guide area between the outdoor area and the indoor area, divides the guide area into multiple transition areas, and designs the pseudo-satellite signal broadcast in each transition area in the guide area in a hierarchical transition manner. The receiver switches the satellite signal in a small range step by step based on the transition signal, starts initialization in advance when entering the indoor area from the outdoor area or when entering the outdoor area from the indoor area, completes the rapid reception and demodulation of the satellite signal in the guide area, thereby realizing rapid positioning when switching between indoor and outdoor satellite signals.

[0058] The embodiment of the present invention further provides a pseudolite indoor and outdoor positioning switching system, which is used to execute any embodiment of the pseudolite indoor and outdoor positioning switching method described above. Figure 5 , Figure 5 1 is a schematic block diagram of a pseudolite indoor and outdoor positioning switching system provided by an embodiment of the present invention. The pseudolite indoor and outdoor positioning switching system 100 may be configured in a server.

[0059] like Figure 5 As shown, the switching system 100 for pseudolite indoor and outdoor positioning includes a region division module 110 , a pseudolite cluster setting module 120 , and a receiver 130 .

[0060] The area division module 110 is used to construct a guide area with an intersection area between the outdoor area and the indoor area, and to sequentially arrange multiple pseudo-satellite clusters for transmitting transition signals in the guide area, each pseudo-satellite cluster including multiple pseudo-satellites;

[0061] The pseudolite cluster setting module 120 is used to set the Doppler frequency of the multi-level pseudolite cluster transition signal to be set to transition step by step from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof, and to set the phase of the multi-level pseudolite cluster transition signal to be set to transition step by step from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof;

[0062] The receiver 130 is used to search step by step for transition signals emitted by pseudo-satellite clusters of various levels in the guide area when entering the indoor area from the outdoor area or entering the outdoor area from the indoor area, and to locate the position according to the transition signals until the positioning switch from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guide area.

[0063] In one embodiment, the region division module 110 includes:

[0064] A splitting unit, used for splitting the guide area to obtain N transition areas;

[0065] A level setting unit, used for determining the level of the pseudolite cluster according to the number N of the transition regions;

[0066] The pseudolite arrangement unit is used to sequentially arrange N levels of pseudolite clusters in the guide region, wherein the number of pseudolite clusters in each level is the same, and the pseudolite numbers in each level of pseudolite clusters are the same.

[0067] The receiver is used for:

[0068] When the receiver enters the indoor area from the outdoor area, it first enters the primary transition area of ​​the guide area, searches for the primary transition signal emitted by the pseudo-satellite cluster corresponding to the primary transition area, and completes the position positioning of the receiver in the primary transition area according to the primary transition signal;

[0069] When the receiver enters the secondary transition region of the guide region, searching for the secondary transition signal emitted by the pseudo-satellite cluster corresponding to the secondary transition region, and completing the position positioning of the receiver in the secondary transition region according to the secondary transition signal;

[0070] When the receiver enters the third-level transition area of ​​the guide area, searching for the third-level transition signal emitted by the pseudo-satellite cluster corresponding to the third-level transition area, and completing the position positioning of the receiver in the third-level transition area according to the third-level transition signal;

[0071] By analogy, when the receiver enters the N-level transition area of ​​the guide area, the N-level transition signal emitted by the pseudo-satellite cluster corresponding to the N-level transition area is searched, and the position of the receiver in the N-level transition area is located according to the N-level transition signal;

[0072] When the receiver enters the indoor area from the N-level transition area, the position is located using the N-level transition signal to complete the position switching from the outdoor area to the indoor area.

[0073] The receiver is further used for:

[0074] When the receiver enters the outdoor area from the indoor area, it first enters the N-level transition area of ​​the guide area, searches for the N-level transition signal emitted by the pseudo-satellite cluster corresponding to the N-level transition area, and completes the position positioning of the receiver in the N-level transition area according to the N-level transition signal;

[0075] When the receiver enters the N-1 level transition area of ​​the guide area, searching for the N-1 level transition signal emitted by the pseudo satellite cluster corresponding to the N-1 level transition area, and completing the position positioning of the receiver in the N-1 level transition area according to the N-1 level transition signal;

[0076] When the receiver enters the N-2 level transition area of ​​the guide area, searching for the N-2 level transition signal emitted by the pseudo satellite cluster corresponding to the N-2 level transition area, and completing the position positioning of the receiver in the N-2 level transition area according to the N-2 level transition signal;

[0077] By analogy, when the receiver enters the primary transition region of the guide region, the primary transition signal emitted by the pseudo-satellite cluster corresponding to the primary transition region is searched, and the position of the receiver in the primary transition region is located according to the primary transition signal;

[0078] When the receiver enters the outdoor area from the primary transition area, the outdoor signal of the outdoor area is searched for position positioning, and the position switching from the indoor area to the outdoor area is completed.

[0079] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, the specific working process of the above-described equipment, system and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. Those of ordinary skill in the art can appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, computer software or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to the function. Whether these functions are executed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0080] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. Units with the same function may also be combined into one unit. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, systems or units, or may be electrical, mechanical or other forms of connection.

[0081] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0082] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0083] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), disk or optical disk and other media that can store program codes.

[0084] 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 switching method for pseudo-satellite indoor and outdoor positioning, It is characterized in that include: A guide area is constructed by using the intersection area between the outdoor area and the indoor area, and multiple pseudo-satellite clusters for transmitting transition signals are sequentially arranged in the guide area, each pseudo-satellite cluster including multiple pseudo-satellites; The Doppler frequency of the multi-level pseudo-satellite cluster transition signal is set to be a step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof, and the phase of the multi-level pseudo-satellite cluster transition signal is set to be a step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof; When the receiver enters the indoor area from the outdoor area or enters the outdoor area from the indoor area, it searches step by step for transition signals emitted by the pseudo-satellite clusters of each level in the guidance area, and performs position positioning according to the transition signals until the positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guidance area.

2. The switching method for pseudo-satellite indoor and outdoor positioning according to claim 1, It is characterized in that In the guide region, multiple levels of pseudo-satellite clusters for transmitting transition signals are sequentially arranged, each level of pseudo-satellite cluster includes multiple pseudo-satellites, including: Splitting the guide area to obtain N transition areas; Determining the order of the pseudolite cluster according to the number N of the transition regions; N levels of pseudolite clusters are arranged in sequence in the guide region, wherein the number of pseudolite clusters in each level is the same, and the pseudolite clusters in each level have the same number.

3. The switching method for pseudo-satellite indoor and outdoor positioning according to claim 2, It is characterized in that The step of setting the Doppler frequency of the multi-level pseudo-satellite cluster transition signal to be a step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof, and setting the phase of the multi-level pseudo-satellite cluster transition signal to be a step-by-step transition setting from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof, comprises: The Doppler frequency of the multi-level pseudo-satellite cluster transition signal is determined as follows: i =f 室外 +i*Δf; where Δf=(f 室内 -f 室外 ) / N,f i is the Doppler frequency of the ith pseudo-satellite cluster, f 室内 represents the Doppler frequency of the pseudo-satellite cluster in the indoor area, f 室外 represents the Doppler frequency of satellite signals in the outdoor area, Δf represents the Doppler frequency difference, i = 1 to N; The phase of the multi-level pseudolite cluster transition signal is determined as follows: i =ρ 室外 +i*Δρ; where Δρ=(ρ 室内 –ρ 室外 ) / N,ρ i is the phase of the ith pseudo-satellite cluster, ρ 室内 represents the phase of the pseudo-satellite cluster in the indoor area, ρ 室外 represents the phase of the satellite signal in the outdoor area, Δρ represents the phase difference, and i=1~N.

4. The switching method for pseudo-satellite indoor and outdoor positioning according to claim 2, It is characterized in that When the receiver enters the indoor area from the outdoor area or the outdoor area from the indoor area, the receiver searches step by step for transition signals emitted by pseudo-satellite clusters of various levels in the guide area, and performs position positioning according to the transition signals until the positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the transition area, including: When the receiver enters the indoor area from the outdoor area, it first enters the primary transition area of ​​the guide area, searches for the primary transition signal emitted by the pseudo-satellite cluster corresponding to the primary transition area, and completes the position positioning of the receiver in the primary transition area according to the primary transition signal; When the receiver enters the secondary transition region of the guide region, searching for the secondary transition signal emitted by the pseudo-satellite cluster corresponding to the secondary transition region, and completing the position positioning of the receiver in the secondary transition region according to the secondary transition signal; When the receiver enters the third-level transition area of ​​the guide area, searching for the third-level transition signal emitted by the pseudo-satellite cluster corresponding to the third-level transition area, and completing the position positioning of the receiver in the third-level transition area according to the third-level transition signal; By analogy, when the receiver enters the N-level transition area of ​​the guide area, the N-level transition signal emitted by the pseudo-satellite cluster corresponding to the N-level transition area is searched, and the position of the receiver in the N-level transition area is located according to the N-level transition signal; When the receiver enters the indoor area from the N-level transition area, the position is located using the N-level transition signal to complete the position switching from the outdoor area to the indoor area.

5. The switching method for pseudo-satellite indoor and outdoor positioning according to claim 2, It is characterized in that When the receiver enters the indoor area from the outdoor area or the outdoor area from the indoor area, the receiver searches step by step for transition signals emitted by pseudo-satellite clusters of various levels in the guide area, and performs position positioning according to the transition signals until the positioning switching from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the transition area, including: When the receiver enters the outdoor area from the indoor area, it first enters the N-level transition area of ​​the guide area, searches for the N-level transition signal emitted by the pseudo-satellite cluster corresponding to the N-level transition area, and completes the position positioning of the receiver in the N-level transition area according to the N-level transition signal; When the receiver enters the N-1 level transition area of ​​the guide area, searching for the N-1 level transition signal emitted by the pseudo satellite cluster corresponding to the N-1 level transition area, and completing the position positioning of the receiver in the N-1 level transition area according to the N-1 level transition signal; When the receiver enters the N-2 level transition area of ​​the guide area, searching for the N-2 level transition signal emitted by the pseudo satellite cluster corresponding to the N-2 level transition area, and completing the position positioning of the receiver in the N-2 level transition area according to the N-2 level transition signal; By analogy, when the receiver enters the primary transition region of the guide region, the primary transition signal emitted by the pseudo-satellite cluster corresponding to the primary transition region is searched, and the position of the receiver in the primary transition region is located according to the primary transition signal; When the receiver enters the outdoor area from the primary transition area, the outdoor signal of the outdoor area is searched for position positioning, and the position switching from the indoor area to the outdoor area is completed.

6. The switching method for indoor and outdoor positioning of pseudo-satellite according to claim 2, It is characterized in that The transition signals of multiple pseudo-satellites in each level of pseudo-satellite cluster are broadcast after being digitally synthesized.

7. A switching system for pseudo-satellite indoor and outdoor positioning, It is characterized in that include: A region division module is used to construct a guide region with an intersection region between an outdoor region and an indoor region, wherein multiple pseudo-satellite clusters for transmitting transition signals are sequentially arranged in the guide region, each pseudo-satellite cluster including multiple pseudo-satellites; a pseudo-satellite cluster setting module, configured to set the Doppler frequency of the multi-level pseudo-satellite cluster transition signal to be set to be a step-by-step transition from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof, and to set the phase of the multi-level pseudo-satellite cluster transition signal to be a step-by-step transition from the outdoor area to the indoor area or from the indoor area to the outdoor area along the arrangement direction thereof; The receiver is used to search step by step for transition signals emitted by pseudo-satellite clusters of various levels in the guide area when entering the indoor area from the outdoor area or entering the outdoor area from the indoor area, and to locate the position according to the transition signals until the positioning switch from the outdoor area to the indoor area or from the indoor area to the outdoor area is completed through the guide area.

8. The switching system for pseudo-satellite indoor and outdoor positioning according to claim 7, It is characterized in that The area division module comprises: A splitting unit, used for splitting the guide area to obtain N transition areas; A level setting unit, used for determining the level of the pseudolite cluster according to the number N of the transition regions; The pseudolite arrangement unit is used to sequentially arrange N levels of pseudolite clusters in the guide region, wherein the number of pseudolite clusters in each level is the same, and the pseudolite numbers in each level of pseudolite clusters are the same.

9. The switching system for pseudo-satellite indoor and outdoor positioning according to claim 8, It is characterized in that The receiver is used for: When the receiver enters the indoor area from the outdoor area, it first enters the primary transition area of ​​the guide area, searches for the primary transition signal emitted by the pseudo-satellite cluster corresponding to the primary transition area, and completes the position positioning of the receiver in the primary transition area according to the primary transition signal; When the receiver enters the secondary transition region of the guide region, searching for the secondary transition signal emitted by the pseudo-satellite cluster corresponding to the secondary transition region, and completing the position positioning of the receiver in the secondary transition region according to the secondary transition signal; When the receiver enters the third-level transition area of ​​the guide area, searching for the third-level transition signal emitted by the pseudo-satellite cluster corresponding to the third-level transition area, and completing the position positioning of the receiver in the third-level transition area according to the third-level transition signal; By analogy, when the receiver enters the N-level transition area of ​​the guide area, the N-level transition signal emitted by the pseudo-satellite cluster corresponding to the N-level transition area is searched, and the position of the receiver in the N-level transition area is located according to the N-level transition signal; When the receiver enters the indoor area from the N-level transition area, the position is located using the N-level transition signal to complete the position switching from the outdoor area to the indoor area.

10. The switching system for pseudo-satellite indoor and outdoor positioning according to claim 8, It is characterized in that The receiver is further used for: When the receiver enters the outdoor area from the indoor area, it first enters the N-level transition area of ​​the guide area, searches for the N-level transition signal emitted by the pseudo-satellite cluster corresponding to the N-level transition area, and completes the position positioning of the receiver in the N-level transition area according to the N-level transition signal; When the receiver enters the N-1 level transition area of ​​the guide area, searching for the N-1 level transition signal emitted by the pseudo satellite cluster corresponding to the N-1 level transition area, and completing the position positioning of the receiver in the N-1 level transition area according to the N-1 level transition signal; When the receiver enters the N-2 level transition area of ​​the guide area, searching for the N-2 level transition signal emitted by the pseudo satellite cluster corresponding to the N-2 level transition area, and completing the position positioning of the receiver in the N-2 level transition area according to the N-2 level transition signal; By analogy, when the receiver enters the primary transition region of the guide region, the primary transition signal emitted by the pseudo-satellite cluster corresponding to the primary transition region is searched, and the position of the receiver in the primary transition region is located according to the primary transition signal; When the receiver enters the outdoor area from the primary transition area, the outdoor signal of the outdoor area is searched for position positioning, and the position switching from the indoor area to the outdoor area is completed.

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