Indoor terminal positioning method, system, device and electronic equipment

Abstract

The present application provides an indoor terminal positioning method, system, device, and electronic device. Multiple indoor antennas are distributed indoors, and each of the multiple indoor antennas is connected to an outdoor antenna installed outdoors to receive satellite navigation signals via multiple feeders. The method includes: for each of the multiple indoor antennas, determining the antenna position corresponding to the indoor antenna based on the satellite navigation signal and estimating the receiver clock error corresponding to the indoor antenna; determining an indoor antenna adjacent to the terminal among the multiple indoor antennas as a neighboring antenna based on the length of the feeder and the receiver clock error of each of the multiple indoor antennas; determining the initial position of the terminal based on the antenna position corresponding to the neighboring antenna; and determining the final position of the terminal based on the inertial measurement data acquired by the terminal in real time and the initial position.

Description

Technical Field

[0001] The present application relates to positioning technology, and in particular to an indoor terminal positioning method, system, device and electronic equipment. Background Art

[0002] With the rapid development of global satellite navigation systems, people can now rely on the Global Navigation Satellite System (GNSS) for nanometer-level precision outdoor positioning. However, because satellite signals cannot penetrate buildings, in some places with complex structures such as underground garages, large shopping malls, and museums, satellite signals are blocked by walls or floors, making it impossible to rely on GNSS for positioning.

[0003] On the other hand, although existing technologies use inertial measurement units (IMUs) to locate terminals, estimating the relative position of terminals is possible. However, due to the inability to determine the absolute coordinates of the terminal and the inability to effectively address the drift errors generated during the use of inertial sensors, it is difficult to perform actual positioning and navigation tasks. Existing methods that introduce satellite navigation signals into indoor positioning require the deployment of additional receiving nodes, which is costly and difficult to promote to a wide range of indoor application scenarios. Summary of the Invention

[0004] In view of this, the purpose of this application is to propose an indoor terminal positioning method, system, device and electronic equipment.

[0005] Based on the above objectives, in a first aspect, the present application provides an indoor terminal positioning method, wherein a plurality of indoor antennas are distributed indoors, and the plurality of indoor antennas are respectively connected to an outdoor antenna provided outdoors to receive satellite navigation signals via a plurality of feeder lines. The method comprises:

[0006] For each of the plurality of indoor antennas, in response to receiving the satellite navigation signal forwarded via the indoor antenna, determining an antenna position of the indoor antenna based on the satellite navigation signal and estimating a receiver clock error corresponding to the indoor antenna;

[0007] Determining, according to the lengths of the feeder lines of the respective indoor antennas and the receiver clock difference, an indoor antenna adjacent to the terminal among the multiple indoor antennas as a first adjacent antenna;

[0008] determining an initial position of the terminal according to the antenna position of the first adjacent antenna;

[0009] The final position of the terminal is determined according to the inertial measurement data acquired by the terminal in real time and the initial position.

[0010] Optionally, the method further includes:

[0011] In response to determining that the indoor antenna corresponding to the shortest wireless propagation distance among the plurality of indoor antennas is changed to a second adjacent antenna due to movement of the terminal, updating the initial position of the terminal according to the antenna position of the second adjacent antenna,

[0012] Wherein, determining the final position of the terminal according to the inertial measurement data acquired by the terminal in real time and the initial position includes:

[0013] The final position of the terminal is determined according to the inertial measurement data acquired by the terminal in real time and the updated initial position.

[0014] Optionally, determining the final position of the terminal according to the inertial measurement data acquired by the terminal in real time and the initial position includes:

[0015] estimating the movement state of the terminal according to the inertial measurement data;

[0016] The final location of the terminal is determined according to the moving state and the initial location.

[0017] Optionally, determining the antenna position of the indoor antenna based on the satellite navigation signal and estimating a receiver clock error corresponding to the indoor antenna includes:

[0018] Acquiring satellite navigation observations according to the satellite navigation signal;

[0019] determining the antenna position of the indoor antenna based on the satellite navigation observation amount;

[0020] According to the antenna position, a receiver clock error corresponding to the indoor antenna is estimated.

[0021] Optionally, estimating a receiver clock error corresponding to the indoor antenna according to the antenna position includes:

[0022] Calibrate the antenna position to obtain a calibrated antenna position;

[0023] The receiver clock error corresponding to the indoor antenna is estimated according to the calibrated antenna position.

[0024] Optionally, calibrating the antenna position to obtain a calibrated antenna position includes:

[0025] Obtain satellite clock error and quasi-range corrections;

[0026] The antenna position is calibrated according to the satellite clock error and the pseudo-range correction number to obtain a calibrated antenna position.

[0027] In a second aspect, the present application provides an indoor positioning device, wherein a plurality of indoor antennas are distributed indoors, and the plurality of indoor antennas are respectively connected to an outdoor antenna provided outdoors to receive satellite navigation signals via a plurality of feeder lines, the device comprising:

[0028] an estimation module configured to, for each of the plurality of indoor antennas, determine an antenna position of the indoor antenna based on the satellite navigation signal and estimate a receiver clock error corresponding to the indoor antenna in response to receiving the satellite navigation signal forwarded via the indoor antenna;

[0029] a determining module configured to determine, based on the lengths of the feeder lines of the respective indoor antennas and the receiver clock difference, an indoor antenna adjacent to the terminal among the plurality of indoor antennas as a first adjacent antenna;

[0030] a first positioning module, configured to determine an initial position of the terminal according to the antenna position of the first neighboring antenna;

[0031] The second positioning module is configured to determine the final position of the terminal according to the inertial measurement data acquired by the terminal in real time and the initial position.

[0032] In a third aspect, the present application also provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the indoor terminal positioning method as described in any one of the above items is implemented.

[0033] In a fourth aspect, the present application further provides an indoor terminal positioning system, comprising:

[0034] an outdoor antenna disposed outdoors to receive satellite navigation signals;

[0035] A plurality of indoor antennas distributed in the room are connected to the outdoor antenna via a plurality of feeder lines respectively;

[0036] The terminal in the room is configured to:

[0037] For each of the plurality of indoor antennas, in response to receiving the satellite navigation signal forwarded via the indoor antenna, determining an antenna position of the indoor antenna based on the satellite navigation signal and estimating a receiver clock error corresponding to the indoor antenna;

[0038] Determining, according to the lengths of the feeder lines of the respective multiple indoor antennas and the receiver clock difference, an indoor antenna adjacent to the terminal among the multiple indoor antennas as a first adjacent antenna;

[0039] determining an initial position of the terminal according to the antenna position of the first adjacent antenna;

[0040] The final position of the terminal is determined according to the inertial measurement data acquired by the terminal in real time and the initial position.

[0041] As can be seen from the above, the indoor terminal positioning method, system, device, and electronic device provided by this application introduce satellite navigation signals into the indoor space through multiple indoor antennas, eliminating the need to deliberately arrange satellite navigation signal receiving nodes, which can save costs. Using the estimated receiver clock error and the known feeder length of the indoor antenna, an antenna adjacent to the indoor terminal is determined, and then the initial position of the indoor terminal is determined. The initial position is corrected based on inertial measurement data, and the final position of the indoor terminal is continuously calculated to achieve further precise positioning of the indoor terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0043] Figure 1 A schematic diagram of the arrangement of indoor and outdoor antennas provided in an embodiment of the present application.

[0044] Figure 2 This is an exemplary flowchart of an indoor terminal positioning method provided in an embodiment of the present application.

[0045] Figure 3 This is a structural diagram of an indoor terminal positioning device provided in an embodiment of the present application.

[0046] Figure 4 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0047] In order to make the objectives, technical solutions and advantages of this application more clear, this application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0048] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the usual meanings understood by people with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0049] As mentioned in the background technology section, in some locations with complex architectural structures, such as underground garages, large shopping malls, and museums, satellite signals are blocked by walls or the ground, making it impossible to rely on global satellite navigation systems for positioning. Furthermore, the production cost of externally deployed satellite navigation signal receiving nodes is high. Furthermore, when using an inertial measurement unit for positioning, the inability to determine the absolute coordinates of the terminal and the inability to effectively address the drift errors generated by the inertial sensor during use make actual positioning and navigation tasks difficult.

[0050] To address this issue, an embodiment of the present application provides an indoor terminal positioning method, wherein multiple indoor antennas are distributed indoors, and each of the multiple indoor antennas is connected to an outdoor antenna located outdoors to receive satellite navigation signals via multiple feeder lines. For each of the multiple indoor antennas, in response to receiving the satellite navigation signal forwarded via the indoor antenna, the antenna position of the indoor antenna is determined based on the satellite navigation signal, and a receiver clock error corresponding to the indoor antenna is estimated. Based on the lengths of the feeder lines and the receiver clock error of each of the multiple indoor antennas, an indoor antenna adjacent to the terminal is determined as a neighboring antenna. Based on the antenna position of the neighboring antenna, the initial position of the terminal is determined. The final position of the terminal is determined based on inertial measurement data acquired by the terminal in real time and the initial position. The indoor terminal positioning method, system, device and electronic equipment provided in this application introduce satellite navigation signals into the indoor space through an indoor antenna, without the need to specially arrange satellite navigation signal receiving nodes, thus saving construction costs. The estimated receiver clock error and the known feeder length of the indoor antenna are used to determine an antenna adjacent to the indoor terminal, and then determine the initial position of the indoor terminal. The initial position is corrected according to inertial measurement data, and the final position of the indoor terminal is continuously calculated to achieve further precise positioning of the indoor terminal.

[0051] The indoor terminal positioning method provided in the embodiment of the present application is described in detail below through specific embodiments.

[0052] refer to Figure 1 , which is a schematic diagram of the arrangement of indoor antennas and outdoor antennas provided in an embodiment of the present application.

[0053] There are multiple indoor antennas distributed in the room. For a known indoor environment, the distribution position of the indoor antenna can be obtained. The distribution set of indoor antennas is recorded as There are a total of N indoor antennas, i represents the i-th indoor antenna, and the multiple indoor antennas are connected to an outdoor antenna set up outdoors to receive satellite navigation signals via multiple feeders. i is the feeder length corresponding to the i-th indoor antenna.

[0054] refer to Figure 2 , which is an exemplary flowchart of an indoor terminal positioning method provided in an embodiment of the present application.

[0055] Step S201 : For each of the multiple indoor antennas, in response to receiving the satellite navigation signal forwarded via the indoor antenna, determine the antenna position of the indoor antenna based on the satellite navigation signal and estimate the receiver clock error corresponding to the indoor antenna.

[0056] In specific implementation, Figure 1 As shown, an outdoor antenna that can receive satellite navigation signals is set up in an open environment such as the roof of a building where indoor terminal positioning is required. The received satellite navigation signals are forwarded by several indoor antennas arranged indoors to achieve indoor satellite navigation signal coverage.

[0057] Furthermore, the indoor terminal receives the satellite navigation signal forwarded by the indoor antenna, and obtains the satellite navigation observation quantity based on the satellite navigation signal, wherein the satellite navigation observation quantity includes but is not limited to: the receiver hardware clock value (TimeNanos), the deviation between the receiver hardware clock value and the real satellite navigation clock value (FullBiasNanos), the sub-nanosecond deviation of the receiver hardware clock value relative to the real satellite navigation clock value (BiasNanos), the satellite navigation signal sending time under the time base (ReceivedSvTimeNanos), the offset of the satellite navigation signal under the time base (TimeOffsetNanos), the longitude position (Longitude), latitude position (Latitude) and altitude position (Altitude) calculated by the receiver.

[0058] Furthermore, according to the satellite navigation observation amount, the satellite navigation signal sending time and the satellite navigation signal receiving time of the indoor antenna are obtained. Specifically, the satellite navigation signal sending time can be recorded as t Tx , t Tx =ReceivedSvTimeNanos. The satellite navigation signal reception time of the indoor antenna can be recorded as t Rx , t Rx =TimeNanos+TimeOffsetNanos-(FullBiasNanos+BiasNanos).

[0059] Furthermore, according to the satellite navigation signal sending time t Tx and satellite navigation signal reception time t Rx , determine the antenna position of the indoor antenna, the antenna position of the indoor antenna can be expressed by pseudo range Pseudorange: Pseudorange = c (t Rx -t Tx )·10 -9 , where c is the speed of light.

[0060] Furthermore, according to the antenna position, the receiver clock error corresponding to the indoor antenna is estimated.

[0061] In the specific implementation, the initial antenna position will have residual errors, such as ionospheric error and tropospheric delay. The initial antenna position needs to be calibrated. The position information and satellite clock error of each satellite in the Earth-centered Earth-fixed coordinate system can be obtained through precise ephemeris data. The position information of each satellite in the Earth-centered Earth-fixed coordinate system is recorded as x (i) ,y (i) , z (i) , the satellite clock error is recorded as The quasi-range correction number is obtained through the data broadcast by the differential base station, and the quasi-range correction number is recorded as ε (i) , according to the satellite clock error and the pseudo-range correction factor ε (i) The antenna position is calibrated to obtain the calibrated antenna position, which is recorded as p (i) ,

[0062] Furthermore, the longitude, latitude and altitude of the indoor terminal are obtained, and the antenna position p after calibration is obtained according to the longitude, latitude, altitude and altitude. (i) , estimate the receiver clock error corresponding to the indoor antenna.

[0063] In the specific implementation, coordinate transformation is used to convert the longitude, latitude, and altitude into the Earth-centered Earth-fixed coordinate system positions, which are x, y, and z respectively. The receiver clock error corresponding to the indoor antenna is recorded as δ t :

[0064] Step S202: Determine, based on the lengths of the feeder lines of the multiple indoor antennas and the receiver clock difference, an indoor antenna adjacent to the terminal among the multiple indoor antennas as a first adjacent antenna.

[0065] In specific implementation, when the number of satellites is greater than 4, the receiver clock error δ of the indoor terminal can be solved t , usually, for the same outdoor receiver, it is assumed that the receiver clock error obeys a Gaussian distribution with a mean of zero, denoted as δ t，out , the outdoor receiver clock error δ t，out Equivalent to noise. In order to distinguish, the receiver clock error δ of the indoor terminal obtained above is t Denoted as δ t,in , then in the indoor case, since the satellite navigation signal received by the terminal receiver has additionally passed through a feeder distance and air interface propagation distance, at this time: c·δ t，in =c·δ t，out +l i +d where l i is the feeder length corresponding to the source antenna from which the terminal receives the indoor satellite navigation signal, and d is the distance from the current terminal to the indoor antenna.

[0066] It should be noted that indoor antennas are usually sparsely deployed, and the distance between indoor antennas is usually much greater than the air interface propagation distance, that is, d<<minl i+1 -l i , i = l...N-1, and for a known indoor environment, the distribution map of indoor antennas can be directly obtained, and the distribution set of indoor antennas is recorded as Where i represents the i-th indoor antenna, l i represents the feeder length from the i-th indoor antenna to the outdoor antenna. Since the distribution of indoor antennas varies according to the cable length, the minimum distance between the terminal and each indoor antenna can be determined based on the distance d from the current terminal to the indoor antenna. Based on this minimum distance, an indoor antenna adjacent to the terminal can be identified as a neighboring antenna:

[0067] i=min i |l i -c(δ t，in -δ t，out )|

[0068] Step S203: Determine the initial position of the terminal according to the antenna position of the first adjacent antenna.

[0069] In the specific implementation, based on the antenna position calculated above, the initial position of the indoor terminal in the room is preliminarily determined. The initial position obtained at this time needs to be further corrected in combination with the terminal's own inertial measurement data to determine the final terminal position. The detailed description is given below.

[0070] Step S204: determining the final position of the terminal according to the inertial measurement data acquired by the terminal in real time and the initial position.

[0071] Specifically, inertial measurement data can be obtained from the inertial navigation unit of the terminal, including but not limited to: the terminal's moving direction and the terminal's three-axis acceleration (Acceleromenter), three-axis angular velocity (Gyroscope) and three-axis magnetic field strength (Magnetism), where the unit of the three-axis acceleration is m / s and the unit of the three-axis angular velocity is rad / s.

[0072] According to the inertial measurement data, the position distribution probability of the indoor terminal is determined and recorded as p(x k ),according to:

[0073] p(x k )=∫p(x k |x k-1 )p(x k-1 )dx k-1

[0074] Among them, p(x k ) represents the location distribution probability of the terminal at time k, p(x k |x k-1 ) represents the inertial measurement data of the inertial navigation unit, p(x k-1 ) represents the location distribution probability of the terminal at time k-1, x k-1 Indicates the location of the terminal at time k-1.

[0075] For example, x k-1 Located at (0, 1), the inertial navigation unit detects that the terminal has moved forward to (1, 0), then p(x k |x k-1 ) represents the distribution probability of the terminal at (1, 1).

[0076] When it is detected that the receiver clock error of the indoor terminal has not changed, that is, the indoor terminal has not switched between antennas, the initial position of the indoor terminal is corrected according to the position distribution probability of the indoor terminal, and the final position of the terminal can be determined.

[0077] In a specific implementation, when it is detected that the receiver clock difference of the indoor terminal changes, that is, the indoor terminal switches between antennas, the index set of the indoor antenna can be used to As well as the distance d from the current terminal to the indoor antenna after the change, update the initial position of the indoor terminal, and record the index set of the indoor antenna at time k and the parameter set of the distance d from the current terminal to the indoor antenna as z k ={i k ,d k}, the final position of the indoor terminal is further corrected by the Bayesian formula according to:

[0078]

[0079] in, Indicates that the terminal position determined by the inertial measurement data of the inertial navigation unit is x k When the terminal position at the next moment is z k probability;

[0080] Assume δ t,in The estimated error has a mean of 0 and a variance of Gaussian distribution, It can be obtained by statistics, p(z k |x k )Depend on Determine, where f(i k ) is the indoor antenna position of indoor antenna i at time k.

[0081] From the above, it can be seen that the indoor terminal positioning method provided by this application introduces satellite navigation signals into the indoor space through indoor antennas, without the need to specially arrange satellite navigation signal receiving nodes, saving construction costs. The estimated receiver clock error and the known feeder length of the indoor antenna are used to determine an antenna adjacent to the indoor terminal, and then the initial position of the indoor terminal is determined. The initial position is corrected according to the inertial measurement data, and the final position of the indoor terminal is continuously calculated to achieve further precise positioning of the indoor terminal.

[0082] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied in a distributed scenario and performed by multiple devices working together. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the method.

[0083] It should be noted that the above description is limited to some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0084] Based on the same inventive concept, this application provides an indoor terminal positioning device, referring to Figure 3 , which is a structural diagram of an indoor terminal positioning device provided in an embodiment of the present application.

[0085] The indoor space is provided with a plurality of indoor antennas, each of which is connected to an outdoor antenna arranged outdoors to receive satellite navigation signals via a plurality of feeder lines. The device includes:

[0086] The estimation module 301 is configured as an estimation module and is configured to, for each of the plurality of indoor antennas, determine an antenna position of the indoor antenna based on the satellite navigation signal and estimate a receiver clock error corresponding to the indoor antenna in response to receiving the satellite navigation signal forwarded via the indoor antenna;

[0087] The determination module 302 is configured to determine, based on the lengths of the feeder lines of the plurality of indoor antennas and the receiver clock difference, an indoor antenna adjacent to the terminal among the plurality of indoor antennas as a first adjacent antenna;

[0088] A first positioning module 303 is configured to determine an initial position of the terminal according to the antenna position of the first neighboring antenna;

[0089] The second positioning module 304 is configured to determine the final position of the terminal according to the inertial measurement data acquired by the terminal in real time and the initial position.

[0090] Optionally, the device further comprises:

[0091] In response to determining that the indoor antenna corresponding to the shortest wireless propagation distance among the plurality of indoor antennas is changed to a second adjacent antenna due to movement of the terminal, updating the initial position of the terminal according to the antenna position of the second adjacent antenna,

[0092] Wherein, determining the final position of the terminal according to the inertial measurement data acquired by the terminal in real time and the initial position includes:

[0093] The final position of the terminal is determined according to the inertial measurement data acquired by the terminal in real time and the updated initial position.

[0094] Optionally, determining the final position of the terminal according to the inertial measurement data acquired by the terminal in real time and the initial position includes:

[0095] estimating the movement state of the terminal according to the inertial measurement data;

[0096] The final location of the terminal is determined according to the moving state and the initial location.

[0097] Optionally, determining the antenna position of the indoor antenna based on the satellite navigation signal and estimating a receiver clock error corresponding to the indoor antenna includes:

[0098] Acquiring satellite navigation observations according to the satellite navigation signal;

[0099] determining the antenna position of the indoor antenna based on the satellite navigation observation amount;

[0100] According to the antenna position, a receiver clock error corresponding to the indoor antenna is estimated.

[0101] Optionally, estimating a receiver clock error corresponding to the indoor antenna according to the antenna position includes:

[0102] Calibrate the antenna position to obtain a calibrated antenna position;

[0103] The receiver clock error corresponding to the indoor antenna is estimated according to the calibrated antenna position.

[0104] Optionally, calibrating the antenna position to obtain a calibrated antenna position includes:

[0105] Obtain satellite clock error and quasi-range corrections;

[0106] The antenna position is calibrated according to the satellite clock error and the pseudo-range correction number to obtain a calibrated antenna position.

[0107] For the convenience of description, the above devices are described as being divided into various modules according to their functions. Of course, when implementing this application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0108] The device of the above embodiment is used to implement the corresponding indoor terminal positioning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0109] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and runnable on the processor, wherein when the processor executes the program, the indoor terminal positioning method described in any of the above embodiments is implemented. Figure 4 A more specific hardware structure diagram of an electronic device provided in this embodiment is shown. The device may include: a processor 410, a memory 420, an input / output interface 430, a communication interface 440, and a bus 450. The processor 410, the memory 420, the input / output interface 430, and the communication interface 440 are communicatively connected to each other within the device via the bus 450.

[0110] The processor 410 can be implemented using a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0111] The memory 420 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage devices, dynamic storage devices, etc. The memory 420 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 420 and is called and executed by the processor 410.

[0112] The input / output interface 430 is used to connect an input / output module to implement information input and output. The input / output module can be configured as a component in the device (not shown in the figure) or can be externally connected to the device to provide corresponding functions. Input devices may include a keyboard, mouse, touch screen, microphone, various sensors, etc., and output devices may include a display, speaker, vibrator, indicator light, etc.

[0113] The communication interface 440 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WiFi, Bluetooth, etc.).

[0114] The bus 450 comprises a pathway for transmitting information between the various components of the device, such as the processor 410 , the memory 420 , the input / output interface 430 , and the communication interface 440 .

[0115] It should be noted that although the above device only shows the processor 410, the memory 420, the input / output interface 430, the communication interface 440, and the bus 450, in a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this specification, and does not necessarily include all the components shown in the figure.

[0116] The electronic device of the above embodiment is used to implement the corresponding indoor terminal positioning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0117] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application (including the claims) is limited to these examples. Within the scope of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0118] In addition, for simplicity of description and discussion, and in order not to make the embodiment of the application difficult to understand, the known power supply / ground connection with integrated circuit (IC) chip and other components may or may not be shown in the accompanying drawings provided. In addition, the device can be shown in the form of a block diagram to avoid making the embodiment of the application difficult to understand, and this also takes into account the following fact, that is, the details of the embodiment of these block diagram devices are highly dependent on the platform to be implemented in the embodiment of the application (that is, these details should be fully within the scope of understanding of those skilled in the art). When specific details (for example, circuit) are set forth to describe exemplary embodiments of the application, it will be apparent to those skilled in the art that the embodiment of the application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0119] Although the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art based on the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may utilize the embodiments discussed.

[0120] The embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of this application.

Claims

1. A method for indoor terminal positioning, wherein: A plurality of indoor antennas are distributed in the room, and the plurality of indoor antennas are respectively connected to an outdoor antenna arranged outdoors to receive satellite navigation signals via a plurality of feeder lines. The method includes: For each of the plurality of indoor antennas, in response to receiving the satellite navigation signal forwarded via the indoor antenna, an antenna position of the indoor antenna is determined based on the satellite navigation signal and a receiver clock error corresponding to the indoor antenna is estimated; the receiver clock error satisfies the following expression: Among them, δ t is the receiver clock error, p (i) is the antenna position of the indoor antenna, and the position information of the satellite in the Earth-centered Earth-fixed coordinate system is recorded as (x (i) ,y (i) , z (i) ), the position information of the terminal in the Earth-centered Earth-fixed coordinate system is recorded as (x, y, z), and c is the speed of light; Determining, according to the lengths of the feeder lines of the respective multiple indoor antennas and the receiver clock difference, an indoor antenna adjacent to the terminal among the multiple indoor antennas as a first adjacent antenna; determining an initial position of the terminal according to the antenna position of the first adjacent antenna; determining a final position of the terminal based on inertial measurement data acquired in real time by the terminal and the initial position; The determining the antenna position of the indoor antenna based on the satellite navigation signal and estimating the receiver clock error corresponding to the indoor antenna includes: Acquiring satellite navigation observations according to the satellite navigation signal; The antenna position of the indoor antenna is determined based on the satellite navigation observation amount; wherein the antenna position satisfies the following expression: Pseudorange=c·(t Rx -t Tx )·10 -9 ; Among them, Pseudorange is the pseudo range, t Tx is the satellite navigation signal sending time, t Rx is the satellite navigation signal reception time, c is the speed of light; estimating a receiver clock error corresponding to the indoor antenna according to the antenna position; The step of determining, based on the lengths of the feeder lines of the plurality of indoor antennas and the receiver clock difference, an indoor antenna adjacent to the terminal among the plurality of indoor antennas as a first adjacent antenna includes: According to the receiver clock differences of the multiple indoor antennas, the receiver clock difference of the same outdoor receiver obeys a Gaussian distribution with a mean of zero, thereby obtaining an outdoor receiver clock difference; The distance between the terminal and each indoor antenna is determined based on the length of the feeder of each of the multiple indoor antennas, the receiver clock error, and the outdoor receiver clock error; the distance between the terminal and each indoor antenna satisfies the following expression: c·d t =c·δ t,out +l i +d; Among them, l i is the length of the feeder line of each of the multiple indoor antennas, δ t,out is the outdoor receiver clock error, and d is the distance between the terminal and each indoor antenna; According to the distance between the terminal and each indoor antenna, an indoor antenna adjacent to the terminal among the multiple indoor antennas is determined as the first adjacent antenna.

2. The method according to claim 1, wherein Determining, based on the lengths of the feeder lines of the plurality of indoor antennas and the receiver clock difference, an indoor antenna adjacent to the terminal among the plurality of indoor antennas as a first adjacent antenna, comprising: estimating, for each of the plurality of indoor antennas, a wireless propagation distance from the indoor antenna to the terminal based on the length of the feeder of the indoor antenna, the receiver clock error, and the speed of light, to obtain a plurality of wireless propagation distances corresponding to the plurality of indoor antennas; determining a shortest wireless propagation distance among the multiple wireless propagation distances; An indoor antenna among the multiple indoor antennas corresponding to the shortest wireless propagation distance is determined as the first neighboring antenna.

3. The method according to claim 2, further comprising: In response to determining that the indoor antenna corresponding to the shortest wireless propagation distance among the plurality of indoor antennas is changed to a second adjacent antenna due to movement of the terminal, updating the initial position of the terminal according to the antenna position of the second adjacent antenna, Wherein, determining the final position of the terminal according to the inertial measurement data acquired by the terminal in real time and the initial position includes: The final position of the terminal is determined according to the inertial measurement data acquired by the terminal in real time and the updated initial position.

4. The method according to any one of claims 1 to 3, wherein Determining a final position of the terminal according to inertial measurement data acquired by the terminal in real time and the initial position, comprising: estimating the movement state of the terminal according to the inertial measurement data; The final location of the terminal is determined according to the moving state and the initial location.

5. The method according to claim 1, wherein Estimating a receiver clock error corresponding to the indoor antenna according to the antenna position, including: Calibrate the antenna position to obtain a calibrated antenna position; The receiver clock error corresponding to the indoor antenna is estimated according to the calibrated antenna position.

6. The method according to claim 5, wherein: Calibrating the antenna position to obtain a calibrated antenna position includes: Obtain satellite clock error and quasi-range corrections; The antenna position is calibrated according to the satellite clock error and the pseudo-range correction number to obtain a calibrated antenna position.

7. An indoor terminal positioning device, wherein: A plurality of indoor antennas are distributed in the room, and the plurality of indoor antennas are respectively connected to an outdoor antenna arranged outdoors to receive satellite navigation signals via a plurality of feeder lines. The device includes: The estimation module is configured to, for each of the plurality of indoor antennas, determine an antenna position of the indoor antenna based on the satellite navigation signal and estimate a receiver clock error corresponding to the indoor antenna in response to receiving the satellite navigation signal forwarded via the indoor antenna; the receiver clock error satisfies the following expression: Among them, δ t is the receiver clock error, p (i) is the antenna position of the indoor antenna, and the position information of the satellite in the Earth-centered Earth-fixed coordinate system is recorded as (x (i) ,y (i) , z (i) ), the position information of the terminal in the Earth-centered Earth-fixed coordinate system is recorded as (x, y, z), and c is the speed of light; a determining module configured to determine, based on the lengths of the feeder lines of the respective indoor antennas and the receiver clock difference, an indoor antenna adjacent to the terminal among the plurality of indoor antennas as a first adjacent antenna; a first positioning module, configured to determine an initial position of the terminal according to the antenna position of the first neighboring antenna; a second positioning module, configured to determine a final position of the terminal based on inertial measurement data acquired by the terminal in real time and the initial position; The estimation module is specifically configured to: Acquiring satellite navigation observations according to the satellite navigation signal; The antenna position of the indoor antenna is determined based on the satellite navigation observation amount; wherein the antenna position satisfies the following expression: Pseudorange=c·(t Rx -t Tx )·10 -9 ; Among them, Pseudorange is the pseudo range, t Tx is the satellite navigation signal sending time, t Rx is the satellite navigation signal reception time, c is the speed of light; estimating a receiver clock error corresponding to the indoor antenna according to the antenna position; The determining module is specifically configured to: According to the receiver clock differences of the multiple indoor antennas, the receiver clock difference of the same outdoor receiver obeys a Gaussian distribution with a mean of zero, thereby obtaining an outdoor receiver clock difference; The distance between the terminal and each indoor antenna is determined based on the length of the feeder of each of the multiple indoor antennas, the receiver clock error, and the outdoor receiver clock error; the distance between the terminal and each indoor antenna satisfies the following expression: c·d t =c·δ t,out +l i +d; Among them, l i is the length of the feeder line of each of the multiple indoor antennas, δ t,out is the outdoor receiver clock error, and d is the distance between the terminal and each indoor antenna; According to the distance between the terminal and each indoor antenna, an indoor antenna adjacent to the terminal among the multiple indoor antennas is determined as the first adjacent antenna.

8. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 6 is implemented.

9. An indoor terminal positioning system, comprising: an outdoor antenna disposed outdoors to receive satellite navigation signals; A plurality of indoor antennas distributed in the room are connected to the outdoor antenna via a plurality of feeder lines respectively; The terminal in the room is configured to: For each of the plurality of indoor antennas, in response to receiving the satellite navigation signal forwarded via the indoor antenna, an antenna position of the indoor antenna is determined based on the satellite navigation signal and a receiver clock error corresponding to the indoor antenna is estimated; the receiver clock error satisfies the following expression: Among them, δ t is the receiver clock error, p (i) is the antenna position of the indoor antenna, and the position information of the satellite in the Earth-centered Earth-fixed coordinate system is recorded as (x (i) ,y (i) , z (i) ), the position information of the terminal in the Earth-centered Earth-fixed coordinate system is recorded as (x, y, z), and c is the speed of light; Determining, according to the lengths of the feeder lines of the respective multiple indoor antennas and the receiver clock difference, an indoor antenna adjacent to the terminal among the multiple indoor antennas as a first adjacent antenna; determining an initial position of the terminal according to the antenna position of the first adjacent antenna; determining a final position of the terminal based on inertial measurement data acquired in real time by the terminal and the initial position; The determining the antenna position of the indoor antenna based on the satellite navigation signal and estimating the receiver clock error corresponding to the indoor antenna includes: Acquiring satellite navigation observations according to the satellite navigation signal; The antenna position of the indoor antenna is determined based on the satellite navigation observation amount; wherein the antenna position satisfies the following expression: Pseudorange=c·(t Rx -t Tx )·10 -9 ; Among them, Pseudorange is the pseudo range, t Tx is the satellite navigation signal sending time, t Rx is the satellite navigation signal reception time, c is the speed of light; estimating a receiver clock error corresponding to the indoor antenna according to the antenna position; The step of determining, based on the lengths of the feeder lines of the plurality of indoor antennas and the receiver clock difference, an indoor antenna adjacent to the terminal among the plurality of indoor antennas as a first adjacent antenna includes: According to the receiver clock differences of the multiple indoor antennas, the receiver clock difference of the same outdoor receiver obeys a Gaussian distribution with a mean of zero, thereby obtaining an outdoor receiver clock difference; The distance between the terminal and each indoor antenna is determined based on the length of the feeder of each of the multiple indoor antennas, the receiver clock error, and the outdoor receiver clock error; the distance between the terminal and each indoor antenna satisfies the following expression: c·d t =c·δ t,out +l i +d; Among them, l i is the length of the feeder line of each of the multiple indoor antennas, δ t,out is the outdoor receiver clock error, and d is the distance between the terminal and each indoor antenna; According to the distance between the terminal and each indoor antenna, an indoor antenna adjacent to the terminal among the multiple indoor antennas is determined as the first adjacent antenna.

Images