Integrated positioning method and system

Abstract

The present application discloses an integrated positioning method and system. The method includes: providing a timing function based on IEEE1588V2 to a UWB server and a UWB synchronization controller; a positioning tag sends a UWB wireless radio frequency signal to multiple base stations, multiple base stations receive the UWB wireless radio frequency signal and send the UWB wireless radio frequency signal to the UWB server through a UWB synchronization controller, the UWB synchronization controller sends a clock synchronization signal to each base station at the start position of each cycle, and then immediately sends a time synchronization frame to each base station; the UWB server solves the UWB wireless radio frequency signal to obtain a UWB positioning result, and sends the UWB positioning result to multiple base stations through a UWB synchronization controller; the UWB positioning result of the positioning tag is filtered out from the positioning results sent by multiple base stations through a UWB returner; the original GNSS observation quantity, inertial measurement data, clock synchronization information, time synchronization frame and UWB positioning data sent by the UWB returner are obtained for fusion positioning and solving to improve positioning accuracy.

Description

Technical Field

[0001] The present application relates to the field of satellite navigation and positioning technology, and in particular to an integrated positioning method and system thereof. Background Art

[0002] Existing indoor UWB positioning technology focuses on applications in low-speed scenarios and non-intelligent driving. Applying UWB positioning technology to the field of intelligent driving requires greatly improving the real-time, stability, and accuracy of positioning results output, so existing technologies cannot meet the needs of intelligent driving. Summary of the invention

[0003] The purpose of this application is to provide an integrated positioning method and system to improve the accuracy of UWB positioning and IMU positioning fusion in indoor high-speed scenarios (high-speed tunnels) and indoor low-speed scenarios (AVP smart parking) when there is no GNSS positioning, enabling smart driving scenarios.

[0004] The present application discloses an integrated positioning method, comprising:

[0005] The timing master clock module provides a time synchronization frame to the UWB server and the UWB synchronization controller, and the time synchronization frame is homologous to the GNSS clock;

[0006] The UWB positioning tag sends a UWB wireless radio frequency signal to a plurality of base stations, and the plurality of base stations receive the UWB wireless radio frequency signal and send the UWB wireless radio frequency signal to the UWB server through the UWB synchronization controller, wherein the UWB synchronization controller sends a clock synchronization signal to each of the base stations at the starting position of each cycle, and immediately sends a time synchronization frame to each of the base stations after sending the clock synchronization information of each cycle;

[0007] The UWB server calculates the UWB wireless radio frequency signal to obtain the UWB positioning result, and sends the UWB positioning result to the multiple base stations through the UWB synchronization controller;

[0008] The UWB returner filters out the UWB positioning result of the UWB positioning tag from the positioning results sent by the multiple base stations;

[0009] The positioning module obtains the GNSS original observation quantity, inertial measurement data, the clock synchronization information, the time synchronization frame and the UWB positioning data sent by the UWB returner and performs fusion positioning solution.

[0010] In a preferred example, the step of performing fusion positioning solution by the positioning module further includes:

[0011] Determine whether the data output by the UWB returner is the UWB positioning result of the UWB positioning tag:

[0012] If yes, a local receiving timestamp is added to the UWB positioning result of the UWB positioning tag, and the location information is parsed;

[0013] If not, determining whether the data output by the UWB returner is a time synchronization frame, and if so, marking the time synchronization frame with a local reception timestamp;

[0014] Determine whether the GNSS satellites in the positioning module are valid;

[0015] If invalid, using the time information in the time synchronization frame to calculate the positioning time of the UWB positioning data, and using the Kalman filter algorithm to estimate the error of the time synchronization frame transmission link;

[0016] If valid, determining whether the time synchronization frame differs from the GNSS satellite time by a predetermined threshold;

[0017] If so, calculating the positioning time of the UWB positioning data using the GNSS satellites in the positioning module;

[0018] If not, using the time information in the time synchronization frame to calculate the positioning time of the UWB positioning data, and using the Kalman filter algorithm to estimate the error of the time synchronization frame transmission link;

[0019] The UWB positioning data and the inertial measurement data are fused and calculated to obtain a positioning result.

[0020] In a preferred example, the UWB synchronization controller divides each cycle into N time windows, wherein N is greater than or equal to 10,000 and less than or equal to 30,000.

[0021] In a preferred example, the period is 1 second.

[0022] In a preferred example, the UWB positioning tag includes a first microcontroller, a UWB tag and a 2.4G wireless module, the first microcontroller is connected to the UWB returner, the UWB tag is used to send the UWB wireless radio frequency signal, and the 2.4G wireless module is used to obtain the clock synchronization information and time synchronization frame of each cycle from the multiple base stations.

[0023] In a preferred example, the first microcontroller is connected to the UWB returner via a UART serial port.

[0024] In a preferred example, the UWB return machine includes a second microcontroller and a 2.4G wireless module, the second microcontroller is connected to the positioning module, and the 2.4G wireless module is used to obtain the clock synchronization information and time synchronization frame of each cycle from the multiple base stations.

[0025] In a preferred example, the UWB returner sends the UWB positioning result of the positioning tag, the clock synchronization information of each cycle and the time synchronization frame to the positioning module through the CAN bus.

[0026] In a preferred example, after the UWB synchronization controller sends the clock synchronization information of each cycle to the multiple base stations, it immediately sends the time synchronization frame to the multiple base stations, and the multiple base stations add a timestamp synchronized with the time synchronization frame after receiving the UWB wireless RF signal.

[0027] The present application also discloses an integrated positioning system, comprising:

[0028] Multiple base stations, used to receive UWB wireless radio frequency signals and send UWB positioning results;

[0029] A UWB synchronization controller is connected to the plurality of base stations respectively, wherein the UWB synchronization controller sends a clock synchronization signal to each base station at the start position of each cycle, and immediately sends a time synchronization frame to each base station after sending the clock synchronization information of each cycle;

[0030] A UWB server is used to solve the UWB wireless radio frequency signal to obtain the UWB positioning result;

[0031] A timing master clock module, which is co-sourced with the GNSS clock and is used to provide the time synchronization frame to the UWB server and the UWB synchronization controller;

[0032] A plurality of integrated positioning terminals, each of the integrated positioning terminals comprising:

[0033] A UWB positioning tag, used to send the UWB wireless radio frequency signal to the multiple base stations;

[0034] A UWB returner connected to the UWB positioning tag is used to receive the clock synchronization information and time synchronization frame of each cycle sent by each base station, and filter out the UWB positioning result of the UWB positioning tag from the positioning results sent by the multiple base stations;

[0035] The positioning module connected to the UWB returner is used to obtain the GNSS original observation quantity, inertial measurement data, the clock synchronization information, the time synchronization frame and the UWB positioning data sent by the UWB returner and perform fusion positioning solution.

[0036] In a preferred example, the step of performing fusion positioning solution by the positioning module further includes:

[0037] Determine whether the data output by the UWB returner is the UWB positioning result of the positioning tag:

[0038] If yes, add a local receiving timestamp to the UWB positioning result of the positioning tag and parse out the location information;

[0039] If not, determining whether the data output by the UWB returner is a time synchronization frame, and if so, marking the time synchronization frame with a local reception timestamp;

[0040] Determine whether the GNSS satellites in the positioning module are valid;

[0041] If invalid, using the time information in the time synchronization frame to calculate the positioning time of the UWB positioning data, and using the Kalman filter algorithm to estimate the error of the time synchronization frame transmission link;

[0042] If valid, determining whether the time synchronization frame differs from the GNSS satellite time by a predetermined threshold;

[0043] If yes, calculating the positioning time of the UWB positioning data using the GNSS satellites in the positioning module;

[0044] If not, using the time information in the time synchronization frame to calculate the positioning time of the UWB positioning data, and using the Kalman filter algorithm to estimate the error of the time synchronization frame transmission link;

[0045] The UWB positioning data and the inertial measurement data are fused and calculated to obtain a positioning result.

[0046] The present application also discloses a computer-readable storage medium in which computer-executable instructions are stored. When the computer-executable instructions are executed by a processor, the steps in the method described above are implemented.

[0047] In the implementation mode of the present application, an indoor and outdoor integrated positioning technology integrating RTK, IMU and UWB positioning is introduced. RTK is used to calibrate IMU parameters in areas with GNSS coverage outdoors, and the indoor and outdoor integrated positioning terminals are unified to the GNSS satellite time, so that the UWB+IMU fusion positioning technology is used in areas without GNSS coverage indoors. The present invention introduces the PTP IEEE1588V2 timing master clock module, which is strictly synchronized with the GNSS time. The PTP IEEE1588V2 timing master clock simultaneously provides time to the UWB positioning server and the UWB synchronization controller. Through this technology, the UWB synchronization controller can be unified to the GNSS satellite time. At the same time, the UWB synchronization controller sends the clock synchronization signal of each cycle to each UWB base station through optical fiber, and the optical fiber signal has a very small delay, thereby realizing the function of strict alignment of the UWB positioning system with the GNSS satellite time.

[0048] A large number of technical features are recorded in the specification of this application, which are distributed in various technical solutions. If all possible combinations of technical features of this application (i.e., technical solutions) are to be listed, the specification will be too long. In order to avoid this problem, the various technical features disclosed in the above-mentioned invention content of this application, the various technical features disclosed in the various embodiments and examples below, and the various technical features disclosed in the accompanying drawings can be freely combined with each other to form various new technical solutions (these technical solutions should all be regarded as having been recorded in this specification), unless such a combination of technical features is technically infeasible. For example, in one example, feature A+B+C is disclosed, and in another example, feature A+B+D+E is disclosed, and features C and D are equivalent technical means that play the same role. Technically, only one can be used, and it is impossible to use them at the same time. Feature E can be combined with feature C technically. Then, the solution of A+B+C+D should not be regarded as having been recorded because it is technically infeasible, and the solution of A+B+C+E should be regarded as having been recorded. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a structural schematic diagram of an integrated positioning system according to the first embodiment of the present application.

[0050] Figure 2 It is a schematic diagram of the time synchronization function according to an embodiment of the present application.

[0051] Figure 3 It is a flowchart of positioning solution in one embodiment of the present application.

[0052] Figure 4 It is a flowchart of an integrated positioning method according to the second embodiment of the present application. DETAILED DESCRIPTION

[0053] In the following description, many technical details are provided to help readers better understand the present application. However, those skilled in the art can understand that the technical solution claimed in the present application can be implemented even without these technical details and various changes and modifications based on the following embodiments.

[0054] Description of some concepts:

[0055] RTK (Real-time kinematic, real-time dynamic carrier phase differential technology): is a method of differentially processing the carrier phase observations of two measurement stations in real time, sending the carrier phase collected by the base station to the user receiver for differential coordinate calculation. This is a commonly used satellite positioning measurement method that can obtain centimeter-level positioning accuracy in real time in the field.

[0056] UWB (Ultra Wide Band): is a wireless technology based on extremely narrow pulses. The inherent physical properties of UWB radio frequency signals make UWB technology clearly defined from the beginning: it can achieve real-time, ultra-precise, and ultra-reliable positioning and communication. It can measure the flight time of radio signals very accurately, thereby achieving distance / position measurement with centimeter accuracy. UWB technology has ultra-high time resolution, which ensures that UWB can accurately obtain the time of the target to be located. The speed of signal flight is the speed of light (fixed value), so as long as the flight time is known, the distance between the two devices can be calculated. Combined with the distance of multiple known points, the location information of the target to be located can be obtained through the circular positioning method.

[0057] Wireless positioning measurement method: The method used to implement UWB refers to analyzing the characteristic parameters of the received radio wave signal, and then calculating the position of the measured object (two-dimensional / three-dimensional coordinates: longitude, latitude, altitude) according to a specific algorithm. Commonly used indoor wireless positioning measurement methods mainly include positioning algorithms based on AOA (Angle of Arriva), positioning algorithms based on TOA (Time of Arriva), positioning algorithms based on TDOA (Time Difference of Arriva), and positioning algorithms based on RSS (Received Signal Strength). Different positioning algorithms have different positioning accuracy. In order to improve the positioning accuracy, a combination of multiple technologies can also be used.

[0058] IMU (Inertial Measurement Unit): is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object. Generally, an IMU contains three single-axis accelerometers and three single-axis gyroscopes. The accelerometer detects the acceleration signal of the object in the carrier coordinate system in three independent axes, while the gyroscope detects the angular velocity signal of the carrier relative to the navigation coordinate system, measures the angular velocity and acceleration of the object in three-dimensional space, and uses this to calculate the object's attitude.

[0059] IEEE1588: Also known as PTP (precise time protocol), it can achieve sub-microsecond time synchronization accuracy.

[0060] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0061] The first embodiment of the present application relates to an integrated positioning system. Figure 1 An integrated positioning system 100 is shown, which includes multiple base stations 101, a UWB synchronization controller 102, a UWB server 103, a timing master clock module 104 and multiple integrated positioning terminals 105. Among them, multiple base stations 101 are used to receive UWB wireless radio frequency signals and send UWB positioning results. The UWB synchronization controller 102 is connected to multiple base stations respectively, and the UWB synchronization controller sends a clock synchronization signal to each base station at the starting position of each cycle, and immediately sends a time synchronization frame to each base station after sending the clock synchronization information of each cycle. The UWB server 103 is used to solve the UWB wireless radio frequency signal to obtain the UWB positioning result. The timing master clock module 104 is homologous to the GNSS clock and is used to provide time synchronization frames to the UWB server 103 and the UWB synchronization controller 102. The integrated positioning terminal 105 communicates wirelessly with each base station 101 to achieve RTK, UWB, and IMU fusion positioning.

[0062] In one embodiment, after the UWB synchronization controller 102 sends the clock synchronization information of each cycle to the multiple base stations 101, it immediately sends the time synchronization frame to the multiple base stations 101, and the multiple base stations 101 add a timestamp synchronized with the time synchronization frame after the received UWB wireless radio frequency signal.

[0063] In one embodiment, the UWB synchronization controller 102 divides each cycle into N time windows, where N is greater than or equal to 10,000 and less than or equal to 30,000. For example, N is 15,000, 20,000, etc. Preferably, N is 12,000. In one embodiment, the cycle is 1 second.

[0064] Each integrated positioning terminal 105 includes a UWB positioning tag 106, a UWB returner 111 connected to the UWB positioning tag, and a positioning module 110 connected to the UWB returner 111. In one embodiment, the UWB positioning tag 106 is used to send UWB wireless radio frequency signals to multiple base stations 101. The UWB returner 111 is used to receive the clock synchronization information and time synchronization frame of each cycle sent by each base station 101, and filter out the UWB positioning results of the UWB positioning tag 106 of the integrated positioning terminal 105 from the positioning results sent by multiple base stations 101. The positioning module 110 is used to obtain GNSS original observations, inertial measurement data, clock synchronization information, time synchronization frames and UWB positioning data sent by the UWB returner 111 and perform fusion positioning solutions.

[0065] In one embodiment, the UWB positioning tag includes a first microcontroller 108, a UWB tag 107 and a 2.4G wireless module 109. The first microcontroller 108 is connected to a UWB returner 111. The UWB tag 107 is used to send UWB wireless radio frequency signals, and the 2.4G wireless module 109 is used to obtain clock synchronization information and time synchronization frames of each cycle from multiple base stations 101. In one embodiment, the first microcontroller 108 is connected to the UWB returner 110 via a UART serial port.

[0066] In one embodiment, the UWB return machine includes a second microcontroller 113 and a 2.4G wireless module 112. The second microcontroller 113 is connected to the positioning module 110, and the 2.4G wireless module 112 obtains clock synchronization information and time synchronization frames of each cycle from multiple base stations 101. In one embodiment, the second microcontroller 113 of the UWB return machine 111 sends the UWB positioning result of the UWB positioning tag 106, the clock synchronization information of each cycle, and the time synchronization frame to the positioning module 110 via the CAN bus.

[0067] The integrated positioning method of the present invention can be applied to the indoor and outdoor integrated positioning in the field of intelligent driving. When there is no GNSS coverage indoors, the UWB and IMU fusion positioning method is adopted, and when there is a GNSS coverage area outdoors, the RTK and IMU fusion positioning method is adopted. The UWB positioning measurement method involved in the present invention adopts the arrival time difference positioning method based on TDOA. UWB positioning can provide good positioning accuracy in indoor areas without GNSS coverage, but simple UWB positioning will have some sudden changes in position and cannot provide information such as attitude heading angle. Therefore, simple UWB positioning cannot meet the needs of intelligent driving. The introduction of UWB and IMU fusion positioning technology can overcome this problem.

[0068] In order to better understand the technical solution of the present application, a specific example is provided below for illustration. The details listed in the example are mainly for ease of understanding and are not intended to limit the scope of protection of the present application.

[0069] Continue to refer Figure 1 As shown, the PTP IEEE1588V2 timing master clock module 104 with a GNSS high-precision clock source simultaneously provides timing to the UWB server 103 and the UWB synchronization controller 102. The UWB server 103 is connected to the UWB synchronization controller 102 via USB3.0 communication, and can solve the UWB positioning result and send the UWB positioning result to the UWB base station 101 through the UWB synchronization controller 102, and then send it to the UWB return machine 111 through the 2.4G wireless network, and the UWB return machine 111 transmits the positioning result to the positioning module 110 through the CAN bus. The UWB server 102 broadcasts a time synchronization message with complete GNSS time information to the integrated positioning terminal 105 every cycle.

[0070] The UWB base station 101 has the ability to receive UWB signals sent by UWB tags. The key technology of the UWB positioning measurement method based on TDOA is to accurately calculate the time difference between the signals sent by the UWB tags and the arrival of each UWB base station. Therefore, the time system of the UWB base station needs to be strictly synchronized, and the synchronization needs to reach the ns level. In this embodiment, the various wireless positioning measurement methods described above can be used to implement UWB positioning, for example, the Time Difference of Arrival (TDOA) positioning algorithm. TDOA is a method of positioning using the arrival time difference, also known as hyperbolic positioning. The UWB tag sends a UWB signal to the outside once, and all base stations within the wireless coverage range of the tag will receive the wireless signal. If there are two base stations with known coordinates that receive the signal, and the intervals between the tag and the two base stations are different, then the time points at which the two base stations receive the signal are different. The principle of TDOA positioning is to use the time difference of multiple base stations receiving the signal to determine the position of the tag. According to the mathematical relationship, the distance difference to two known points is a constant, that is, the time difference between the tag sending the signal to the two base stations is a constant, and the position of the tag must be on a hyperbola with these two points as the focus. If there are four known points (four positioning base stations), there will be four hyperbolas, and the point where the four hyperbolas intersect is the location of the tag.

[0071] The UWB synchronization controller 102 is connected to each UWB base station 101 via optical fiber. The UWB base station 101 has the ability to receive UWB radio frequency signals and 2.4G radio frequency signals. The optical fiber delay is extremely short, so it can be considered that the UWB base station is synchronized with the GNSS satellite. The UWB synchronization controller 103 divides each second into several time windows (N>=10000, N<=30000), and sends a table synchronization signal to each UWB base station 101 at the starting position of each cycle to achieve strict timing alignment of each UWB base station 101. The time synchronization function of each cycle greatly reduces the local clock offset of the UWB base station and the UWB positioning tag, thereby ensuring the accuracy of the UWB signal arrival time difference algorithm based on TDOA.

[0072] The UWB positioning tag 106 device has the ability to send and receive UWB wireless radio frequency signals and 2.4G network data. The UWB positioning tag 106 interacts with the UWB base station 101 through the 2.4G network, realizes the UWB positioning cycle table synchronization function, and realizes the positioning tag time window registration function. Through the direct interaction of the 2.4G physical layer, the delay of its propagation link is less than 5us. The UWB positioning tag uses a high-real-time microcontroller MCU1 to accurately complete the transmission of UWB positioning data before the end of each time window, thereby avoiding data conflicts between multiple UWB positioning tags in the same test field.

[0073] Figure 2 It is a schematic diagram of the time synchronization function in one embodiment of the present application. Assume that each synchronization period is T (for example, about 1 second), and divide each period into N time windows, for example, N>=10000, N<=30000, and each time window period is between 33uS and 100uS. The UWB synchronization controller is connected to each UWB base station through optical fiber. In each synchronization period, the UWB synchronization controller sends an optical fiber pulse signal as a timing signal to the UWB base station. This signal is defined as a SYNC signal, followed immediately by a clock synchronization message aligned with the GNSS satellite time. This message is defined as a Follow_UP signal. The optical fiber delay is extremely short, and the synchronization accuracy of each base station can reach nanoseconds. When each UWB base station receives the UWB signal sent by the UWB positioning tag, it immediately adds a timestamp synchronized with the GNSS satellite time. Since the IMU data and GNSS are in the same positioning module (positioning module 110), the IMU data is naturally strictly aligned with the GNSS satellite time, thereby achieving accurate measurement of the UWB positioning moment and strict synchronization function with the IMU data.

[0074] The UWB positioning tag 106 device realizes synchronization with the UWB returner through the UART serial port, so the positioning results belonging to the UWB positioning tag can be accurately screened out.

[0075] The UWB returner 111 outputs the positioning result of the UWB positioning tag to the positioning module via the CAN bus. Since the output frequency of the UWB positioning solution is very high, up to 500HZ per second, the UWB positioning solution is highly coded and compressed, and can only carry part of the time information of the UWB. The positioning result carries the seconds and milliseconds information aligned with the satellite time.

[0076] The positioning module 110 can be a GNSS+IMU positioning module, which is a high-precision positioning module of automotive grade. It obtains the GNSS raw observation and time information in real time and performs calculations through the high-performance microcontroller MCU2, thereby realizing the function of synchronizing the local clock of the positioning module with the satellite time, thereby realizing the function of aligning the IMU raw data with the GNSS satellite time. The GNSS+IMU positioning module collects UWB positioning results (precisely aligned with satellite time), fuses IMU accelerometer and gyroscope data, and uses the inertial navigation fusion algorithm to accurately output the final positioning results.

[0077] In one embodiment, the step of performing fusion positioning solution by the positioning module 110 further includes:

[0078] Determine whether the data output by the UWB returner is the UWB positioning result of the UWB positioning tag:

[0079] If yes, a local receiving timestamp is added to the UWB positioning result of the UWB positioning tag, and the location information is parsed;

[0080] If not, determining whether the data output by the UWB returner is a time synchronization frame, and if so, marking the time synchronization frame with a local reception timestamp;

[0081] Determine whether the GNSS satellites in the positioning module are valid;

[0082] If invalid, using the time information in the time synchronization frame to calculate the positioning time of the UWB positioning data, and using the Kalman filter algorithm to estimate the error of the time synchronization frame transmission link;

[0083] If valid, determining whether the time synchronization frame differs from the GNSS satellite time by a predetermined threshold;

[0084] If yes, calculating the positioning time of the UWB positioning data using the GNSS satellites in the positioning module;

[0085] If not, using the time information in the time synchronization frame to calculate the positioning time of the UWB positioning data, and using the Kalman filter algorithm to estimate the error of the time synchronization frame transmission link;

[0086] The UWB positioning data and the inertial measurement data are fused and calculated to obtain a positioning result.

[0087] Figure 3 This is a diagram of the process of the positioning module performing the calculation. Specifically:

[0088] Step 301: The positioning module receives UWB data output by the UWB transmitter.

[0089] Step 302: Determine whether the UWB data is the UWB positioning data of the UWB positioning tag. If so, proceed to step 303, mark the message reception timestamp in the interrupt program, and then proceed to step 304 to parse out the longitude and latitude, positioning seconds and milliseconds; if not, proceed to step 305, determine whether the UWB data is a UWB time synchronization message. If so, proceed to step 306, mark the message reception timestamp in the interrupt program.

[0090] Step 307, determine whether the local GNSS satellite time of the GNSS+IMU positioning module is valid. If not, go to step 308, use the UWB synchronization message time information to calculate the positioning time of the UWB positioning data, and use the Kalman filter algorithm to estimate the error of the time synchronization frame transmission link. If valid, go to step 310, determine whether the satellite time of the GNSS+IMU positioning module is within 50ms of the UWB synchronization message. If so, go to step 311, use the local GNSS satellite time to calculate the UWB positioning data positioning time. If not, go to step 308.

[0091] Step 309: Use the UWB and IMU fusion algorithm to perform positioning solution to obtain a positioning result.

[0092] Step 312: output the positioning result.

[0093] The second embodiment of the present application relates to an integrated positioning method, the flow chart of which refers to Figure 4 As shown, the positioning method includes the following steps:

[0094] Step 401, the timing master clock module provides a time synchronization frame to the UWB server and the UWB synchronization controller, wherein the time synchronization frame is homologous to the GNSS clock;

[0095] Step 402: The UWB positioning tag sends a UWB wireless radio frequency signal to a plurality of base stations, and the plurality of base stations receive the UWB wireless radio frequency signal and send the UWB wireless radio frequency signal to the UWB server through the UWB synchronization controller, wherein the UWB synchronization controller sends a clock synchronization signal to each of the base stations at the start position of each cycle, and immediately sends a time synchronization frame to each of the base stations after sending the clock synchronization information of each cycle;

[0096] Step 403: the UWB server calculates the UWB wireless radio frequency signal to obtain the UWB positioning result, and sends the UWB positioning result to the multiple base stations through the UWB synchronization controller;

[0097] Step 404, the UWB returner filters out the UWB positioning result of the UWB positioning tag from the positioning results sent by the multiple base stations;

[0098] Step 405: The positioning module obtains the GNSS original observation data, the inertial measurement data, the clock synchronization information, the time synchronization frame and the UWB positioning data sent by the UWB returner and performs a fusion positioning solution.

[0099] The first embodiment is a system embodiment corresponding to the present embodiment. The technical details in the first embodiment can be applied to the present embodiment, and the technical details in the present embodiment can also be applied to the first embodiment.

[0100] Accordingly, the present application also provides a computer-readable storage medium in which computer executable instructions are stored, and when the computer executable instructions are executed by the processor, the various method embodiments of the present application are implemented. Computer-readable storage media include permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be a computer-readable instruction, a data structure, a module of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable storage media do not include temporary computer-readable media (transitory media), such as modulated data signals and carriers.

[0101] In addition, the embodiment of the present application also provides an integrated positioning system, which includes a memory for storing computer executable instructions, and a processor; the processor is used to implement the steps in the above-mentioned method implementation when executing the computer executable instructions in the memory. Among them, the processor can be a central processing unit (Central Processing Unit, referred to as "CPU"), or other general-purpose processors, digital signal processors (Digital Signal Processor, referred to as "DSP"), Application Specific Integrated Circuit (Application Specific Integrated Circuit, referred to as "ASIC"), etc. The aforementioned memory can be a read-only memory (read-only memory, referred to as "ROM"), a random access memory (random access memory, referred to as "RAM"), a flash memory (Flash), a hard disk or a solid-state hard disk, etc. The steps of the method disclosed in each embodiment of the present invention can be directly embodied as a hardware processor to be executed, or a combination of hardware and software modules in the processor can be executed.

[0102] It should be noted that in the application documents of this patent, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one" do not exclude the existence of other identical elements in the process, method, article or device including the elements. In the application documents of this patent, if it is mentioned that an action is performed according to an element, it means that the action is performed at least according to the element, which includes two situations: performing the action only according to the element, and performing the action according to the element and other elements. Expressions such as multiple, multiple, and multiple include 2, 2 times, 2 kinds, and more than 2, more than 2 times, and more than 2 kinds.

[0103] All documents mentioned in this specification are considered to be included in the disclosure of this application as a whole, so that they can be used as a basis for modification when necessary. In addition, it should be understood that the above is only a preferred embodiment of this specification and is not intended to limit the scope of protection of this specification. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of this specification should be included in the scope of protection of one or more embodiments of this specification.

[0104] In some cases, the actions or steps described in the claims may be performed in a different order than in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

Claims

1. An integrated positioning method, characterized in that: include: The timing master clock module provides a time synchronization frame to the UWB server and the UWB synchronization controller, and the time synchronization frame is homologous to the GNSS clock; The UWB positioning tag sends a UWB wireless radio frequency signal to a plurality of base stations, and the plurality of base stations receive the UWB wireless radio frequency signal and send the UWB wireless radio frequency signal to the UWB server through the UWB synchronization controller, wherein the UWB synchronization controller sends a clock synchronization signal to each of the base stations at the starting position of each cycle, and immediately sends a time synchronization frame to each of the base stations after sending the clock synchronization information of each cycle; The UWB server calculates the UWB wireless radio frequency signal to obtain a UWB positioning result, and sends the UWB positioning result to the multiple base stations through the UWB synchronization controller; The UWB returner filters out the UWB positioning result of the UWB positioning tag from the positioning results sent by the multiple base stations; The positioning module obtains the GNSS original observation quantity, inertial measurement data, the clock synchronization information, the time synchronization frame and the UWB positioning data sent by the UWB returner and performs fusion positioning solution.

2. The integrated positioning method according to claim 1, characterized in that: The step of the positioning module performing fusion positioning solution further includes: Determine whether the data output by the UWB returner is the UWB positioning result of the UWB positioning tag: If yes, a local receiving timestamp is added to the UWB positioning result of the UWB positioning tag, and the location information is parsed; If not, determining whether the data output by the UWB returner is a time synchronization frame, and if so, marking the time synchronization frame with a local reception timestamp; Determine whether the GNSS satellites in the positioning module are valid; If invalid, using the time information in the time synchronization frame to calculate the positioning time of the UWB positioning data, and using the Kalman filter algorithm to estimate the error of the time synchronization frame transmission link; If valid, determining whether the time synchronization frame differs from the GNSS satellite time by a predetermined threshold; If yes, calculating the positioning time of the UWB positioning data using the GNSS satellites in the positioning module; If not, the positioning time of the UWB positioning data is calculated using the time information in the time synchronization frame, and the error of the time synchronization frame transmission link is estimated using a Kalman filter algorithm; the UWB positioning data is fused with the inertial measurement data to obtain a positioning result.

3. The integrated positioning method according to claim 1, characterized in that: The UWB synchronization controller divides each cycle into N time windows, wherein N is greater than or equal to 10,000 and less than or equal to 30,000.

4. The integrated positioning method according to claim 1, characterized in that: The period is 1 second.

5. The integrated positioning method according to claim 1, characterized in that: The UWB positioning tag includes a first microcontroller, a UWB tag and a 2.4G wireless module. The first microcontroller is connected to the UWB returner. The UWB tag is used to send the UWB wireless radio frequency signal. The 2.4G wireless module is used to obtain the clock synchronization information and time synchronization frame of each cycle from the multiple base stations.

6. The integrated positioning method according to claim 5, characterized in that: The first microcontroller is connected to the UWB return device via a UART serial port.

7. The integrated positioning method according to claim 1, characterized in that: The UWB backhaul machine includes a second microcontroller and a 2.4G wireless module. The second microcontroller is connected to the positioning module. The 2.4G wireless module is used to obtain the clock synchronization information and time synchronization frame of each cycle from the multiple base stations.

8. The integrated positioning method according to claim 1, characterized in that: The UWB return machine sends the UWB positioning result of the positioning tag, the clock synchronization information of each cycle and the time synchronization frame to the positioning module through the CAN bus.

9. The integrated positioning method according to claim 1, characterized in that: After the UWB synchronization controller sends the clock synchronization information of each cycle to the multiple base stations, it immediately sends the time synchronization frame to the multiple base stations, and the multiple base stations add a timestamp synchronized with the time synchronization frame after the received UWB wireless radio frequency signal.

10. An integrated positioning system, characterized in that: include: Multiple base stations, used to receive UWB wireless radio frequency signals and send UWB positioning results; A UWB synchronization controller is connected to the plurality of base stations respectively, wherein the UWB synchronization controller sends a clock synchronization signal to each base station at the start position of each cycle, and immediately sends a time synchronization frame to each base station after sending the clock synchronization information of each cycle; A UWB server is used to solve the UWB wireless radio frequency signal to obtain the UWB positioning result; A timing master clock module, which is co-sourced with the GNSS clock and is used to provide the time synchronization frame to the UWB server and the UWB synchronization controller; A plurality of integrated positioning terminals, each of the integrated positioning terminals comprising: A UWB positioning tag, used to send the UWB wireless radio frequency signal to the multiple base stations; A UWB returner connected to the UWB positioning tag is used to receive the clock synchronization information and time synchronization frame of each cycle sent by each base station, and filter out the UWB positioning result of the UWB positioning tag from the positioning results sent by the multiple base stations; The positioning module connected to the UWB returner is used to obtain the GNSS original observation quantity, inertial measurement data, the clock synchronization information, the time synchronization frame and the UWB positioning data sent by the UWB returner and perform fusion positioning solution.

11. The integrated positioning system according to claim 10, characterized in that: The step of the positioning module performing fusion positioning solution further includes: Determine whether the data output by the UWB returner is the UWB positioning result of the positioning tag: If yes, add a local receiving timestamp to the UWB positioning result of the positioning tag and parse out the location information; If not, determining whether the data output by the UWB returner is a time synchronization frame, and if so, marking the time synchronization frame with a local reception timestamp; Determine whether the GNSS satellites in the positioning module are valid; If invalid, using the time information in the time synchronization frame to calculate the positioning time of the UWB positioning data, and using the Kalman filter algorithm to estimate the error of the time synchronization frame transmission link; If valid, determining whether the time synchronization frame differs from the GNSS satellite time by a predetermined threshold; If yes, calculating the positioning time of the UWB positioning data using the GNSS satellites in the positioning module; If not, the positioning time of the UWB positioning data is calculated using the time information in the time synchronization frame, and the error of the time synchronization frame transmission link is estimated using a Kalman filter algorithm; the UWB positioning data is fused with the inertial measurement data to obtain a positioning result.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the steps in the method according to any one of claims 1 to 9 are implemented.

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