A method for solving full-scene shared navigation and positioning and generalized graphical element hunting operations.

Abstract

This invention discloses a method for full-scene shared navigation and positioning with generalized graphical element operations. It includes the following steps: Step 1. The receiving terminal performs propagation delay measurement to obtain multiple pseudorange values; Step 2. Establishes a coordinate system and the transformation relationships between coordinate systems; Step 3. Lists the sphere equation with the satellite position as the center and the observed pseudorange as the radius; Step 4. Utilizes indoor navigation lights for positioning and navigation; Step 5. Enhances positioning by jointly solving the satellite positioning equation and the navigation light positioning equation. This invention can meet the needs of three basic scenarios for indoor and outdoor positioning without modifying the terminal hardware. Through some algorithms, it can become a shared indoor and outdoor terminal. This invention can achieve the reception, despreading, and demodulation of outdoor satellite and indoor / outdoor navigation light positioning signals, thereby achieving the purpose of hardware sharing of devices and circuits. Therefore, this invention has the advantages of strong practicality, good inheritance, and broad application prospects.

Description

Technical Field

[0001] This invention belongs to the field of navigation and positioning technology, and in particular relates to a method for solving a full-scene shared navigation and positioning problem and a generalized graphic element hunting operation. Background Technology

[0002] Since the successful networking of the GPS satellite navigation system in the 1990s, satellite navigation technology has developed rapidly. To date, the four major satellite navigation systems, GPS, BDS (BeiDou), GLONASS, and Galileo, as well as the augmentation systems WAAS, LAAS, QZSS, and Qianxun, have successively launched services and are being used more and more widely. They have been involved in many fields and industries, including national security, surveying and mapping, transportation, agriculture, animal husbandry, construction, oceanography, meteorology, metrology, aerospace, urban construction, safety monitoring, and scientific research.

[0003] Satellite navigation boasts advantages such as high positioning accuracy, wide signal coverage, ease of use, and broad application, meeting the positioning and navigation needs of most outdoor scenarios. However, in urban canyons with towering buildings, in dense forests, inside buildings, or in scenarios with obstructions like scaffolding, satellite navigation signals can be blocked by buildings and natural objects. Signal reflection can cause multipath propagation, affecting the reception and processing of navigation signals, impacting positioning accuracy, and even preventing positioning altogether. Therefore, scientists and engineers specializing in navigation and positioning are eager to solve and overcome this challenge. They typically refer to solving these navigation and positioning problems in the aforementioned scenarios as indoor navigation and positioning problems.

[0004] For example, patent application number 201911223734.5 discloses a vehicle positioning and navigation method and apparatus. The method includes: a parsing device determining the target diagnostic protocol supported by the vehicle's on-board diagnostic system (OBD) from a variety of locally preset diagnostic protocols; acquiring a data packet characterizing the vehicle's operating condition through the OBD interface, the data packet including at least the vehicle's speed and direction information; parsing the data packet according to the target diagnostic protocol to obtain the vehicle's speed and direction information; determining the input level allowed by the inertial navigation device; and sending the vehicle's speed and direction information to the inertial navigation device at the allowed input level, the vehicle's speed and direction information being used by the inertial navigation device for vehicle positioning and navigation.

[0005] To date, various methods have emerged to address indoor navigation issues. Some have attempted to receive GPS / BDS and low-Earth orbit satellite signals for positioning indoors, but the received signals are mostly reflected, weakening indoors and becoming difficult to receive with poor ranging accuracy. Using other wireless transmission signals, such as iBeacon, WiFi, UWB, CSS, 4G / 5G, and Rola, and mimicking GPS positioning principles for spherical intersection positioning, presents challenges due to the fragmented nature of indoor spaces, the small volume of each space, and multiple reflections of signals during propagation, leading to signal distortion and severe multipath propagation. This necessitates addressing challenges such as signal source distribution, overcoming the near-far effect, the use of time synchronization, and mitigating multipath propagation. Fingerprint matching positioning based on signal strength suffers from low accuracy and requires extensive data collection for the fingerprint database. Extrapolating trajectory positions using inertial devices raises the question of how to correct accumulated errors indoors. Furthermore, indoor positioning also presents challenges in describing and displaying indoor space. Products for describing indoor space have been slow to develop, and standards have not yet been established. Methods utilizing vision, lidar, and geomagnetism also suffer from drawbacks such as susceptibility to interference, limited application scenarios, low reliability, and insufficient stability. The above analysis illustrates that the complexity and variability of indoor environments make signal acquisition and tracking difficult, resulting in less robust positioning results and poor accuracy. Therefore, simply applying GPS positioning principles to solve indoor positioning problems is unlikely to be effective. Consequently, indoor positioning technology remains immature; the principles, methods, and key technical challenges of indoor positioning have not yet been overcome. Due to building obstructions, only a small portion of outdoor satellite navigation signals directly reaches indoors, while most signals are reflected or scattered. This leads to significant signal attenuation, changes in signal polarization, and a poor signal-to-noise ratio, resulting in multipath signals that often prevent effective signal processing and positioning calculations. Even if positioning is achieved, the accuracy is poor. Similarly, in certain outdoor scenarios, signals are also affected by natural objects such as buildings, mountains, and trees, resulting in signal obstruction, a deteriorated signal-to-noise ratio, low positioning accuracy, or even the inability to achieve positioning. Therefore, it is essential to solve the problems of receiving and effectively receiving signals isomorphic to GNSS navigation signals indoors, and how to utilize these signals for positioning. To date, existing technologies cannot provide an effective and reliable method for solving indoor positioning and navigation problems, and current satellite navigation chips and terminals have not yet overcome the limitations of meeting the demands for indoor navigation and positioning. Summary of the Invention

[0006] The purpose of this invention is to provide an indoor and outdoor full-scene shared navigation and positioning system and a method for solving generalized graphic element hunting operations that can overcome the above-mentioned technical problems. The method of this invention includes the following steps:

[0007] Step 1. In outdoor scenarios, when the receiving terminal can receive navigation and positioning signals from four or more GNSS navigation satellites, the receiving terminal performs propagation delay measurement to obtain multiple pseudorange values. The terminal's position is then obtained through spherical intersection calculation to meet the positioning and navigation requirements in outdoor scenarios.

[0008] Indoor navigation lights, also known as pseudo-satellites, are installed using frequency bands (L1, B1, E1), spreading codes (pseudo-random codes), and spread spectrum modulation (DSS). The navigation message format is identical to that used in satellite navigation systems, but with redefined content. The redefined indoor navigation message retains some data and information from the original outdoor navigation message. This redefined data includes: the indoor space ID (consistent with the number indicated on the ground-to-air map), navigation light ID, spreading code number, installation location, altitude, azimuth angle of the road or tunnel (relative to true north), camera installation location, reference point air pressure, temperature, humidity, magnetic declination, center frequency (MHz), bandwidth (MHz), beam radiation characteristics, signal strength (RSSI) at the navigation light's spatial location antenna exit (1 meter), navigation light health status indicator, and check digit parameters. It can broadcast indoor maps and spatial information, including building units, furniture, stacked items, facilities, and characteristic parameters and points within the indoor space.

[0009] Step 1.1: Divide the application scenarios into three categories: outdoor application scenarios, indoor application scenarios, and outdoor application scenarios that require enhancement (hereinafter referred to as the three application scenarios). Outdoor application scenarios refer to scenarios that can receive signals from four or more satellites. Indoor application scenarios refer to application scenarios inside buildings. Outdoor application scenarios that require enhancement refer to scenarios that are outdoors but cannot receive signals from four or more satellites. Navigation lights need to be added to indoor application scenarios and outdoor application scenarios that require enhancement.

[0010] Step 1.2: Draw an indoor map in the indoor application scenario, add indoor spatial information, and form a ground-to-air information map;

[0011] Step 1.3: Determine the discrimination conditions for the three types of application scenarios, namely: whether navigation satellite signals can be received, judging indoor and outdoor scenarios and whether enhancement is needed based on the signal-to-noise ratio of navigation satellite signals, whether navigation light signals can be received and navigation lights can be identified, and adopting different positioning algorithms after different scenario conditions are determined.

[0012] Step 2: Determine the coordinate system representing the position of the navigation and positioning system, and establish the coordinate systems and the transformation relationships between them:

[0013] Step 2.1: Establish the Earth-Centered, Earth-Fixed (ECEF) coordinate system.

[0014] The geocentric-fixed coordinate system is a Cartesian coordinate system with the Earth's center as the origin. The origin O(0,0,0) is the Earth's center of mass. The z-axis is parallel to the Earth's axis and points to the North Pole. The x-axis points to the intersection of the Prime Meridian and the equator. The y-axis is perpendicular to the xoz plane (i.e., the intersection of 90 degrees east longitude and the equator), forming a right-handed coordinate system. Satellite navigation systems choose the geocentric-fixed coordinate system. All-scene shared navigation and positioning systems use the geocentric-fixed coordinate system for outdoor navigation and positioning. Satellite navigation systems solve for the three-dimensional rectangular coordinates x, y, z and the receiver clock error Δt in the geocentric-fixed coordinate system.

[0015] Step 2.2: Establish a local coordinate system. A local coordinate system is a rectangular coordinate system suitable for use in local areas (such as campuses, residential areas, or commercial districts). The local coordinate system chooses a specific location as the origin O, with the perpendicular line from O as the Z-axis (positive at the zenith), the meridian as the X-axis (positive to the north), and the Y-axis perpendicular to both the X and Z axes (positive to the east). This local coordinate system is a left-handed rectangular coordinate system. The plane rectangular coordinate system formed by the X and Y axes is consistent with the plane rectangular coordinate system in surveying. Therefore, this established local coordinate system belongs to the perpendicular-centric rectangular coordinate system. When the geocentric coordinates of the origin O are known to be (X... O ,Y O Z O ), the geodetic coordinates are latitude and longitude (λ, ), set the geocentric coordinates (X, Y, F) of any point P in space. P ,Y P Z P If point P is in a local coordinate system with point O as the origin, then the spatial coordinates of point P are as shown in the following formula (1):

[0016]

[0017] Conversely, when the coordinates [XYZ] of a spatial point P in a local coordinate system with point O as the origin are known, the geocentric coordinates of point P are as shown in the following formula (2):

[0018]

[0019] The transformation relationship between the local coordinate system and the Earth-fixed coordinate system is established through the origin O.

[0020] Step 2.3: Establish an indoor local coordinate system. When using indoor navigation and positioning, an indoor local coordinate system is selected. The indoor local coordinate system is a local coordinate system with a small coverage area. The coordinates of the center position of the indoor ground are selected as the origin O of the coordinate system. Alternatively, the coordinates of the projection point of the navigation light on the ground can be selected as the origin O, or the coordinates of the center point of the indoor entrance and exit can be selected as the origin O. According to the basic shape of the indoor plane, the axis of symmetry is selected as the orientation of the x-axis and y-axis to form a three-dimensional spatial coordinate system or a ground horizontal plane coordinate system. In the three-dimensional spatial coordinate system, the z-axis is perpendicular to the ground horizontal plane. The indoor local coordinate system is connected with the local coordinate system, or directly connected with the geocentric coordinate system to realize the transformation between the coordinate systems. The position of the indoor coordinate origin O in the geocentric coordinate system should be marked. At the same time, the angular deviation of the indoor coordinate x-axis orientation from due north should also be marked. When there is a deviation between the indoor ground plane in the indoor coordinate system and the local horizontal plane, the two-dimensional deviation should be marked to ensure the coordinate transformation relationship between the indoor coordinate system and the geocentric coordinate system.

[0021] Step 2.4, determine the geodetic height h or altitude H. When using barometric altimetry or a local coordinate system, the geodetic height h or altitude H is involved. When the geodetic height h is known, it is equivalent to a satellite being located near the Earth's center. The measured altitude value is equivalent to adding a pseudorange value, which is then transformed into another intersection sphere with the distance from the Earth's center as the radius and plays the role of an equivalent navigation satellite. The observation equation at this time is shown in the following formula (3):

[0022]

[0023] Where h is the user's geodetic height, a and b are the major and minor semi-axes of the Earth's reference ellipsoid, respectively, and the last equation in formula (3) is the Earth ellipsoid constraint equation.

[0024] When barometric altimetry is used for positioning and navigation, the altitude H obtained by barometric altimetry is converted into geodetic height h and solved using formula (3). Based on the reference reference points with altitude H and geodetic height h data, the barometric altimetry correction information is obtained from the reference reference points. The reference reference points include meteorological observation stations, temporarily established reference stations, and existing ground mobile communication base stations. These existing barometric reference stations with geodetic heights are used as leveling coincidence points and the elevation difference correction amount is provided to nearby users.

[0025] Step 2.5, dimensionality reduction of the indoor local coordinate system. In indoor positioning applications, graphical calculation is performed in a simplified two-dimensional plane coordinate system. The z-axis of the local coordinate system is in the same vertical direction as the absolute elevation, and the altitude obtained by barometric altimetry is the user's z-coordinate value in the local coordinate system. The positioning problem is reduced from three-dimensional to two-dimensional without elevation conversion. There is no interpolation calculation for elevation anomalies, and no new additional errors are introduced in the positioning process. At this time, the altitude is substituted into formula (3) as the z value without iterative calculation of z. The measurement equation set changes from formula (3) to the following formula (4):

[0026]

[0027] Step 3: In outdoor scenarios, the satellite navigation observation equation set should include at least four or more spherical equations with the satellite position as the center and the observation pseudorange as the radius, as shown in the following formula (5):

[0028]

[0029] Among them, the number of satellites n is greater than or equal to 4; x j y j z j Let x be the three-dimensional coordinate components of the j-th satellite in the Earth-fixed coordinate system. u y u z u ρ refers to the three-dimensional coordinate components of the user's position in the Earth-fixed coordinate system. ju Let be the observation pseudorange between the user station and the j-th satellite, c be the speed of light, and t be the distance between the satellite and the user station. u δρ represents the receiver clock offset. ju This is the pseudorange delay correction caused by star clock deviation, ionospheric delay, tropospheric delay, and multipath effect;

[0030] The solution to the above formula (5) is the three-dimensional coordinates (x, y) of the user station. u y u , z u and receiver clock deviation t u The point of intersection of the sphere with the satellite position as the center and the pseudorange as the radius is also called the solution of the sphere equation system. The accuracy of the solution of the above formula (5) is between 2 and 10 meters.

[0031] When a GNSS satellite signal reaches the ground, the phase difference between the carrier signals received by the two receiving antennas is represented by vector projection, as shown in the following formula (6):

[0032]

[0033] In formula (6), Let b be the baseline vector between antennas, where b = [xyz]. TThe coordinates of the unknown baseline vector in the geocentric-ground-fixed coordinate system. This is expressed as the difference between the carrier phases when the signal from satellite s reaches the two receiving antennas. For the new ambiguity parameter, This is a unit vector representing the direction from the antenna to the satellite. The antenna position coordinates and satellite coordinates are obtained through satellite positioning and satellite ephemeris. Given that when m satellites are observed, the observation equations are as shown in the following formula (7):

[0034]

[0035] The ambiguities of m satellites are correlated, and when the correct ambiguity is solved, the observation equations have a unique solution. The unknown baseline vector is obtained through this solution, and the terminal's position is obtained through intersection calculation to meet the requirements of precise positioning and navigation in outdoor scenarios. The single-frequency RTK (Real-time Kinematic) method achieves centimeter-level positioning accuracy when obtaining a fixed solution within 30 kilometers, and sub-meter or decimeter-level accuracy using differential positioning within 50 kilometers. The workflow for RTK dynamic real-time carrier phase precise positioning using a single-frequency navigation chip is as follows:

[0036] Step 3.1: Calculate the position coordinates of the observed satellite using the ephemeris file received by the receiving antenna;

[0037] Step 3.2: Establish a carrier phase differential observation group based on the received satellite observation data;

[0038] Step 3.3: Solve for integer ambiguity. Select an integer ambiguity solving algorithm (such as the generalized continuation algorithm or the LAMBDA algorithm) to quickly determine the integer ambiguity.

[0039] Step 3.4: Obtain the coordinates of the baseline vector in the WGS-84 coordinate system from the integer ambiguity;

[0040] Step 3.5: Perform coordinate transformation on the calculated baseline vector to obtain the correlation matrix and baseline vector coordinates in different coordinate systems (such as the carrier coordinate system and the local horizontal coordinate system);

[0041] Step 3.6: Solve for the carrier position, displacement, and attitude angle based on the obtained correlation matrix and baseline vector coordinates;

[0042] Step 4: In indoor scenarios, positioning and navigation are performed using a shared terminal and indoor navigation lights. This involves directly receiving the navigation light signal indoors using the shared terminal, despreading and demodulating it, and obtaining the nominal longitude and latitude values ​​of the indoor space from the navigation light message. These nominal longitude and latitude values ​​indicate the basic location information of the indoor space. To obtain more detailed location values ​​for the indoor space, a generalized graphical element hunting operation method is used. This involves first using the information transmitted in the navigation message and the measurement parameters obtained from the chip's navigation signal measurement to find relevant geometric elements containing a solution domain. Then, a hunting operation is performed on these geometric elements to narrow down the hunting area. The narrowed solution domain is the fuzzy localization solution domain. The method of describing the narrowed solution domain varies depending on the scene and the narrowed solution domain. The algorithm of the generalized pixel hunting operation is a type of fuzzy localization algorithm. The mathematical expression of the fuzzy localization solution is a pixel or interval number. When using pixel to represent localization, the pixel hunting operation is used for solving. The pixel hunting operation refers to the addition, subtraction, multiplication, or division of the gray values ​​of corresponding pixels in two or more input images. In other words, it is the operation of intersecting the pixels of two or more input images, retaining the intersecting parts of the two shapes, and deleting the non-intersecting parts.

[0043] Let the resulting graphical elements be A(x,y), B(x,y), ..., L(x,y).

[0044] The navigation and positioning solution is shown in the following formula (8):

[0045] S(x,y)=A(x,y)∧B(x,y)∧……∧L(x,y)……(8),

[0046] The simplified graphic element hunting operation uses only black and white, which are special cases of grayscale values. Besides using graphic element operations, a solution domain can also be represented by interval numbers [a,c] and [b,d]. [a,c] is the interval number along the X-axis, and [b,d] is the interval number along the Y-axis. Here, a and b represent the upper bounds, and c and d represent the lower bounds. Like graphic elements, interval numbers can intersect and overlap, resulting in an overlapping area. This overlapping area is the reduced location solution interval, which is a fuzzy location solution domain. The generalized graphic element hunting operation method, based on the analysis and understanding of map and spatial coverage, obtains geometric figures containing solution domains, called graphic elements. By performing hunting operations on selected geometric graphic elements and continuously overlapping and shrinking them to define the feasible region, the location solution is obtained. The generalized graphic element hunting operation method ultimately yields a reduced graphic element, i.e., a reduced solution domain. The specific steps are as follows:

[0047] Step 4.1: Find the geometric elements containing the domain of solution. The geometric elements containing the domain of solution obtained will vary depending on the application scenario and the terminal. The projection of the shape of the shaped antenna beam, i.e., the spatial radiation shape of the beam, onto the plane coverage area where the phase center of the terminal antenna is located, is used as the geometric elements containing the domain of solution. The signal strength (RSSI) received by the terminal and the signal strength (RSSI) of the signal radiated by the navigation light broadcast indoor navigation message at a spatial position 1 meter away from the navigation light are used to calculate the propagation distance according to the signal power radiation equation to obtain the projected geometric elements. The extrapolated trajectory obtained by extrapolating the located position value, direction of travel, and speed value is used to display the extrapolated line geometric elements of the travel position. When there are other sensors, the geometric elements generated by the parameters provided by other sensors should be combined, including: the geometric elements of the domain formed by differential air pressure, inertial devices, ultrasonic ranging, visual information, and laser scanning information.

[0048] Step 4.2: Use the indoor ground-space map and draw the indoor ground-space map. Apply the indoor ground-space map and use the characteristic element information of the indoor map and the indoor space, including architectural elements such as doors, walls, corridors, floors, steps, and columns, as well as furniture, stacked items, and facilities. Use graphic elements to solve the fuzzy positioning solution.

[0049] Step 4.3, Graphical element operation: After obtaining the graphic elements and ground-space map information, graphic element operation is performed. Intersection processing is performed to obtain a reduced graphic with high overlap. This is the process of generating and processing the solution domain.

[0050] Step 4.4, Processing and Representation of Graphical Element Solution Domain: After obtaining a reduced graphic with high overlap or high grayscale after graphical element operation, the reduced graphic element is processed and represented in the planar solution domain by regular circular, triangular or square regular graphics, or it can be represented by feature points, feature elements and error in combination.

[0051] Step 5: In outdoor obstructed scenarios, when navigation lights are installed for enhancement, it is treated as an indoor scene. The generalized graphical element hunting operation solution method in Step 4 is used, that is, the graphical elements containing the solution domain are operated to obtain the positioning solution. Alternatively, the satellite positioning equation and the navigation light positioning equation can be jointly solved for enhanced positioning. The specific steps are as follows:

[0052] Step 5.1: When receiving navigation signals from fewer than or equal to three satellites (n ≤ 3), list the pseudorange measurement equation as shown in the following formula (9):

[0053]

[0054] Where n is the number of satellites that can be received normally; x j y j z jLet x be the three-dimensional coordinate components of the j-th satellite in the Earth-fixed coordinate system. u y u z u ρ refers to the three-dimensional coordinate components of the user's position in the Earth-fixed coordinate system. ju Let be the observation pseudorange between the user station and the j-th satellite, c be the speed of light, and t be the distance between the satellite and the user station. u δρ represents the receiver clock offset. ju This is the pseudorange delay correction caused by star clock deviation, ionospheric delay, tropospheric delay, and multipath effect;

[0055] Step 5.2: If a navigation light device has already been installed in the scene for enhancement, the signal strength (RSSI) received by the terminal and the signal strength (RSSI) radiated by the navigation light broadcast indoors at a spatial location 1 meter away from the navigation light are used to calculate the propagation distance according to the signal power radiation equation, thus obtaining the pseudorange value ρ between the terminal and the navigation light. iu As shown in the following formula (10):

[0056]

[0057] Among them, the number of navigation lights i is at least 1, and the number can be increased as needed; x i y i z i Let x be the three-dimensional coordinate components of the i-th navigation light in the Earth-fixed coordinate system. u y u z u ρ refers to the three-dimensional coordinate components of the user's position in the Earth-fixed coordinate system. iu Let δρ be the observed pseudorange between the user station and the i-th navigation light. iu This is the pseudorange delay correction amount caused by navigation light deviation, multipath effect, etc.

[0058] Step 5.3, combine formula (6) and formula (10) to solve as shown in the following formula (11):

[0059]

[0060]

[0061] Alternatively, formula (10) can be used as a constraint condition to solve the problem using a constrained satellite navigation positioning measurement model, thereby enhancing the solution capability in outdoor occlusion scenarios, as shown in the following formula (12):

[0062]

[0063]

[0064] xu <|X|,y u <|Y|,z u <|Z……(12),

[0065] When the signal deteriorates due to outdoor obstruction, the indoor shared positioning algorithm used in step 3 for indoor scenes is employed for positioning and navigation calculations.

[0066] The method described in this invention has the following beneficial effects:

[0067] 1. The method described in this invention innovatively applies a new single-navigation-light navigation and positioning principle, method, and implementation approach, and changes the traditional design principle and method of obtaining a deterministic solution using four-star four-pseudorange intersection in existing indoor and outdoor positioning and navigation methods. The method described in this invention uses only a single channel to transmit positioning-related data to achieve positioning, essentially returning the requirements of navigation and positioning for transmission signals to a single transmission channel. The system does not need to be equipped with a precise clock, does not need to achieve time synchronization, and is not affected by multipath phenomena. The method described in this invention can utilize multipath phenomena to complete the transmission of positioning information. The method described in this invention can obtain the position solution without multi-star and multi-pseudorange intersection. The position solution obtained by positioning is also changed from seeking a deterministic solution to seeking only a fuzzy solution. The fuzzy position solution is represented by reduced graphic elements or interval numbers. The method described in this invention is a breakthrough and innovation in the principle, method, and algorithm of single-positioning.

[0068] 2. The method described in this invention proposes a shared design principle and implementation approach, namely, solving the indoor and outdoor positioning and navigation problem with only one navigation chip. The navigation chip can be a commonly used satellite navigation chip, or it can use satellite signals to perform pseudorange and carrier phase measurements outdoors, and obtain the position solution by intersecting the satellite orbit position and pseudorange values. When the navigation chip is indoors, since there is a navigation light installed indoors, the chip can receive the signal from the navigation light, which is of the same system as the navigation satellite, and obtain the relevant parameters for indoor positioning after despreading, demodulation, and decoding, generating generalized graphical elements, and obtaining the position solution through graphical element hunting operations. The method described in this invention achieves the goal of sharing navigation and positioning signals and chips indoors and outdoors. The method described in this invention does not require adding additional hardware devices and equipment, and can achieve indoor and outdoor shared navigation and positioning only by adding algorithms. The method described in this invention has the characteristics of novel principle, simple and compact system and terminal structure, and high practical value.

[0069] 3. Since the locations, trajectories, paths, maps, and buildings appearing in navigation all have obvious geometric characteristics, using geometric methods to describe, display, and perform calculations is more convenient, accurate, rich, and intuitive than using algebraic methods. The method described in this invention breaks through the constraints of traditional algebraic models and uses geometric operations and solution methods to make fuller use of map resources and explore their potential. The method described in this invention can fully utilize the information advantages of maps and ground-air maps, thereby greatly promoting the development of navigation and positioning methods and taking navigation and positioning methods to a new level. Since visual sensors are now widely used, especially in the field of autonomous driving, with the promotion of cameras and LiDAR, visual perception also provides rich image information. Therefore, the method described in this invention is also conducive to the application of visual perception in navigation and positioning and can promote the development of autonomous driving technology. Therefore, the method described in this invention, which uses geometric concepts and methods to solve navigation problems, is a brand-new methodological innovation and technological breakthrough.

[0070] 4. The method described in this invention can meet the needs of three basic scenarios for indoor and outdoor positioning. It can use existing hardware devices and only requires some algorithms to become a shared indoor and outdoor terminal. The method described in this invention can receive and demodulate the parameters and information of the message using existing navigation chips and hardware devices, and achieves the goal of receiving, despreading and demodulating outdoor satellite and indoor and outdoor navigation light positioning signals with only one existing navigation receiver chip, thereby realizing the hardware sharing of devices and circuits. Therefore, the method described in this invention has the advantages of strong practicality, good inheritance, and broad application prospects.

[0071] 5. The method described in this invention uses RTK dynamic real-time carrier phase for precise positioning and greatly improves the accuracy of the positioning solution. The error correction data uses Qianxun broadcast data and can also build a differential reference station. Based on the satellite signals received by the differential reference station and the rover, a carrier phase double-difference observation equation can be established. After the carrier phase measurement value is double-differenced, the receiver clock error, satellite clock error and ephemeris error can be directly eliminated, which greatly reduces the error caused by ionospheric and tropospheric delay.

[0072] 6. The RTK dynamic real-time carrier phase precise positioning method described in this invention achieves high-precision positioning and navigation, such as lane-level navigation and safety monitoring. Currently, existing RTK dynamic real-time carrier phase precise positioning methods all use dual-frequency or multi-frequency precise navigation chips. The method described in this invention not only improves positioning accuracy but also greatly reduces the cost of navigation and positioning.

[0073] 7. The method described in this invention overcomes the shortcomings and drawbacks of existing traditional technologies, which cannot represent the error of navigation and positioning solutions. The positioning solution obtained by the method of this invention through the operation of geometric elements is a reduced geometric element and can fully reflect the error status of the navigation and positioning solution. Therefore, in summary, the method described in this invention not only greatly reduces the cost of navigation and positioning, but also fully reflects the error distribution of navigation and positioning solutions. Attached Figure Description

[0074] Figure 1 This is a schematic diagram of the solution process for the indoor and outdoor shared navigation and positioning system described in this invention;

[0075] Figure 2 This is a schematic diagram of the positioning and measurement principle of the four-planet intersection method described in this invention;

[0076] Figure 3 This is a schematic diagram of single navigation light positioning using the method described in this invention;

[0077] Figure 4 This is a schematic diagram of the architecture of the indoor and outdoor shared navigation and positioning application system according to the method of the present invention;

[0078] Figure 5 This is a schematic diagram of the navigation light components in the method described in this invention;

[0079] Figure 6 This is a schematic diagram of the local coordinate system of the method described in this invention;

[0080] Figure 7 This is a schematic diagram showing the relationship between the signal transmission path difference and the baseline when the two antennas of the method described in this invention receive satellite navigation signals;

[0081] Figure 8 This is a schematic diagram of the spatial radiation shape of the antenna beam in the method described in this invention;

[0082] Figure 9 This is a schematic diagram of the floor differential air pressure measurement values ​​according to the method described in this invention;

[0083] Figure 10 This is a schematic diagram of the electronic boundary of the method described in this invention;

[0084] Figure 11 This is a schematic diagram of the permitted electronic corridor of the method described in this invention;

[0085] Figure 12 This is a schematic diagram of an electronic fence for stacking items according to the method of the present invention. Detailed Implementation

[0086] The embodiments of the present invention will now be described with reference to the accompanying drawings. Figure 1As shown, the method of the present invention includes the following steps:

[0087] Step 1. In outdoor scenarios, when the receiving terminal can receive navigation and positioning signals from four or more GNSS navigation satellites, the receiving terminal performs propagation delay measurement to obtain multiple pseudorange values. These pseudorange values ​​are then solved using spherical intersection to obtain the terminal's position, thus fulfilling the positioning and navigation requirements in outdoor scenarios. Figure 2 As shown;

[0088] Indoor navigation lights, referring to pseudo-satellites, are installed. The indoor navigation lights are designed using frequency bands (L1, B1, E1), spreading codes (pseudo-random codes), and spreading modulation methods (DSS). The navigation message format is the same as that used in satellite navigation systems, but the content is redefined. The redefined indoor navigation message retains some data and information from the original outdoor navigation message. The redefined data includes: the indoor space ID number (consistent with the number indicated on the ground-to-air map), navigation light ID number, spreading code number, installation point location, altitude, azimuth angle of the road or tunnel direction (relative to true north), camera installation location, reference point air pressure, temperature, humidity, magnetic declination, center frequency (MHz), bandwidth (MHz), beam radiation characteristics, signal strength (rssi) at the navigation light's spatial location antenna exit (1 meter), navigation light health status indicator, and check bit parameters. It can broadcast indoor maps and spatial information, including building units, furniture, stacked items, facilities, and characteristic parameters and points within the indoor space.

[0089] Step 1.1 divides the application scenarios into three categories: outdoor application scenarios, indoor application scenarios, and outdoor application scenarios requiring enhancement (hereinafter referred to as the three application scenarios). Outdoor application scenarios refer to scenarios where signals from four or more satellites can be received. Indoor application scenarios refer to application scenarios within buildings. Outdoor application scenarios requiring enhancement refer to scenarios outdoors where signals from four or more satellites cannot be received reliably, such as... Figure 5 As shown, navigation lights should be added for indoor application scenarios and outdoor application scenarios that require enhancement;

[0090] Step 1.2: Draw an indoor map in the indoor application scenario, add indoor spatial information, and form a ground-to-air information map;

[0091] Step 1.3: Determine the discrimination conditions for the three types of application scenarios, namely: whether navigation satellite signals can be received, judging indoor and outdoor scenarios and whether enhancement is needed based on the signal-to-noise ratio of navigation satellite signals, whether navigation light signals can be received and navigation lights can be identified, and adopting different positioning algorithms after different scenario conditions are determined.

[0092] Step 2: Determine the coordinate system representing the position of the navigation and positioning system, and establish the coordinate systems and the transformation relationships between them:

[0093] Step 2.1: Establish the Earth-Centered, Earth-Fixed (ECEF) coordinate system.

[0094] The geocentric-fixed coordinate system is a Cartesian coordinate system with the Earth's center as the origin. The origin O(0,0,0) is the Earth's center of mass. The z-axis is parallel to the Earth's axis and points to the North Pole. The x-axis points to the intersection of the Prime Meridian and the equator. The y-axis is perpendicular to the xoz plane (i.e., the intersection of 90 degrees east longitude and the equator), forming a right-handed coordinate system. Satellite navigation systems choose the geocentric-fixed coordinate system. All-scene shared navigation and positioning systems use the geocentric-fixed coordinate system for outdoor navigation and positioning. Satellite navigation systems solve for the three-dimensional rectangular coordinates x, y, z and the receiver clock error Δt in the geocentric-fixed coordinate system.

[0095] Step 2.2: Establish a local coordinate system. A local coordinate system is a rectangular coordinate system suitable for use in local areas (such as campuses, residential areas, or commercial districts). The local coordinate system chooses a specific location as the origin O, with the perpendicular line from O as the Z-axis (positive at the zenith), the meridian as the X-axis (positive to the north), and the Y-axis perpendicular to both the X and Z axes (positive to the east). This local coordinate system is a left-handed rectangular coordinate system. The plane rectangular coordinate system formed by the X and Y axes is consistent with the plane rectangular coordinate system in surveying. Therefore, this established local coordinate system belongs to the perpendicular-centric rectangular coordinate system. When the geocentric coordinates of the origin O are known to be (X... O ,Y O Z O ), the geodetic coordinates are latitude and longitude (λ, ), set the geocentric coordinates (X, Y, F) of any point P in space. P ,Y P Z P If point P is in a local coordinate system with point O as the origin, then the spatial coordinates of point P are as shown in the following formula (1):

[0096]

[0097] Conversely, when the coordinates [XYZ] of a spatial point P in a local coordinate system with point O as the origin are known, the geocentric coordinates of point P are as shown in the following formula (2):

[0098]

[0099] The origin O of the coordinate system allows for easy establishment of the transformation relationship between the local coordinate system and the Earth-fixed coordinate system.

[0100] Step 2.3: Establish an indoor local coordinate system. When performing indoor navigation and positioning, select an indoor local coordinate system, such as... Figure 6As shown, the indoor local coordinate system is a local coordinate system with a small coverage area. The indoor local coordinate system selects the coordinates of the center position of the indoor ground as the coordinate system origin O, or selects the coordinates of the projection point of the navigation light on the ground as the coordinate system origin O, or selects the coordinates of the center point of the indoor entrance and exit as the coordinate system origin O. According to the basic shape of the indoor plane, the axis of symmetry is selected as the orientation of the x-axis and y-axis to form a three-dimensional spatial coordinate or a ground horizontal plane coordinate. In the three-dimensional spatial coordinate system, the z-axis is perpendicular to the ground horizontal plane. The indoor local coordinate system establishes a connection with the local coordinate system, or directly establishes a connection with the geocentric coordinate system to realize the transformation between the coordinate systems. The indoor coordinate origin O should be marked with its position in the geocentric coordinate system, and the angular deviation of the indoor coordinate x-axis orientation from true north should also be marked. When there is a deviation between the indoor ground plane in the indoor coordinate system and the local horizontal plane, the two-dimensional deviation should be marked to ensure the coordinate transformation relationship between the indoor coordinate system and the geocentric coordinate system.

[0101] Step 2.4, determine the geodetic height h or altitude H. When using barometric altimetry or a local coordinate system, the geodetic height h or altitude H is involved. When the geodetic height h is known, it is equivalent to a satellite being located near the Earth's center. The measured altitude value is equivalent to adding a pseudorange value, which is then transformed into another intersection sphere with the distance from the Earth's center as the radius and plays the role of an equivalent navigation satellite. The observation equation at this time is shown in the following formula (3):

[0102]

[0103] Where h is the user's geodetic height, a and b are the major and minor semi-axes of the Earth's reference ellipsoid, respectively, and the last equation in formula (3) is the Earth ellipsoid constraint equation.

[0104] When barometric altimetry is used for positioning and navigation, the altitude H obtained by barometric altimetry is converted into geodetic height h and solved using formula (3). Based on the reference reference points with altitude H and geodetic height h data, the barometric altimetry correction information is obtained from the reference reference points. The reference reference points include meteorological observation stations, temporarily established reference stations, and existing ground mobile communication base stations. These existing barometric reference stations with geodetic heights are used as leveling coincidence points and the elevation difference correction amount is provided to nearby users.

[0105] Step 2.5, dimensionality reduction of the indoor local coordinate system. In indoor positioning applications, graphical calculation is performed in a simplified two-dimensional plane coordinate system. The z-axis of the local coordinate system is in the same vertical direction as the absolute elevation, and the altitude obtained by barometric altimetry is the user's z-coordinate value in the local coordinate system. The positioning problem is reduced from three-dimensional to two-dimensional without elevation conversion. There is no interpolation calculation for elevation anomalies, so no new additional errors are introduced in the positioning process. At this time, the altitude is substituted into formula (3) as the z value without iterative calculation of z. The measurement equation set changes from formula (3) to the following formula (4):

[0106]

[0107] Step 3: In outdoor scenarios, the satellite navigation observation equation set should include at least four or more spherical equations with the satellite position as the center and the observation pseudorange as the radius, as shown in the following formula (5):

[0108]

[0109] Among them, the number of satellites n is greater than or equal to 4; x j y j z j Let x be the three-dimensional coordinate components of the j-th satellite in the Earth-fixed coordinate system. u y u z u ρ refers to the three-dimensional coordinate components of the user's position in the Earth-fixed coordinate system. ju Let be the observation pseudorange between the user station and the j-th satellite, c be the speed of light, and t be the distance between the satellite and the user station. u δρ represents the receiver clock offset. ju This is the pseudorange delay correction caused by star clock deviation, ionospheric delay, tropospheric delay, and multipath effect;

[0110] The solution to the above formula (5) is the three-dimensional coordinates (x, y) of the user station. u y u , z u and receiver clock deviation t u The point of intersection of the sphere with the satellite position as the center and the pseudorange as the radius is also called the solution of the sphere equation system. The accuracy of the solution of the above formula (5) is between 2 and 10 meters.

[0111] like Figure 7 As shown, when a GNSS satellite signal reaches the ground, the phase difference between the carrier signals received by the two receiving antennas is represented by vector projection, as shown in the following formula (6):

[0112]

[0113] In formula (6), Let b be the baseline vector between antennas, where b = [xyz].T The coordinates of the unknown baseline vector in the geocentric-ground-fixed coordinate system. This is expressed as the difference between the carrier phases when the signal from satellite s reaches the two receiving antennas. For the new ambiguity parameter, This is a unit vector representing the direction from the antenna to the satellite. The antenna position coordinates and satellite coordinates are obtained through satellite positioning and satellite ephemeris. Given that when m satellites are observed, the observation equations are as shown in the following formula (7):

[0114]

[0115] The ambiguities of m satellites are correlated, and when the correct ambiguity is solved, the observation equations have a unique solution. The unknown baseline vector is obtained through this solution, and the terminal's position is obtained through intersection calculation to meet the requirements of precise positioning and navigation in outdoor scenarios. The single-frequency RTK (Real-time Kinematic) method achieves centimeter-level positioning accuracy when obtaining a fixed solution within 30 kilometers, and sub-meter or decimeter-level accuracy using differential positioning within 50 kilometers. The workflow for RTK dynamic real-time carrier phase precise positioning using a single-frequency navigation chip is as follows:

[0116] Step 3.1: Calculate the position coordinates of the observed satellite using the ephemeris file received by the receiving antenna;

[0117] Step 3.2: Establish a carrier phase differential observation group based on the received satellite observation data;

[0118] Step 3.3: Solve for integer ambiguity. Select an integer ambiguity solving algorithm (such as the generalized continuation algorithm or the LAMBDA algorithm) to quickly determine the integer ambiguity.

[0119] Step 3.4: Obtain the coordinates of the baseline vector in the WGS-84 coordinate system from the integer ambiguity;

[0120] Step 3.5: Perform coordinate transformation on the calculated baseline vector to obtain the correlation matrix and baseline vector coordinates in different coordinate systems (such as the carrier coordinate system and the local horizontal coordinate system);

[0121] Step 3.6: Solve for the carrier position, displacement, and attitude angle based on the obtained correlation matrix and baseline vector coordinates;

[0122] Step 4: In indoor scenarios, positioning and navigation are performed using a shared terminal and indoor navigation lights. This involves directly receiving the navigation light signal indoors using the shared terminal, despreading and demodulating it, and obtaining the nominal longitude and latitude values ​​of the indoor space from the navigation light message. These nominal longitude and latitude values ​​indicate the basic location information of the indoor space. To obtain more detailed location values ​​for the indoor space, a generalized graphical element hunting operation method is used. This involves first using the information transmitted in the navigation message and the measurement parameters obtained from the chip's navigation signal measurement to find relevant geometric elements containing a solution domain. Then, a hunting operation is performed on these geometric elements to narrow down the hunting area. The narrowed solution domain is the fuzzy localization solution domain. The method of describing the narrowed solution domain varies depending on the scene and the narrowed solution domain. The algorithm of the generalized pixel hunting operation is a type of fuzzy localization algorithm. The mathematical expression of the fuzzy localization solution is a pixel or interval number. When using pixel to represent localization, the pixel hunting operation is used for solving. The pixel hunting operation refers to the addition, subtraction, multiplication, or division of the gray values ​​of corresponding pixels in two or more input images. In other words, it is the operation of intersecting the pixels of two or more input images, retaining the intersecting parts of the two shapes, and deleting the non-intersecting parts.

[0123] Let the resulting graphical elements be A(x,y), B(x,y), ..., L(x,y).

[0124] The navigation and positioning solution is shown in the following formula (8):

[0125] S(x,y)=A(x,y)∧B(x,y)∧……∧L(x,y)……(8),

[0126] The simplified graphic element hunting operation uses only black and white, which are special cases of grayscale values. Besides using graphic element operations, a solution domain can also be represented by interval numbers [a,c] and [b,d]. [a,c] is the interval number along the X-axis, and [b,d] is the interval number along the Y-axis. Here, a and b represent the upper bounds, and c and d represent the lower bounds. Like graphic elements, interval numbers can intersect and overlap, resulting in an overlapping area. This overlapping area is the reduced location solution interval, which is a fuzzy location solution domain. The generalized graphic element hunting operation method, based on the analysis and understanding of map and spatial coverage, obtains geometric figures containing solution domains, called graphic elements. By performing hunting operations on selected geometric graphic elements and continuously overlapping and shrinking them to define the feasible region, the location solution is obtained. The generalized graphic element hunting operation method ultimately yields a reduced graphic element, i.e., a reduced solution domain. The specific steps are as follows:

[0127] Step 4.1: Find the geometric elements containing the solution domain. The geometric elements containing the solution domain will differ depending on the application scenario and the terminal. The projection of the shaped antenna beam shape (i.e., the spatial radiation shape of the beam) onto the coverage area of ​​the plane where the terminal antenna phase center is located is used as the geometric element containing the solution domain. For example... Figure 8 As shown; using the signal strength (RSSI) received by the terminal and the signal strength (RSSI) radiated by the navigation light broadcast indoors, at a spatial location 1 meter away from the navigation light, the propagation distance is calculated according to the signal power radiation equation to obtain the projected graphic elements. The estimated travel trajectory is extrapolated using the located position value, direction of travel, and speed value to display the extrapolated line graphic elements of the travel position. When other sensors are present, the graphic elements generated using parameters provided by those sensors should be combined, including: differential air pressure (floor measurement values ​​see...). Figure 9 The solution domain graphic elements are formed from inertial devices, ultrasonic ranging, visual information, and laser scanning information;

[0128] Step 4.2: Use and draw an indoor ground-level map. Apply the indoor ground-level map, especially utilizing the characteristic elements of the indoor space, including: doors, walls (see...). Figure 10 Electronic wall boundary), corridor (see Figure 11 Architectural elements that allow for electronic corridors, floors, steps, columns, furniture, and stacked items (see also...) Figure 12 Electronic fences (for storing items) and facilities are used to solve fuzzy positioning solutions using graphical elements;

[0129] Step 4.3, Graphical element operation: After obtaining the graphic elements and ground-space map information, graphic element operation is performed. Intersection processing is performed to obtain a reduced graphic with high overlap. This is the process of generating and processing the solution domain.

[0130] Step 4.4, Processing and Representation of Graphical Element Solution Domain: After obtaining a reduced graphic with high overlap or high grayscale after graphical element operation, the reduced graphic element is processed and represented in the planar solution domain by regular circular, triangular or square regular graphics, or it can be represented by feature points, feature elements and error in combination.

[0131] Step 5: In outdoor obstructed scenarios, when navigation lights are installed for enhancement, it is treated as an indoor scene. The generalized graphical element hunting operation solution method in Step 4 is used, that is, the graphical elements containing the solution domain are operated to obtain the positioning solution. Alternatively, the satellite positioning equation and the navigation light positioning equation can be jointly solved for enhanced positioning. The specific steps are as follows:

[0132] Step 5.1: When receiving navigation signals from fewer than or equal to three satellites (n ≤ 3), list the pseudorange measurement equation as shown in the following formula (9):

[0133]

[0134] Where n is the number of satellites that can be received normally; x j y j z j Let x be the three-dimensional coordinate components of the j-th satellite in the Earth-fixed coordinate system. u y u z u ρ refers to the three-dimensional coordinate components of the user's position in the Earth-fixed coordinate system. ju Let be the observation pseudorange between the user station and the j-th satellite, c be the speed of light, and t be the distance between the satellite and the user station. u δρ represents the receiver clock offset. ju This is the pseudorange delay correction caused by star clock deviation, ionospheric delay, tropospheric delay, and multipath effect;

[0135] Step 5.2: If a navigation light device has already been installed in the scene for enhancement, the signal strength (RSSI) received by the terminal and the signal strength (RSSI) radiated by the navigation light broadcast indoors at a spatial location 1 meter away from the navigation light are used to calculate the propagation distance according to the signal power radiation equation, thus obtaining the pseudorange value ρ between the terminal and the navigation light. iu As shown in the following formula (10):

[0136]

[0137] Among them, the number of navigation lights i is at least 1, and the number can be increased as needed; x i y i z i Let x be the three-dimensional coordinate components of the i-th navigation light in the Earth-fixed coordinate system. u y u z u ρ refers to the three-dimensional coordinate components of the user's position in the Earth-fixed coordinate system. iu Let δρ be the observed pseudorange between the user station and the i-th navigation light. iu This is the pseudorange delay correction amount caused by navigation light deviation, multipath effect, etc.

[0138] Step 5.3, combine formula (6) and formula (10) to solve as shown in the following formula (11):

[0139]

[0140]

[0141] Alternatively, formula (10) can be used as a constraint condition to solve the problem using a constrained satellite navigation positioning measurement model, thereby enhancing the solution capability in outdoor occlusion scenarios, as shown in the following formula (12):

[0142]

[0143]

[0144] x u <|X|,y u <|Y|,z u <|Z……(12),

[0145] When the signal deteriorates due to outdoor obstruction, the indoor shared positioning algorithm used in step 3 for indoor scenes is employed for positioning and navigation calculations.

[0146] The indoor and outdoor shared navigation and positioning application system formed by the method of the present invention comprises four main parts: navigation satellites and navigation lights, shared user terminals, communication transmission links, data processing platforms, and service centers; as shown below. Figure 4 As shown, navigation satellites and navigation lights broadcast navigation signals and messages. When navigating outdoors, navigation satellites serve as both position measurement and pseudorange length measurement references. The satellites are equipped with precise atomic clocks, and high-precision time synchronization must be achieved between all the atomic clocks on the satellites. However, the navigation lights in the method described in this invention do not use the time delay method to determine pseudorange length, so a high-precision time reference is not required. Only the position coordinates or signal strength of the navigation light need to be determined. The method described in this invention can solve navigation and positioning needs by receiving navigation satellite signals. When personnel, goods, and equipment enter indoor environments where ideal navigation and positioning methods are lacking, the method described in this invention can still rely on receiving signals and information broadcast by the navigation lights, including indoor ground-air map information and related parameters of spatial position information. By utilizing these parameters, indoor navigation and positioning needs can be met. Thus, the innovative indoor and outdoor shared positioning and navigation application system of the method described in this invention consists of outdoor satellite navigation + indoor navigation light positioning + shared terminal + communication transmission link + service center (including data processing platform).

[0147] The following is a specific implementation plan for the positioning and error correction of hazardous chemical vehicles in tunnels: For example, due to strict regulations and requirements for the navigation and positioning of hazardous chemical vehicles, satellite navigation terminals must now be installed in these vehicles. While these vehicles can achieve positioning and navigation accuracy of 1 meter using GNSS satellite navigation system signals on most sections of highways, the situation changes when they enter tunnels. They cannot receive navigation satellite signals well, cannot perform normal despreading, demodulation, and decoding, and may even receive no navigation satellite signals at all. However, they can use inertial devices and other sensors for extrapolation navigation, but extrapolation navigation will accumulate errors. After a while, the accumulated error can reach 10m to 50m / km, so error correction is needed. When navigation lights are installed at appropriate locations in the tunnel, and the shared terminal and generalized graphical element operation positioning algorithm described in this invention are used for positioning calculation and correction of accumulated errors, the accumulated error can be controlled within the range of (±0.5, ±0.63, ±0.4). This solves the navigation and positioning problem of hazardous chemical vehicles on the entire highway and the positioning problem in tunnels.

[0148] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for solving the full-scene shared navigation positioning and generalized graphical meta-surrounding hunting operation, characterized in that, Comprise the following steps: Step 1. When the receiving terminal can receive navigation positioning signals of four or more GNSS navigation satellites in an outdoor scene, the receiving terminal performs propagation delay measurement to obtain multiple pseudo-range values, and obtains the position of the terminal through spherical intersection to meet the positioning and navigation requirements in the outdoor scene; Indoor navigation lights are erected, the navigation lights are pseudolites, the frequency band (L1, B1, E1), the spread spectrum code, the spread spectrum modulation mode of the indoor navigation light are selected, the navigation message format is the same as that used in the satellite navigation system and only the navigation message content is redefined, the redefined indoor navigation message retains part of the data and information of the original outdoor navigation message, the redefined data includes: indoor space ID number, navigation light ID number, spread spectrum code number, installation point position, height, road or tunnel direction azimuth angle, camera installation position, reference point air pressure, temperature, humidity, magnetic declination, center frequency point, frequency bandwidth, beam radiation characteristics, navigation light space position antenna outlet signal strength navigation light health status identification, check bit parameters, and can broadcast indoor maps and space information including building units, furniture, stacked objects, facilities and characteristic parameters and feature points in the indoor space; Step 2, determine the coordinate system representing the position of the navigation positioning system, establish the coordinate system and the conversion relationship between the coordinate systems: Step 3. In an outdoor scene, at least four or more spherical equations with the satellite position as the center and the observed pseudo-range as the radius are listed as shown in the following formula (5): wherein the number of satellites n is greater than or equal to 4; x j , y j , z j are three-dimensional coordinate components of the jth satellite in the earth-fixed coordinate system, x u , y u , z u denote three-dimensional coordinate components of the user station in the earth-fixed coordinate system, p ju is an observed pseudo-range between the user station and the jth satellite, c is the speed of light, t u is a receiver clock bias, δp ju is a pseudo-range time delay correction quantity caused by satellite clock bias, ionospheric time delay, tropospheric time delay and multipath effect; The solution of the above equation (5) is the three-dimensional coordinates (x u , y u , z u ) of the user station and the receiver clock bias t u , i.e. the intersection of the spheres with the satellite positions as the center and the pseudo-range as the radius, also known as the solution of the spherical equation set, and the solution accuracy of the above equation (5) is 2 to 10 meters; The phase difference of the carrier signals received by the two receiving antennas is represented by vector projection as shown in the following formula (6): In formula (6), is the baseline vector between antennas, b = [x y z] T is the coordinate of unknown baseline vector in the ECEF coordinate system, represents the difference between the carrier phases when the signals of satellite s arrive at the two receiving antennas respectively, is a new ambiguity parameter, is the unit vector of the direction from the antenna to the satellite, the antenna position coordinates and satellite coordinates are obtained by satellite positioning and satellite ephemeris, It is known that when m satellites are observed, the observation equation set is as shown in the following formula (7): The ambiguities of the m satellites are correlated and there is a unique solution for the observation equation set when the correct ambiguity is solved, the unknown baseline vector is obtained by solving, the position of the terminal is obtained through intersection solving to meet the precise positioning and navigation requirements in the outdoor scene, the positioning accuracy of the single-frequency RTK method reaches centimeter level within 30 kilometers, and the accuracy can reach sub-meter or decimeter level within 50 kilometers; The steps of the work flow when using a single-frequency navigation chip for RTK dynamic real-time carrier phase precise positioning are as follows: Step 3.1, calculate the position coordinates of the observed satellites using the ephemeris file received by the receiving antenna; Step 3.2, establish a carrier phase difference observation group according to the received satellite observation data; Step 3.3, solve the integer ambiguity, select an integer ambiguity solving algorithm to quickly determine the integer ambiguity; Step 3.4, obtain the baseline vector coordinates in the WGS-84 coordinate system from the integer ambiguity; Step 3.5, convert the calculated baseline vector to obtain the correlation matrix and baseline vector coordinates in different coordinate systems; Step 3.6, solve the carrier position, displacement and attitude angle according to the obtained correlation matrix and baseline vector coordinates; Step 4, in the indoor scene, through sharing terminal and using setting indoor navigation light to carry out positioning navigation, that is, directly using the shared terminal to receive the navigation light signal in the indoor space, after the de-spreading and demodulation, the nominal longitude value and latitude value of the indoor space are obtained in the navigation light electric text, which indicates the basic information of the indoor space position, when the position value of the subdivided indoor space is to be obtained, the generalized graphic element hunting operation solving method is adopted, that is, first, the related geometric graphic elements containing the solution domain are found by using the information transmitted by the navigation electric text and the measurement parameters obtained by measuring the navigation signal with the chip, then the hunting operation is carried out on the graphic elements containing the solution domain, and the hunting area is reduced, and the reduced solution domain is the fuzzy positioning solution domain, the method of expressing the reduced solution domain is different according to the scene and the reduced solution domain, the algorithm of the generalized graphic element hunting operation solving method is a kind of fuzzy positioning algorithm, and the mathematical expression of the fuzzy positioning solution is a graphic element or an interval number, when the positioning is expressed by the graphic element, the graphic element hunting operation is used for solving, the graphic element hunting operation refers to the addition, subtraction, multiplication or division operation of the gray values of the corresponding pixels in two or more input images, that is, the intersection operation of two or more input image elements is carried out, the part of the intersection of the two shapes is retained, and the part of the non-intersection is deleted: Let the obtained graphic elements be A(x, y), B(x, y), …, L(x, y), The navigation positioning solution is shown in the following formula (8): S(x, y) = A(x, y) ∧ B(x, y) ∧ … ∧ L(x, y) … (8), The simplified graphic element hunting operation only selects black and white colors, and the black and white colors are special cases in the gray value, in addition to the solving by the graphic element operation, the interval number [a, c] and [b, d] can also be used to express a piece of solution domain, [a, c] is the X-axis direction interval number, and [b, d] is the Y-axis direction interval number, wherein a and b represent the upper bound, and c and d represent the lower bound, the interval number and the graphic element can intersect and overlap, a piece of overlapping area is obtained, the overlapping area is the reduced positioning solution interval, and the reduced positioning solution interval is a piece of fuzzy positioning solution domain; the generalized graphic element hunting operation solving method is obtained according to the analysis and cognition of the map and the space coverage, some geometric graphic elements containing the solution domain are obtained, and the position solution is obtained by continuously overlapping and shrinking the feasible domain through the hunting operation of the selected geometric graphic elements; the last obtained by the generalized graphic element hunting operation solving method is a piece of reduced graphic element, that is, a piece of reduced solution domain; Step 5, in the outdoor shielding scene, when the navigation light is set to implement enhancement, it is regarded as the indoor scene, and the generalized graphic element hunting operation solving method in step 4 is adopted, that is, the positioning solution is obtained after the operation of the graphic elements containing the solution domain.

2. The method of claim 1, wherein, The step 1 comprises the following steps: Step 1.1, the application scenarios are divided into outdoor application scenarios, indoor application scenarios and outdoor application scenarios that need to be enhanced, the outdoor application scenarios refer to the scenarios that can receive more than or equal to four satellite signals, the indoor application scenarios refer to the application scenarios in buildings, and the outdoor application scenarios that need to be enhanced refer to the scenarios that cannot receive more than or equal to four satellite signals in the outdoor, and the indoor application scenarios and the outdoor application scenarios that need to be enhanced need to add navigation lights; Step 1.2, an indoor map is drawn in the indoor application scenarios, indoor space information is added, and a ground-space information map is composed; Step 1.3, the discrimination conditions for distinguishing the outdoor application scenarios, the indoor application scenarios and the outdoor application scenarios that need to be enhanced are determined, that is, whether the navigation satellite signals can be received, whether the indoor and outdoor scenarios are discriminated according to the signal-to-noise ratio of the navigation satellite signals and whether the enhancement is needed, whether the signals of the navigation lights can be received and the navigation lights are identified, and different positioning algorithms are adopted after the different scenarios are discriminated.

3. The method of claim 1, wherein, The step 2 includes the following steps: Step 2.1, a geocentric terrestrial coordinate system is established, The geocentric terrestrial coordinate system is a kind of terrestrial coordinate system with the center of the earth as the origin, which is a kind of Cartesian coordinate system, the origin O (0, 0, 0) is the center of the earth, the z axis is parallel to the earth axis and points to the north pole, the x axis points to the intersection of the prime meridian and the equator, and the y axis is perpendicular to the xoz plane to form a right-handed coordinate system, the satellite navigation system selects the geocentric terrestrial coordinate system, the full-scene shared navigation positioning system adopts the geocentric terrestrial coordinate system in outdoor navigation positioning, and the satellite navigation system obtains three-dimensional rectangular coordinates x, y and z and receiver clock difference Δt in the geocentric terrestrial coordinate system; Step 2.2, establish a local coordinate system, the local coordinate system is a rectangular coordinate system suitable for application in a local area, the local coordinate system selects a position as a coordinate origin O, the direction of the O point perpendicular is the Z axis, pointing to the zenith is positive, the meridian direction is the X axis, north is positive, the Y axis is perpendicular to the X and Z axes, east is positive, the local coordinate system is a left-handed rectangular coordinate system, the plane rectangular coordinate system composed of the X axis and the Y axis is consistent with the plane rectangular coordinate system in surveying, the local coordinate system thus established belongs to the perpendicular station heart rectangular coordinate system, when the geocentric coordinates of the coordinate origin O are known (X O ,Y O ,Z O ), the geodetic coordinates are (λ, φ), and the geocentric coordinates of any point P in space are set as (X P ,Y P ,Z P ), then the space coordinates of the point P in the local coordinate system with the point O as the origin are shown in the following formula (1): On the contrary, when the coordinates [X Y Z] of the space point P in the local coordinate system with the point O as the origin are known, the geocentric coordinates of the point P are shown in the following formula (2): The conversion relationship between the local coordinate system and the earth-fixed coordinate system can be conveniently established through the coordinate origin O; Step 2.3, an indoor local coordinate system is established, when the indoor navigation positioning is performed, the indoor local coordinate system is selected, the indoor local coordinate system is a local coordinate system with a small coverage range, the indoor local coordinate system selects the position coordinates of the center of the indoor ground as the coordinate system origin O, or selects the position coordinates of the projection point of the navigation light on the ground as the coordinate system origin O, or selects the position coordinates of the center point of the indoor entrance and exit as the coordinate system origin O, selects the symmetric axes as the x axis and the y axis according to the basic shape of the indoor plane, and forms a space three-dimensional or ground horizontal plane coordinate, in the space three-dimensional coordinate system, the z axis is upward and perpendicular to the ground horizontal plane, the indoor local coordinate system is connected with the local coordinate system or directly connected with the geocentric terrestrial coordinate system to realize the conversion between the coordinate systems, the indoor coordinate origin O is marked in the geocentric terrestrial coordinate system, and the angle deviation of the indoor coordinate x axis from the north is also marked, when the indoor ground plane in the indoor coordinate system deviates from the local horizontal plane, the two-dimensional deviation is marked to ensure the conversion relationship between the indoor coordinate system and the geocentric terrestrial coordinate system; Step 2.4, determining the geodetic height h or the altitude H, when using barometric altimetry or using local coordinate system, the geodetic height h or the altitude H is involved, when the geodetic height h is known, it is equivalent to a satellite near the center of the earth, the measured height value is equivalent to adding a pseudo-range value, then it is converted into another intersection sphere with the radius of the distance from the center of the earth and plays the role of an equivalent navigation satellite, at this time, the observation equation is shown in the following formula (3): Wherein, h is the user geodetic height, a and b are the long and short semi-axes of the earth reference ellipsoid, and the last equation in formula (3) is the earth ellipsoid constraint equation; When using barometric altimetry to assist positioning and navigation, the altitude H obtained by barometric altimetry is converted into the geodetic height h and solved by formula (3), the pressure correction information from the reference datum point is obtained according to the reference datum point with altitude H and geodetic height h data, the reference datum point includes a weather observation station, a temporarily established reference station, and an existing ground mobile communication base station, these existing pressure reference stations with geodetic height points are used as level coincidence points and provide height difference correction to nearby users; Step 2.5, dimension reduction of indoor local coordinate system, in indoor positioning application, graphical calculation is carried out in simplified two-dimensional plane coordinates, the z-axis of the local coordinate system is in the same direction as the absolute height, and the altitude obtained by barometric altimetry is the z-coordinate value of the user in the local coordinate system, the positioning problem is reduced from three dimensions to two dimensions without the need for height conversion, there is no interpolation calculation of height anomaly, and no new additional error is brought in the positioning process, at this time, the altitude is taken as the z value and substituted into formula (3) without iterative calculation of z, and the measurement equation group is changed from formula (3) to the following formula (4):

4. The method of claim 1, wherein, The step 4 includes the following steps: Step 4.1, finding the geometric graph element containing the solution domain, the geometric graph element containing the solution domain obtained by different application scenarios and different terminals is also different, the beam shape of the shaped antenna is used as the projection graph of the beam space radiation shape on the plane covered by the terminal antenna phase center, the projection graph element is obtained by using the signal strength received by the terminal and the signal strength at the space position 1 meter away from the navigation lamp radiated by the navigation lamp in the navigation text broadcast, the propagation distance is calculated according to the signal power radiation equation to obtain the projection graph element, the predicted travel trajectory is obtained by extrapolation using the positioned position value, the travel direction and the speed value, the travel position of the extrapolated trajectory display is extrapolated, and the line graph element is obtained; when there are other sensor devices, the parameters provided by other sensor devices are combined to generate graph elements, including: differential pressure, inertial devices, ultrasonic ranging, visual information, laser scanning information to form solution domain graph elements; Step 4.2, using indoor ground space map and drawing indoor ground space map, applying indoor ground space map, especially using indoor map and characteristic element information of indoor space, including: door, wall, corridor, floor, stairs, column building elements, furniture, piled articles, facilities, using graph element to solve fuzzy positioning solution; Step 4.3, graphic element operation, after obtaining the graphic element and the ground-air map information, the graphic element operation is carried out, the intersection processing is carried out and a reduced graphic with high overlap degree is obtained, which is the generation and processing of the solution domain; Step 4.4, processing and expression of the graphic element solution domain, after obtaining the reduced graphic with high overlap degree or overlap gray scale through the graphic element operation, the reduced graphic element is processed, and the regular graphic such as a regular circle, triangle or square is used to represent the planar solution domain, and the characteristic points, characteristic elements and errors can also be used to represent the planar solution domain.

5. The method of claim 1, wherein, The step 5 comprises the following steps: Step 5.1, when receiving less than or equal to three satellite navigation signals, a pseudo-range measurement equation is listed as shown in the following formula (9): where n is the number of satellites that can be normally received; x j , y j , z j are three-dimensional coordinate components of the jth satellite in the earth-fixed coordinate system, x u , y u , z u are three-dimensional coordinate components of the user station in the earth-fixed coordinate system, p ju is the observed pseudo-range between the user station and the jth satellite, c is the speed of light, t u is the receiver clock bias, d p ju is the pseudo-range time delay correction caused by the satellite clock bias, ionospheric time delay, tropospheric time delay and multipath effect; Step 5.2, when the scene has been set with the implementation of enhanced navigation light device, the signal strength received by the terminal and the signal strength of the navigation light radiation broadcast by the indoor navigation text are used to obtain the signal strength at the space position 1 meter away from the navigation light, and the pseudo-range value p of the terminal from the navigation light is obtained according to the propagation distance calculation of the signal power radiation equation iu As shown in the following formula (10): wherein the number of navigation lights i is at least 1, and can be increased when necessary; x i , y i , z i are three-dimensional coordinate components of the i-th navigation light in the earth-fixed coordinate system, x u , y u , z u are three-dimensional coordinate components of the user station in the earth-fixed coordinate system, ρ iu is the observed pseudo-range between the user station and the i-th navigation light, δρ iu is the pseudo-range time delay correction quantity caused by navigation light deviation, multipath effects, etc. Step 5.3, formula (5) and formula (10) are combined to solve as shown in the following formula (11): In addition, formula (10) can also be used as a constraint condition to solve the satellite navigation positioning measurement model with the constraint condition to enhance the solving ability in the outdoor shielding scene, as shown in the following formula (12): x u <|X|,y u <|Y|,z u <|Z| ……(12), When the signal in the outdoor shielding scene is poor, the indoor shared positioning algorithm used in the indoor scene in step 3 is used for positioning and navigation calculation.

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