A decision-switching indoor and outdoor joint positioning method

Abstract

The invention discloses a decision-switching indoor and outdoor joint positioning method, comprising the following steps: step one: an INS solution unit obtains the indoor / outdoor original observation quantity of the current sampling point, and continuously measures the current position of the moving body through an integral operator; step two: a combined observation quantity optimization module corrects the observation quantity by using a filtering algorithm to obtain an estimated error for the error of the indoor / outdoor original observation quantity obtained by the INS solution unit; step three: a combined judgment module performs decision analysis on the corrected observation quantity to obtain a judgment index; step four: a mode switching module obtains a decision result according to the judgment index, and formulates a positioning mode for an internal and external interlaced area. The invention reasonably arranges the structure of the entire indoor and outdoor positioning switching method, so that the combined observation quantity optimization module, the combined judgment module and the mode switching module complete a seamless high-precision positioning switching process together, saves computing resources, and effectively improves the positioning accuracy of the indoor and outdoor interlaced area.

Description

Technical Field

[0001] The invention relates to the technical field of combined navigation, and in particular to an indoor and outdoor joint positioning method for decision switching. Background Art

[0002] With the rapid development of modern science and technology, positioning technology has penetrated into all aspects of people's lives and has become an indispensable application for people. It plays an important role in application scenarios such as natural disaster search, emergency personnel positioning, transportation, and vehicle navigation. In some unmanned areas where natural disasters frequently occur, such as earthquakes and mud-rock flow landslides, the combination of drones and wireless positioning technology, real-time monitoring and timely notification can reduce the property losses caused by disasters. According to the different application scenarios of positioning technology, positioning technology can be divided into indoor positioning and outdoor positioning. Outdoor positioning has the characteristics of diverse positioning scenarios, wide range and long distance. At present, the most widely used outdoor positioning technology is mainly satellite positioning. The indoor environment is complex and diverse, with many building obstacles, and positioning is more susceptible to signal refraction and signal attenuation problems. Common indoor positioning technologies include UWB, RFID and ZigBee.

[0003] The continuous development of positioning technology has put forward a more urgent demand for indoor and outdoor joint positioning technology, especially the positioning problem of current positioning technology in the area where indoor and outdoor signals overlap, which needs to be solved urgently. The existing indoor and outdoor joint positioning technologies mainly include weighted strategies and adaptive filtering. These methods fuse the positioning information under different modes of the system into a relatively accurate positioning point. The weights of the weighted strategy need to be changed in time according to environmental factors, and its error is large and the user experience is poor. The adaptive filtering method is mostly used for linear system fusion filtering, but there are problems of divergence and poor accuracy when dealing with strong nonlinear systems. Summary of the invention

[0004] The purpose of the present invention is to provide a decision-switching indoor and outdoor joint positioning method. By reasonably arranging the structure of the entire indoor and outdoor positioning switching method, the combined observation quantity optimization module, the combined judgment module and the mode switching module complete the seamless high-precision positioning switching process together, saving computing resources and effectively improving the positioning accuracy of the indoor and outdoor interlaced areas. At the same time, a decision-switching-based method is adopted to formulate a specific optimization strategy based on the received signal to judge the observation quantity and formulate a mode switching plan, and a specific switching plan is implemented according to the designed decision variables, which effectively improves the reliability of the indoor and outdoor positioning switching plan.

[0005] The technical problems solved by the present invention are:

[0006] (1) In open outdoor environments, satellite positioning systems can provide relatively accurate positioning services. However, inside buildings, due to the weakening of satellite signal penetration, some indoor positioning methods must be used in these scenarios. In order to make up for the defect of uneven positioning results in indoor and outdoor intertwined areas, a joint positioning method must be adopted in these areas to achieve seamless high-precision positioning indoors and outdoors to meet the ever-increasing customer needs;

[0007] (2) Seamless switching between indoor and outdoor positioning refers to the change in the signal strength received by the user due to the user's movement. The essence of seamless switching is the selection process of the positioning mode. This reselection process requires principles such as short time, low switching frequency, and small number of switching times.

[0008] The purpose of the present invention can be achieved through the following technical solutions:

[0009] A decision-switching indoor and outdoor joint positioning method comprises the following steps:

[0010] Step 1: The INS solver obtains the indoor / outdoor raw observations of the current sampling point. The indoor / outdoor raw observations include angular velocity values ​​and acceleration values, and continuously measures the current position of the moving body through the integral operator;

[0011] Step 2: The combined observation optimization module identifies the errors of the indoor / outdoor raw observations obtained by the INS solution unit, and uses the filtering algorithm to obtain the estimated error to correct the observations;

[0012] Step 3: The combined decision module performs decision analysis on the corrected observations to obtain the decision index;

[0013] Step 4: The mode switching module obtains the decision result according to the judgment index and formulates the positioning mode of the inner and outer interlaced areas.

[0014] As a further solution of the present invention: the angular velocity value and the acceleration value in step 1 are obtained by processing with a gyroscope and an accelerometer.

[0015] As a further solution of the present invention: the combined observation quantity optimization module includes UWB / INS combined observation quantity optimization and BD / INS combined observation quantity optimization;

[0016] The UWB / INS combined observation quantity optimization process for the observation quantity includes the following steps:

[0017] S21: using a differential method to process the UWB positioning value of the indoor positioning mode and the INS positioning value obtained by the inertial navigation unit to obtain a UWB / INS combined observation value;

[0018] S22: The UWB / INS combined observations are processed by the error estimation filter to obtain an INS positioning error estimate;

[0019] S23: Feedback the INS positioning error estimation value obtained in S22 to the INS solution unit for compensation, forming a closed-loop feedback;

[0020] S24: transmitting the optimization result output by the error estimation filter and the UWB / INS combined observation quantity to the combined decision module;

[0021] The processing of the observations by optimizing the BD / INS combined observations includes the following steps:

[0022] S211: using a differential method to process the BD positioning value of the indoor positioning mode and the INS positioning value obtained by the inertial navigation unit to obtain a BD / INS combined observation value;

[0023] S222: The BD / INS combined observation is processed by the error estimation filter to obtain the INS positioning error; the estimated value

[0024] S233: Feedback the estimated positioning error value obtained in S222 to the INS unit module for compensation to form a closed-loop feedback

[0025] S244: Transmitting the optimization result of the filter output and the BD / INS combined observation quantity to the combined decision module.

[0026] As a further solution of the present invention: the combined decision module processes the corrected observation quantity, including the following steps:

[0027] S31: In the first iteration, a reasonable decision cycle is set according to the indoor and outdoor joint positioning solution. When the running time of the INS solution unit is greater than the decision cycle, the following operations are performed and decision variables are provided for the subsequent switching solution determination;

[0028] S32: Adopt INS error correction judgment method:

[0029] If the difference between the INS and UWB positioning results exceeds the set error threshold, it is determined that the drift error of the INS unit is large, and the decision variable A=1 is output, and the following steps are continued;

[0030] Otherwise, the output decision variable A=0, and go to S34;

[0031] S33: In order to prevent the drift error from affecting the system judgment during mode switching, an INS cumulative error correction module is introduced to correct the positioning result involving the drift error of the INS unit;

[0032] S34: If the difference between the INS and BD positioning results exceeds the set error threshold, it is determined that the drift error of the INS unit is large, and the decision variable B=1 is output, and the following steps are continued;

[0033] Otherwise, the output decision variable B=0, and go to S36;

[0034] S35: In order to prevent the drift error from affecting the system judgment during mode switching, an INS cumulative error correction module is introduced to correct the positioning result involving the drift error of the INS unit;

[0035] S36: Compare the positioning accuracy of the combined UWB / INS observations and the combined BD / INS observations:

[0036] If the credibility of the UWB / INS positioning method is high, the joint positioning of the indoor positioning signal and the INS unit has higher positioning accuracy and reliability, and the output decision variable C = 1;

[0037] If the credibility of the BD / INS positioning method is high, the joint positioning of the outdoor positioning signal and the INS unit has higher positioning accuracy and reliability, and the output decision variable C = 0;

[0038] S37: Every time the running time reaches the minimum decision cycle, execute steps S32-S36.

[0039] As a further solution of the present invention: the mode switching module in step 4 is divided into multiple modes according to the availability of indoor positioning signals and outdoor positioning signals, and each mode adopts a different positioning solution:

[0040] S41: UWB positioning mode, i.e. close to the indoor positioning environment, UWB positioning accuracy is high, the UWB positioning tag sends nanosecond pulse signals to the surroundings, the surrounding UWB base stations receive and measure the above pulse signals, and the collected positioning measurement information is used as the input of the TDOA positioning algorithm for high-precision position calculation;

[0041] S42: BD positioning mode, that is, close to the outdoor positioning environment, the positioning data is obtained through the location information provided by the Beidou module;

[0042] S43: UWB / INS positioning mode, that is, in the indoor and outdoor interweaving area and the UWB / INS positioning method has high accuracy;

[0043] S44: BD / INS positioning mode, that is, in the indoor and outdoor interweaving area and the BD / INS positioning method has high accuracy;

[0044] S45: UWB / INS&BD / INS joint positioning mode, that is, in the indoor and outdoor intertwined area, the solution results of UWB / INS and BD / INS positioning methods are similar, and the approximate positioning results are obtained by adaptive filtering and least squares method.

[0045] Beneficial effects of the present invention:

[0046] (1) The present invention reasonably designs a decision switching method, so that the method has good compatibility with different indoor / outdoor combined positioning application scenarios, reduces the calculation complexity, and improves the positioning accuracy;

[0047] (2) The present invention obtains the positioning mode switching rules stably through decision analysis, effectively reduces the switching frequency and optimizes the smooth transition between modes, effectively solves the problem of repeated mode switching, and meets the positioning continuity requirements in various scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The present invention will be further described below in conjunction with the accompanying drawings.

[0049] Figure 1 It is a block diagram of the indoor and outdoor joint positioning method of decision switching of the present invention;

[0050] Figure 2 It is a block diagram of the UWB / INS combined observation module of the present invention;

[0051] Figure 3 It is a block diagram of the BD / INS combined observation module of the present invention;

[0052] Figure 4 It is a flow chart of the mode switching module of the present invention. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] See also Figure 1-Figure 4 As shown, the present invention is a decision-making switching indoor and outdoor joint positioning method, characterized in that it includes the following steps:

[0055] Step 1: The INS solver obtains the indoor / outdoor raw observations of the current sampling point. The indoor / outdoor raw observations include angular velocity values ​​and acceleration values, and continuously measures the current position of the moving body through the integral operator;

[0056] The INS solution unit includes UWB / INS combined observation optimization and BD / INS combined observation optimization;

[0057] Among them, the data optimized by the UWB / INS combined observation quantity is processed based on the UWB solved position value, and the UWB solved position value is obtained by the UWB indoor positioning system through the UWB base station and UWB tag;

[0058] The data of BD / INS combined observation optimization are obtained by coordinate transformation and elevation fitting based on Beidou positioning solution;

[0059] Specifically, the BD mobile phone receives the location data transmitted by the Beidou positioning system and obtains the coordinate conversion and elevation fitting data through TDOA solution;

[0060] Step 2: The combined observation optimization module identifies the errors of the indoor / outdoor raw observations obtained by the INS solution unit, and uses the filtering algorithm to obtain the estimated error to correct the observations;

[0061] The combined observation quantity optimization module includes UWB / INS combined observation quantity optimization and BD / INS combined observation quantity optimization;

[0062] The UWB / INS combined observation quantity optimization process for the observation quantity includes the following steps:

[0063] S21: using a differential method to process the UWB positioning value of the indoor positioning mode and the INS positioning value obtained by the inertial navigation unit to obtain a UWB / INS combined observation value;

[0064] S22: The UWB / INS combined observations are processed by the error estimation filter to obtain an INS positioning error estimate;

[0065] S23: Feedback the INS positioning error estimation value obtained in S22 to the INS solution unit for compensation, forming a closed-loop feedback;

[0066] S24: transmitting the optimization result output by the error estimation filter and the UWB / INS combined observation quantity to the combined decision module;

[0067] The processing of the observations by optimizing the BD / INS combined observations includes the following steps:

[0068] S211: using a differential method to process the BD positioning value of the indoor positioning mode and the INS positioning value obtained by the inertial navigation unit to obtain a BD / INS combined observation value;

[0069] S222: The BD / INS combined observation is processed by the error estimation filter to obtain the INS positioning error; the estimated value

[0070] S233: Feedback the estimated positioning error value obtained in S222 to the INS unit module for compensation to form a closed-loop feedback

[0071] S244: transmitting the optimization result output by the filter and the BD / INS combined observation quantity to the combined decision module;

[0072] Step 3: The combined decision module performs decision analysis on the observations corrected in step 2 to obtain a decision index;

[0073] The combined decision module processes the corrected observations, including the following steps:

[0074] S31: In the first iteration, a reasonable decision cycle is set according to the indoor and outdoor joint positioning solution. When the running time of the INS solution unit is greater than the decision cycle, the following operations are performed and decision variables are provided for the subsequent switching solution determination;

[0075] S32: Adopt INS error correction judgment method:

[0076] If the difference between the INS and UWB positioning results exceeds the set error threshold, it is determined that the drift error of the INS unit is large, and the decision variable A=1 is output, and the following steps are continued;

[0077] Otherwise, the output decision variable A=0, and go to S34;

[0078] S33: In order to prevent the drift error from affecting the system judgment during mode switching, an INS cumulative error correction module is introduced to correct the positioning result involving the drift error of the INS unit;

[0079] S34: If the difference between the INS and BD positioning results exceeds the set error threshold, it is determined that the drift error of the INS unit is large, and the decision variable B=1 is output, and the following steps are continued;

[0080] Otherwise, the output decision variable B=0, and go to S36;

[0081] S35: In order to prevent the drift error from affecting the system judgment during mode switching, an INS cumulative error correction module is introduced to correct the positioning result involving the drift error of the INS unit;

[0082] S36: Compare the positioning accuracy of the combined UWB / INS observations and the combined BD / INS observations:

[0083] If the credibility of the UWB / INS positioning method is high, the joint positioning of the indoor positioning signal and the INS unit has higher positioning accuracy and reliability, and the output decision variable C = 1;

[0084] If the credibility of the BD / INS positioning method is high, the joint positioning of the outdoor positioning signal and the INS unit has higher positioning accuracy and reliability, and the output decision variable C = 0;

[0085] S37: Execute steps S32-S36 every time the running time reaches the minimum decision cycle;

[0086] Step 4: The mode switching module obtains the decision result according to the judgment index and formulates the positioning mode of the inner and outer interlaced areas;

[0087] The mode switching module consists of two parts. The first part is mode identification, which is divided into five modes according to the availability of indoor positioning signals and outdoor positioning signals. Each mode adopts a different positioning solution.

[0088] S41: UWB positioning mode, i.e. close to the indoor positioning environment, UWB positioning accuracy is high, the UWB positioning tag sends nanosecond pulse signals to the surroundings, the surrounding UWB base stations receive and measure the above pulse signals, and the collected positioning measurement information is used as the input of the TDOA positioning algorithm for high-precision position calculation;

[0089] S42: BD positioning mode, that is, close to the outdoor positioning environment, the positioning data is obtained through the location information provided by the Beidou module;

[0090] S43: UWB / INS positioning mode, that is, in the indoor and outdoor interweaving area and the UWB / INS positioning method has high accuracy;

[0091] S44: BD / INS positioning mode, that is, in the indoor and outdoor interweaving area and the BD / INS positioning method has high accuracy;

[0092] S45: UWB / INS&BD / INS joint positioning mode, that is, in the indoor and outdoor interweaving area, the solution results of UWB / INS and BD / INS positioning methods are similar, and the approximate positioning results are obtained by adaptive filtering and least squares method;

[0093] The second part is the mode division. According to the decision variables obtained by the combined judgment module, the corresponding relationship between the decision variables and the positioning mode is given by combining quantitative analysis and qualitative analysis as shown in Table 1;

[0094] Based on the stability and reliability of the positioning results in the overlapping area of ​​indoor and outdoor signals, the present invention gives the corresponding positioning mode according to the decision variables obtained by the combined decision module, and finally uses adaptive filtering to process the output positioning results;

[0095] Table 1 Mode switching criteria

[0096]

[0097] The angular velocity value and the acceleration value in step 1 are obtained by processing a gyroscope and an accelerometer. Specifically, the gyroscope and the accelerometer include three mutually orthogonal single-axis accelerometers and three mutually orthogonal single-axis gyroscopes.

[0098] One of the core points of the present invention is that it can make environmental judgments and switch positioning schemes according to the received signal conditions and specific decision-making switching strategies, realize seamless positioning requirements for outdoor and indoor areas, have good compatibility, and can adapt to different indoor / outdoor combined positioning methods by making appropriate changes;

[0099] The second core point of the present invention is to realize direct switching of the positioning system based on error optimization and decision analysis, fully integrate the advantages of indoor and outdoor positioning, and realize smooth transition of positioning mode. In the combined observation quantity optimization module, the introduction of the inertial navigation unit can stably obtain relatively independent positioning results, effectively improve the positioning accuracy, and take into account the drift error accumulated over time, and adopt the adaptive filtering method for further improvement, which greatly improves the global stability of the combined positioning system. In the combined decision module, the decision analysis process is reasonably arranged based on the error threshold and positioning reliability, which effectively reduces the uneven transition of the positioning mode.

[0100] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A decision-switching indoor and outdoor joint positioning method, characterized in that: The following steps are involved: Step 1: The INS solver obtains the indoor / outdoor raw observations of the current sampling point. The indoor / outdoor raw observations include angular velocity values ​​and acceleration values, and continuously measures the current position of the moving body through the integral operator; Step 2: The combined observation optimization module identifies the errors of the indoor / outdoor raw observations obtained by the INS solution unit, and uses the filtering algorithm to obtain the estimated error to correct the observations; Step 3: The combined decision module performs decision analysis on the corrected observations to obtain the decision index; Step 4: The mode switching module obtains the decision result according to the judgment index and formulates the positioning mode of the inner and outer interlaced areas; In step 3, the combined decision module processes the corrected observations, including the following steps: S31: In the first iteration, a reasonable decision cycle is set according to the indoor and outdoor joint positioning solution. When the running time of the INS solution unit is greater than the decision cycle, the following operations are performed and decision variables are provided for the subsequent switching solution determination; S32: Adopt INS error correction judgment method: If the difference between the INS and UWB positioning results exceeds the set error threshold, the drift error of the INS unit is determined to be large, and the decision variable is output. , continue with the following steps; Otherwise, output the decision variable , go to S34; S33: In order to prevent the drift error from affecting the system judgment during mode switching, an INS cumulative error correction module is introduced to correct the positioning result involving the drift error of the INS unit; S34: If the difference between the INS and BD positioning results exceeds the set error threshold, it is determined that the drift error of the INS unit is large, and the decision variable is output. , continue with the following steps; Otherwise, output the decision variable , go to S36; S35: In order to prevent the drift error from affecting the system judgment during mode switching, an INS cumulative error correction module is introduced to correct the positioning result involving the drift error of the INS unit; S36: Compare the positioning accuracy of the combined UWB / INS observations and the combined BD / INS observations: If the credibility of the UWB / INS positioning method is high, the joint positioning of the indoor positioning signal and the INS unit has higher positioning accuracy and reliability, and the output decision variable ; If the credibility of the BD / INS positioning method is high, the joint positioning of the outdoor positioning signal and the INS unit has higher positioning accuracy and reliability, and the output decision variable ; S37: Every time the running time reaches the minimum decision cycle, execute steps S32-S36.

2. The indoor and outdoor joint positioning method for decision switching according to claim 1 is characterized in that: The angular velocity value and the acceleration value in step 1 are obtained by processing with a gyroscope and an accelerometer.

3. The indoor and outdoor joint positioning method for decision switching according to claim 1 is characterized in that: In step 2, the combined observation quantity optimization module includes UWB / INS combined observation quantity optimization and BD / INS combined observation quantity optimization; The UWB / INS combined observation quantity optimization process for the observation quantity includes the following steps: S21: using a differential method to process the UWB positioning value of the indoor positioning mode and the INS positioning value obtained by the inertial navigation unit to obtain a UWB / INS combined observation value; S22: The UWB / INS combined observations are processed by the error estimation filter to obtain an INS positioning error estimate; S23: Feedback the INS positioning error estimation value obtained in S22 to the INS solution unit for compensation, forming a closed-loop feedback; S24: transmitting the optimization result output by the error estimation filter and the UWB / INS combined observation quantity to the combined decision module; The processing of the observations by optimizing the BD / INS combined observations includes the following steps: S211: using a differential method to process the BD positioning value of the indoor positioning mode and the INS positioning value obtained by the inertial navigation unit to obtain a BD / INS combined observation value; S222: The BD / INS combined observations are processed by an error estimation filter to obtain an INS positioning error estimate; S233: Feedback the estimated positioning error value obtained in S222 to the INS unit module for compensation to form a closed-loop feedback; S244: Transmitting the optimization result of the filter output and the BD / INS combined observation quantity to the combined decision module.

4. The indoor and outdoor joint positioning method for decision switching according to claim 1 is characterized in that: The mode switching module in step 4 is divided into multiple modes according to the availability of indoor positioning signals and outdoor positioning signals, and each mode adopts a different positioning solution: S41: UWB positioning mode, i.e. close to the indoor positioning environment, UWB positioning accuracy is high, the UWB positioning tag sends nanosecond pulse signals to the surroundings, the surrounding UWB base stations receive and measure the above pulse signals, and the collected positioning measurement information is used as the input of the TDOA positioning algorithm for high-precision position calculation; S42: BD positioning mode, that is, close to the outdoor positioning environment, the positioning data is obtained through the location information provided by the Beidou module; S43: UWB / INS positioning mode, that is, in the indoor and outdoor interweaving area and the UWB / INS positioning method has high accuracy; S44: BD / INS positioning mode, that is, in the indoor and outdoor interweaving area and the BD / INS positioning method has high accuracy; S45: UWB / INS&BD / INS joint positioning mode, that is, in the indoor and outdoor intertwined area, the solution results of UWB / INS and BD / INS positioning methods are similar, and the approximate positioning results are obtained by adaptive filtering and least squares method.

Images