Beidou indoor positioning system and method based on pseudo-satellite positioning information fusion correction

Abstract

The application relates to a Beidou indoor positioning system based on pseudo-satellite positioning information fusion correction, which comprises a positioning pseudo-satellite and an auxiliary positioning module arranged in an indoor environment, the positioning pseudo-satellite is used for receiving a Beidou satellite positioning signal to obtain first positioning coordinates; the auxiliary positioning module receives the Beidou satellite positioning signal to obtain its own coordinates, obtains the geometric spatial position coordinates of a positioning target through visual positioning, takes the own coordinates of the auxiliary positioning module as a reference, combines the geometric spatial position coordinates of the positioning target to obtain second positioning coordinates, and corrects the first positioning coordinates based on the second positioning coordinates to obtain target positioning coordinates. The application combines the positioning pseudo-satellite and the auxiliary positioning module to realize indoor target high-precision rapid positioning through video auxiliary positioning, solves the problem of indoor high-precision positioning of a power station house, carries out space-time fusion correction with outdoor Beidou positioning, obtains high-precision position parameters, and realizes the continuity of indoor and outdoor positioning results.

Description

Technical Field

[0001] This invention relates to the field of BeiDou satellite navigation and positioning technology that integrates indoor and outdoor positioning, and in particular to a BeiDou indoor positioning system and method based on pseudo-satellite positioning information fusion and correction. Background Technology

[0002] With the development of digital technologies in the power sector, indoor positioning plays a crucial role in power production. Common indoor positioning methods include Bluetooth, UWB, and laser, but these solutions have limited range, high requirements for specific environments, and are not conducive to widespread adoption. The BeiDou Navigation Satellite System is an important component of the new infrastructure strategy and is currently widely used across various industries. However, for satellite positioning systems, the receiver needs to acquire signals from at least four satellites to complete positioning. In power construction environments, due to the complex and diverse positioning environment, satellite signals attenuate significantly indoors or in obstructed environments, sometimes even resulting in complete signal loss. This leads to weak signals that the GNSS antenna can receive, or even an inability to track a sufficient number of satellites, resulting in reduced positioning stability.

[0003] BeiDou pseudosatellites are navigation enhancement devices that broadcast GNSS-compatible signals. By broadcasting full-band navigation and positioning signals, commercial GNSS receivers or chips can receive and position signals using pseudosatellite signals simply by upgrading the software, without changing the hardware modules. A pseudosatellite can be viewed as a ground-based signal repeater that transmits simulated satellite signals. Positioning methods based on pseudosatellites can extend BeiDou navigation and positioning to indoor environments, achieving seamless positioning both indoors and outdoors. As an important supplement to the BeiDou satellite navigation system, pseudosatellites (pseudoLite, PL) are mainly used for high-precision positioning in enclosed spaces or areas with severe GNSS signal obstruction. Because they can broadcast signals similar to GNSS in relatively secluded spaces, they can extend the range of traditional satellite positioning systems.

[0004] Current patents have explored pseudo-satellite-based positioning methods. Patent 202111010076.9 discloses a seamless indoor / outdoor positioning method and system based on pseudo-satellite technology. By replacing the pseudo-satellite transmitter with a transceiver system, it can receive external satellite signals while simultaneously positioning indoors, combining indoor and outdoor positioning. The system also adds a reference transmitter to assist in calculating the outdoor location by determining the distance and angle with the indoor positioning target. However, this invention requires at least three pseudo-satellite simulated transceivers and a main control terminal, each located in different indoor positions. Furthermore, the three-dimensional coordinates of the pseudo-satellite simulated transceivers and the reference transmitter are known, placing certain requirements on the deployment environment and limiting its application scope. Patent 202210703045.X discloses a fusion positioning system and method based on pseudo-satellites and UWB. This method includes a pseudo-satellite positioning constellation composed of multiple integrated base stations and an integrated receiver for receiving base station signals for position coordinate calculation and navigation. Both the integrated base station and the integrated receiver consist of a pseudo-satellite module and a UWB module. The pseudo-satellite module and the UWB module share a multi-band antenna for transmitting and receiving pseudo-satellite and UWB signals and are driven by the same clock. The integrated base station uses the same 1PPS signal to trigger the generation of pseudo-satellite and UWB signals, ensuring strict clock synchronization between the two signals. The pseudo-satellite module and the UWB module of the integrated receiver coordinate to generate a 1PPS timing signal and jointly calculate the positioning information. However, this method requires establishing a pseudo-satellite positioning constellation composed of multiple pseudo-satellite base stations in the positioning scenario, as well as multiple integrated receivers for receiving signals from multiple pseudo-satellite base stations for position coordinate calculation and navigation. Each pseudo-satellite base station includes a base station antenna module, a base station pseudo-satellite module, a base station UWB module, and a base station clock module. Each integrated receiver includes a receiver antenna module, a receiver pseudo-satellite module, a receiver UWB module, a receiver clock module, and a positioning calculation module. Both the base station antenna module and the receiver antenna module use a multi-band shared antenna. Clock synchronization between the pseudo-satellite signal and the UWB signal must be ensured. These requirements make the installation, configuration, and debugging of this method quite complex. Patent 201420348340.9 discloses an indoor positioning system based on pseudosatellites. This system deploys three or more pseudosatellite base stations indoors, each equipped with a barometric altimeter. The three-dimensional positions of the pseudosatellites are pre-measured using a high-precision GNSS receiver. This information is encoded according to a specific format to generate a navigation message. The pseudo-random code and navigation message are first spread-spectrum modulated, then carrier-modulated, and finally up-converted before being transmitted via an antenna. The pseudosatellite base stations, equipped with barometric altimeters, transmit signals similar to GNSS satellite navigation signals. The user terminal is also equipped with temperature and barometric sensors. The user receiver receives the signals emitted by the pseudosatellite base stations, performs acquisition, tracking, message demodulation, and distance extraction, and combines this with the barometric altimeter information to achieve three-dimensional positioning of the user using an altitude constraint method.The indoor positioning component of this system uses barometric altimeter measurement, which limits its application range and accuracy.

[0005] Therefore, there is an urgent need to propose a BeiDou indoor positioning method that can solve the problem of high-precision indoor positioning in power substations. Summary of the Invention

[0006] Therefore, the technical problem to be solved by this invention is to overcome the problems existing in the prior art and propose a Beidou indoor positioning system and method based on pseudo-satellite positioning information fusion correction. It innovatively adopts a single positioning pseudo-satellite and an auxiliary positioning module, combined with video-assisted positioning to achieve high-precision and rapid positioning of indoor targets, solves the problem of high-precision indoor positioning in power substations, and performs spatiotemporal fusion correction with outdoor Beidou positioning to obtain high-precision position parameters and achieve continuity of indoor and outdoor positioning results.

[0007] To address the aforementioned technical problems, this invention provides a BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction, comprising:

[0008] A positioning pseudo-satellite is deployed in an indoor environment. The positioning pseudo-satellite is used to receive BeiDou satellite positioning signals and forward them to the positioning target, so that the positioning target can obtain its first positioning coordinates using the BeiDou satellite positioning signals.

[0009] An auxiliary positioning module is deployed in an indoor environment. The auxiliary positioning module receives BeiDou satellite positioning signals to obtain its own coordinates.

[0010] The auxiliary positioning module includes an indoor video positioning unit, which is used to track the positioning target and obtain the geometric spatial coordinates of the positioning target through visual positioning. The auxiliary positioning module's own coordinates are used as a reference, and the geometric spatial coordinates of the positioning target are superimposed to obtain the second positioning coordinates.

[0011] The auxiliary positioning module includes a positioning correction unit, which receives a first positioning coordinate and a second positioning coordinate, and corrects the first positioning coordinate based on the second positioning coordinate to obtain the target positioning coordinate.

[0012] In one embodiment of the present invention, the positioning pseudo-satellite includes:

[0013] The first signal receiving unit is used to receive BeiDou satellite positioning signals;

[0014] The signal processing unit is used to buffer and classify the received BeiDou satellite positioning signals and generate data frames with the same format as the BeiDou satellite positioning signals.

[0015] The signal gain transmission unit is used to broadcast data frames in an indoor environment.

[0016] In one embodiment of the present invention, the BeiDou satellite positioning signal includes carrier signals at three frequencies, a BeiDou navigation and positioning ranging code, and a BeiDou navigation and positioning data code, wherein the data code includes an extended extended D1 navigation message and an extended extended D2 navigation message.

[0017] In one embodiment of the present invention, the auxiliary positioning module includes:

[0018] The second signal receiving unit is used to receive BeiDou satellite positioning signals and obtain the coordinates of the auxiliary positioning module based on the BeiDou satellite positioning signals.

[0019] The coordinate transformation unit is used to calculate the second positioning coordinates of the positioning target by superimposing the coordinates of the auxiliary positioning module itself on the geometric spatial position coordinates of the positioning target.

[0020] In one embodiment of the present invention, the formula for calculating the second positioning coordinates is as follows:

[0021]

[0022]

[0023]

[0024] Where N is the radius of curvature of the Earth, e is the eccentricity of the Earth, (L,B,H) are the second positioning coordinates, (x,y,z) are the geometric spatial coordinates of the positioning target, a is the semi-major axis of the Earth, b is the semi-minor axis of the Earth, and θ is the elevation angle.

[0025] In one embodiment of the present invention, the method by which the positioning correction unit corrects the first positioning coordinates based on the second positioning coordinates includes:

[0026] Let the first positioning coordinates be (L0, B0, H0) and the second positioning coordinates be (L, B, H). The angular coordinates of latitude and longitude are converted into the corresponding radian coordinates as follows:

[0027] L0' = π × L0 / 180

[0028] B0' = π × B0 / 180

[0029] L'=π×L / 180

[0030] B' = π × B / 180

[0031] The conversion from radian coordinates to Cartesian coordinates is as follows:

[0032] X0 = cos(L0') × cos(B0')

[0033] Y0 = cos(L0') × sin(B0')

[0034] Z0 = sin(B0')

[0035] X = cos(L') × cos(B')

[0036] Y = cos(L') × sin(B')

[0037] Z = sin(B')

[0038] The corrected target location coordinates are calculated as follows:

[0039]

[0040] Convert the corrected coordinates to spatial coordinates (L*, B*, H*);

[0041] The spatial coordinates (L*, B*, H*) are converted to angular coordinates as follows:

[0042] L*'=180×L* / π

[0043] B*'=180×B* / π.

[0044] Furthermore, this invention also provides a BeiDou indoor positioning method based on pseudo-satellite positioning information fusion correction. This method is implemented based on the BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction as described above, and includes the following steps:

[0045] A positioning pseudo-satellite and an auxiliary positioning module are deployed in an indoor environment, wherein the auxiliary positioning module includes an indoor video positioning unit and a positioning correction unit;

[0046] The positioning pseudo-satellite receives the BeiDou satellite positioning signal and forwards it to the positioning target, which then uses the BeiDou satellite positioning signal to obtain its first positioning coordinates.

[0047] The auxiliary positioning module receives BeiDou satellite positioning signals to obtain its own coordinates; the indoor video positioning unit tracks the positioning target and obtains the geometric spatial coordinates of the positioning target through visual positioning; the auxiliary positioning module's own coordinates are used as a reference, and the geometric spatial coordinates of the positioning target are superimposed to obtain the second positioning coordinates.

[0048] The positioning correction unit receives the first positioning coordinates and the second positioning coordinates, and corrects the first positioning coordinates based on the second positioning coordinates to obtain the target positioning coordinates.

[0049] In one embodiment of the present invention, the target positioning signal includes carrier signals at three frequencies, a BeiDou navigation positioning ranging code, and a BeiDou navigation positioning data code, wherein the data code includes an extended extended D1 navigation message and an extended extended D2 navigation message.

[0050] In one embodiment of the present invention, the method by which the positioning correction unit corrects the first positioning coordinates based on the second positioning coordinates includes:

[0051] Let the first positioning coordinates be (L0, B0, H0) and the second positioning coordinates be (L, B, H). The angular coordinates of latitude and longitude are converted into the corresponding radian coordinates as follows:

[0052] L0' = π × L0 / 180

[0053] B0' = π × B0 / 180

[0054] L'=π×L / 180

[0055] B' = π × B / 180

[0056] The conversion from radian coordinates to Cartesian coordinates is as follows:

[0057] X0 = cos(L0') × cos(B0')

[0058] Y0 = cos(L0') × sin(B0')

[0059] Z0 = sin(B0')

[0060] X = cos(L') × cos(B')

[0061] Y = cos(L') × sin(B')

[0062] Z = sin(B')

[0063] The corrected target location coordinates are calculated as follows:

[0064]

[0065] Convert the corrected coordinates to spatial coordinates (L*, B*, H*);

[0066] The spatial coordinates (L*, B*, H*) are converted to angular coordinates as follows:

[0067] L*'=180×L* / π

[0068] B*'=180×B* / π.

[0069] The technical solution of the present invention has the following advantages compared with the prior art:

[0070] This invention innovatively employs a single positioning pseudo-satellite and an auxiliary positioning module, combined with video-assisted positioning, to achieve high-precision and rapid indoor target positioning. This solves the problem of high-precision indoor positioning in power substations and performs spatiotemporal fusion correction with outdoor BeiDou positioning, thereby obtaining high-precision position parameters and achieving continuity of indoor and outdoor positioning results. This effectively supports the digital transformation and upgrading of the power grid and the implementation of the energy internet strategic goals. Attached Figure Description

[0071] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings.

[0072] Figure 1 This is a framework diagram of a BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction provided by the present invention.

[0073] Figure 2 This is a schematic diagram of the system operation of the present invention.

[0074] The reference numerals in the attached drawings are explained as follows: 10, positioning pseudo-satellite; 101, first signal receiving unit; 102, signal processing unit; 103, signal gain transmission unit; 20, auxiliary positioning module; 201, second signal receiving unit; 202, positioning correction unit; 203, indoor video positioning unit; 204, coordinate transformation unit. Detailed Implementation

[0075] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments described are not intended to limit the present invention.

[0076] Please refer to Figures 1 to 2As shown, this embodiment of the invention provides a BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction, including a positioning pseudo-satellite 10 and an auxiliary positioning module 20. The positioning pseudo-satellite 10 is deployed in an indoor environment and is used to receive BeiDou satellite positioning signals and forward them to the positioning target, which uses the BeiDou satellite positioning signals to obtain its first positioning coordinates. The auxiliary positioning module 20 is deployed in the indoor environment and receives BeiDou satellite positioning signals to obtain its own coordinates. The auxiliary positioning module 20 includes an indoor video positioning unit 203, which tracks the positioning target and obtains the geometric spatial position coordinates of the positioning target through visual positioning. Using the auxiliary positioning module 20's own coordinates as a reference, it combines the geometric spatial position coordinates of the positioning target with the coordinates of the positioning target to perform superposition calculations to obtain a second positioning coordinate. The auxiliary positioning module 20 also includes a positioning correction unit 202, which receives the first and second positioning coordinates and corrects the first positioning coordinates based on the second positioning coordinates to obtain the corrected target positioning coordinates.

[0077] This invention innovatively employs a single positioning pseudo-satellite 10 and an auxiliary positioning module 20, combined with video-assisted positioning, to achieve high-precision and rapid positioning of indoor targets. This solves the problem of high-precision positioning in power substations and performs spatiotemporal fusion correction with outdoor BeiDou positioning, thereby obtaining high-precision position parameters and achieving continuity of indoor and outdoor positioning results. This effectively supports the digital transformation and upgrading of the power grid and the implementation of the energy internet strategic goals.

[0078] The positioning pseudo-satellite 10 includes a first signal receiving unit 101, a signal processing unit 102, and a signal gain transmitting unit 103. Its positioning process is as follows:

[0079] Step 1: The first signal receiving unit 101 receives the BeiDou satellite positioning signal. The target positioning signal includes carrier signals at three frequencies, BeiDou navigation and positioning ranging code, and BeiDou navigation and positioning data code. The data code includes extended extended D1 navigation message and extended extended D2 navigation message.

[0080] The extended D1 navigation message data structure is shown in Table 1:

[0081] Table 1

[0082] Message rate 50bps Identification information Satellite Identification Information Navigation Information 1 Basic navigation information for this satellite Navigation Information 2 All satellite ephemeris information Navigation Information 3 Time synchronization information

[0083] The extended D1 message is organized into a superframe, main frame, and subframe, as shown in Table 2.

[0084] Table 2

[0085]

[0086]

[0087] The subframe is the basic unit of the message. Each subframe consists of 10 characters, each character is 30 bits, and lasts for 0.6 seconds. Subframes 1-3 broadcast identification information and navigation information 1, and subframes 4-5 broadcast navigation information 2-3.

[0088] The extended D2 navigation message data structure is shown in Table 3:

[0089] Table 3

[0090] Message rate 500bps Identification information Satellite Identification Information Navigation Information 1 Basic navigation information for this satellite Navigation Information 2 All satellite ephemeris information Navigation Information 3 Time synchronization information Navigation Information 4 BeiDou system differential information Navigation Information 5 Grid point ionospheric information

[0091] The extended D2 message is organized into a superframe, main frame, and subframe, as shown in Table 4 below:

[0092] Table 4

[0093]

[0094] The subframe is the basic unit of the message. Each subframe consists of 10 characters, each character is 30 bits, and the duration is 0.06 seconds. Subframe 1 broadcasts identification information and navigation information 1, which is sent by 10 pages in a time-division manner. Subframes 2-4 broadcast navigation information 4, which is sent by 6 pages in a time-division manner. Subframe 5 broadcasts navigation information 2, 3, and 5, which is sent by 120 pages in a time-division manner.

[0095] Step 2: The signal processing unit 102 buffers and classifies the received signals, generating data frames with the same format as the BeiDou satellite signals. To ensure compatibility with the extended D1 and extended D2 code frames of the BeiDou navigation system messages, the first signal receiving unit 101 of the positioning pseudo-satellite 10 needs to establish a buffer with the frame structure described above for storage.

[0096] Step 3: The signal gain transmission unit 103 broadcasts the data frames in the indoor environment. The positioning pseudo-satellite 10 uses a one-to-many mode to store BeiDou navigation satellite messages, forming relay signals from multiple satellites, which are then broadcast in the indoor space. That is, for a specific receiving terminal, one positioning pseudo-satellite 10 is equivalent to a projected image of multiple real satellites.

[0097] The auxiliary positioning module 20 includes a second signal receiving unit 201, an indoor video positioning unit 203, and a coordinate transformation unit 204. Its positioning process is as follows:

[0098] Step 1: The second signal receiving unit 201 is used to receive the BeiDou satellite positioning signal and obtain the CGCS2000 coordinates of the auxiliary positioning module based on the positioning signal.

[0099] Step 2: The indoor video positioning unit 203 is used to locate the indoor positioning target. Taking the position coordinates of the auxiliary positioning module 20 as the geometric coordinate origin, the observed geometric spatial position coordinates of the indoor positioning target are (x, y, z).

[0100] Step 3: The coordinate transformation unit 204 uses the coordinates of the auxiliary positioning module itself as a reference, and combines them with the geometric spatial coordinates (x, y, z) of the indoor positioning target to perform superposition calculations, obtaining the CGCS2000 physical position coordinates (L, B, H) of the indoor positioning target, which are the second positioning coordinates. The calculation process is as follows:

[0101]

[0102] In the formula, N is the radius of curvature of the Earth, and e is the eccentricity of the Earth, satisfying...

[0103]

[0104]

[0105] Where the Earth's major axis is a, the minor axis is b, and θ is the altitude angle.

[0106] The method by which the positioning correction unit 202 corrects the positioning based on the second positioning coordinates and the first positioning coordinates includes:

[0107] Step 1: Let the first positioning coordinates be (L0, B0, H0) and the second positioning coordinates be (L, B, H). Convert the latitude and longitude angular coordinates to the corresponding radian coordinates as follows:

[0108] L0' = π × L0 / 180

[0109] B0' = π × B0 / 180

[0110] L'=π×L / 180

[0111] B' = π × B / 180

[0112] Step 2: Convert the radian coordinates to Cartesian coordinates as follows:

[0113] X0 = cos(L0') × cos(B0')

[0114] Y0 = cos(L0') × sin(B0')

[0115] Z0 = sin(B0')

[0116] X = cos(L') × cos(B')

[0117] Y = cos(L') × sin(B')

[0118] Z = sin(B')

[0119] Step 3: Calculate the corrected target positioning coordinates as follows:

[0120]

[0121] Step 4: Convert the corrected coordinates into spatial coordinates (L*, B*, H*);

[0122] Step 5: Convert the spatial coordinates (L*, B*, H*) to angular coordinates as follows:

[0123] L*'=180×L* / π

[0124] B*'=180×B* / π.

[0125] Step 6: Send the corrected target location coordinates to the indoor positioning target using wireless transmission methods (Wi-Fi, 5G, LoRa, Bluetooth, etc.).

[0126] The following describes a BeiDou indoor positioning method based on pseudo-satellite positioning information fusion correction disclosed in Embodiment 2 of the present invention. The BeiDou indoor positioning method based on pseudo-satellite positioning information fusion correction described below can be referred to in correspondence with the BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction described above.

[0127] This invention provides a BeiDou indoor positioning method based on pseudo-satellite positioning information fusion correction. This method is implemented based on the BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction as described above, and includes the following steps:

[0128] A positioning pseudo-satellite 10 and an auxiliary positioning module 20 are deployed in an indoor environment, wherein the auxiliary positioning module 20 includes a positioning correction unit 202 and an indoor video positioning unit.

[0129] The positioning pseudo-satellite receives the BeiDou satellite positioning signal and forwards it to the positioning target, which then uses the BeiDou satellite positioning signal to obtain its first positioning coordinates.

[0130] The auxiliary positioning module receives BeiDou satellite positioning signals to obtain its own coordinates; the indoor video positioning unit tracks the positioning target and obtains the geometric spatial coordinates of the positioning target through visual positioning; the auxiliary positioning module's own coordinates are used as a reference, and the geometric spatial coordinates of the positioning target are superimposed to obtain the second positioning coordinates.

[0131] The positioning correction unit receives the first positioning coordinates and the second positioning coordinates, and corrects the first positioning coordinates based on the second positioning coordinates to obtain the target positioning coordinates.

[0132] In one embodiment of the present invention, the target positioning signal includes carrier signals at three frequencies, a BeiDou navigation positioning ranging code, and a BeiDou navigation positioning data code, wherein the data code includes an extended extended D1 navigation message and an extended extended D2 navigation message.

[0133] In one embodiment of the present invention, the method by which the positioning correction unit 202 corrects based on the second positioning coordinates and the first positioning coordinates includes:

[0134] Let the first positioning coordinates be (L0, B0, H0) and the second positioning coordinates be (L, B, H). The angular coordinates of latitude and longitude are converted into the corresponding radian coordinates as follows:

[0135] L0' = π × L0 / 180

[0136] B0' = π × B0 / 180

[0137] L'=π×L / 180

[0138] B' = π × B / 180

[0139] The conversion from radian coordinates to Cartesian coordinates is as follows:

[0140] X0 = cos(L0') × cos(B0')

[0141] Y0 = cos(L0') × sin(B0')

[0142] Z0 = sin(B0')

[0143] X = cos(L') × cos(B')

[0144] Y = cos(L') × sin(B')

[0145] Z = sin(B')

[0146] The corrected target location coordinates are calculated as follows:

[0147]

[0148] Convert the corrected coordinates to spatial coordinates (L*, B*, H*);

[0149] The spatial coordinates (L*, B*, H*) are converted to angular coordinates as follows:

[0150] L*'=180×L* / π

[0151] B*'=180×B* / π.

[0152] The BeiDou indoor positioning method based on pseudo-satellite positioning information fusion correction in this embodiment is implemented based on the aforementioned BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction. Therefore, the specific implementation method can be found in the embodiment section of the BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction mentioned above. Thus, the specific implementation method can be referred to the description of the corresponding embodiments, and will not be elaborated here.

[0153] Furthermore, since the BeiDou indoor positioning method based on pseudo-satellite positioning information fusion correction in this embodiment is implemented based on the aforementioned BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction, its function corresponds to the function of the aforementioned system, and will not be repeated here.

[0154] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0155] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0156] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0157] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0158] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction, characterized in that, include: A positioning pseudo-satellite is deployed in an indoor environment. The positioning pseudo-satellite is used to receive BeiDou satellite positioning signals and forward them to the positioning target, so that the positioning target can obtain its first positioning coordinates using the BeiDou satellite positioning signals. An auxiliary positioning module is deployed in an indoor environment. The auxiliary positioning module receives Beidou satellite positioning signals to obtain its own coordinates. The auxiliary positioning module includes an indoor video positioning unit, which is used to track the positioning target and obtain the geometric spatial coordinates of the positioning target through visual positioning. The second positioning coordinate is obtained by superimposing the geometric spatial coordinates of the positioning target with the auxiliary positioning module's own coordinates as a reference. The auxiliary positioning module includes a positioning correction unit, which receives a first positioning coordinate and a second positioning coordinate, and corrects the first positioning coordinate based on the second positioning coordinate to obtain the target positioning coordinate. The formula for calculating the second positioning coordinate is as follows: Where N is the radius of curvature of the Earth, e is the eccentricity of the Earth, (L,B,H) are the second positioning coordinates, (x,y,z) are the geometric spatial coordinates of the positioning target, a is the semi-major axis of the Earth, b is the semi-minor axis of the Earth, and θ is the elevation angle. The method by which the positioning correction unit corrects the first positioning coordinates based on the second positioning coordinates includes: Let the first positioning coordinates be (L0, B0, H0) and the second positioning coordinates be (L, B, H). The angular coordinates of latitude and longitude are converted to their corresponding radian coordinates as follows: ， The conversion from radian coordinates to Cartesian coordinates is as follows: ， The corrected target location coordinates are calculated as follows: ； Convert the corrected coordinates to spatial coordinates ; spatial coordinates Converted to angular coordinates as follows: 。 2. The BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction as described in claim 1, characterized in that, The positioning pseudo-satellites include: The first signal receiving unit is used to receive BeiDou satellite positioning signals; The signal processing unit is used to buffer and classify the received BeiDou satellite positioning signals and generate data frames with the same format as the BeiDou satellite positioning signals. The signal gain transmission unit is used to broadcast data frames in an indoor environment.

3. The BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction as described in claim 1 or 2, characterized in that: The BeiDou satellite positioning signal includes carrier signals at three frequencies, a BeiDou navigation and positioning ranging code, and a BeiDou navigation and positioning data code. The data code includes extended extended D1 navigation messages and extended extended D2 navigation messages.

4. The BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction as described in claim 1, characterized in that, The auxiliary positioning module includes: The second signal receiving unit is used to receive BeiDou satellite positioning signals and obtain the coordinates of the auxiliary positioning module based on the BeiDou satellite positioning signals. The coordinate transformation unit is used to calculate the second positioning coordinates by superimposing the coordinates of the auxiliary positioning module itself on the geometric spatial position coordinates of the positioning target.

5. A BeiDou indoor positioning method based on pseudo-satellite positioning information fusion correction, characterized in that, This method is based on the BeiDou indoor positioning system based on pseudo-satellite positioning information fusion correction as described in any one of claims 1-4, and includes the following steps: A positioning pseudo-satellite and an auxiliary positioning module are deployed in an indoor environment, wherein the auxiliary positioning module includes an indoor video positioning unit and a positioning correction unit; The positioning pseudo-satellite receives the BeiDou satellite positioning signal and forwards it to the positioning target, which then uses the BeiDou satellite positioning signal to obtain its first positioning coordinates. The auxiliary positioning module receives BeiDou satellite positioning signals to obtain its own coordinates; the indoor video positioning unit tracks the positioning target and obtains the geometric spatial coordinates of the positioning target through visual positioning; the auxiliary positioning module's own coordinates are used as a reference, and the geometric spatial coordinates of the positioning target are superimposed to obtain the second positioning coordinates. The positioning correction unit receives the first positioning coordinates and the second positioning coordinates, and corrects the first positioning coordinates based on the second positioning coordinates to obtain the target positioning coordinates.

6. The BeiDou indoor positioning method based on pseudo-satellite positioning information fusion correction as described in claim 5, characterized in that: The target positioning signal includes carrier signals at three frequencies, a BeiDou navigation positioning ranging code, and a BeiDou navigation positioning data code, wherein the data code includes an extended extended D1 navigation message and an extended extended D2 navigation message.

7. The BeiDou indoor positioning method based on pseudo-satellite positioning information fusion correction as described in claim 5, characterized in that, The method by which the positioning correction unit corrects the first positioning coordinates based on the second positioning coordinates includes: Let the first positioning coordinates be (L0, B0, H0) and the second positioning coordinates be (L, B, H). The angular coordinates of latitude and longitude are converted to their corresponding radian coordinates as follows: ， The conversion from radian coordinates to Cartesian coordinates is as follows: ， The corrected target location coordinates are calculated as follows: ， Convert the corrected coordinates to spatial coordinates ; spatial coordinates Converted to angular coordinates as follows: 。

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