An indoor and outdoor integrated positioning system and method

Abstract

The present invention discloses an indoor and outdoor integrated positioning system and method. The system includes a Beidou positioning module, an inertial navigation system, a virtual satellite calibration module, and an information console. The virtual satellite calibration area is set according to the indoor environment, and high-precision calibration results of virtual satellites are obtained within the set area. Outside the area, the inertial navigation system is used for navigation and positioning to achieve high-precision continuous positioning in the indoor environment. When the mobile terminal walks into the calibration area, the high-precision calibration information obtained by the virtual satellite calibration module is used to correct the errors of the inertial navigation module. The inertial navigation system outside the area can correct the inertial navigation algorithm based on the corresponding model, so as to achieve complete, continuous and high-precision positioning indoors and outdoors. The positioning accuracy is improved, and the system structure is simple and the cost is low.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning, and in particular to an indoor and outdoor integrated positioning system and method. Background Art

[0002] The BeiDou Navigation Satellite System (BDS) is a satellite navigation system with all-round, all-weather, all-time, and high-precision capabilities. It can provide navigation information such as three-dimensional position, velocity, and precise timing with low cost and high precision for global users. In most outdoor situations, BDS can accurately provide good navigation information. However, in indoor conditions and complex outdoor conditions, the signals of BDS are easily blocked, resulting in inaccurate navigation information. Pseudolite (PL) is a transmitter deployed on the ground to emit positioning signals, and its function and principle are similar to those of navigation satellites, including a receiver, a transmitter, and an antenna. It can send out messages in the same format as navigation satellites.

[0003] Currently, most indoor positioning is based on virtual satellite-assisted BDS positioning or virtual satellite standalone positioning, etc. However, the existing indoor virtual satellite positioning technology is difficult to achieve full indoor coverage and continuous precise positioning due to large errors caused by multipath interference such as reflection and refraction, and it is also difficult to seamlessly switch to outdoor BDS positioning. Summary of the Invention

[0004] In view of the above problems, the present invention provides an indoor and outdoor integrated positioning system and method, which improves the positioning accuracy and has a simple system structure and low cost.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] An indoor and outdoor integrated positioning system, characterized by comprising:

[0007] A Beidou positioning module, an inertial navigation system, a virtual satellite calibration module, and an information console, wherein,

[0008] The Beidou positioning module is used to obtain the ephemeris parameters and synchronization pulse information of Beidou satellites and the virtual satellite calibration module, and calculate the navigation positioning result;

[0009] The information console is used to analyze the ephemeris parameters and synchronization pulse information of Beidou satellites; based on the analyzed information, generate virtual satellite control signal parameters to guide the regeneration of Beidou satellite signals;

[0010] The virtual satellite calibration module is used to obtain the position information of the calibration points in the central area in response to the mobile terminal being in the central area;

[0011] The inertial navigation system is used to correct the inertial navigation error based on the central area correction point and output positioning information.

[0012] Optionally, the virtual satellite correction module includes: four virtual satellite positioning correction units, which are arranged indoors and send positioning correction signals through directional antennas.

[0013] Optionally, the inertial navigation system is further used for:

[0014] If the mobile terminal is not in the central full area, output positioning information.

[0015] Optionally, the inertial navigation system includes:

[0016] A motion state recognition module, a model call module, and a positioning processing module, where

[0017] The motion state recognition module is used to obtain the motion state of the mobile terminal;

[0018] The model call module is used to determine a target model in the processing model based on the motion state, and the processing model at least includes an indoor stationary model, an indoor uniform motion model, an indoor fast motion model, or a vehicle motion model;

[0019] The positioning processing module is used to correct the inertial navigation algorithm based on the target model and output positioning information.

[0020] Optionally, the virtual satellite correction module is further used for:

[0021] Obtain virtual satellite control signal parameters, which are used to control the virtual satellite correction module, generate virtual satellite signals, and centrally send positioning signals with transmission power meeting the target conditions to the central area through directional antennas.

[0022] An indoor-outdoor integrated positioning method includes:

[0023] Obtain the ephemeris parameters and synchronization pulse information of Beidou satellites and the virtual satellite correction module, and calculate the navigation positioning result;

[0024] Analyze the ephemeris parameters and synchronization pulse information of Beidou satellites; based on the analyzed information, guide the regeneration of Beidou satellite signals;

[0025] In response to the mobile terminal being in the central area, obtain the central area correction information;

[0026] Based on the central area correction information, correct the inertial navigation system and output positioning information.

[0027] Optionally, the method further includes:

[0028] If the mobile terminal is not in the central area, the inertial navigation system outputs positioning information.

[0029] Optionally, the outputting of the positioning information includes:

[0030] Obtain the motion state of the mobile terminal;

[0031] Based on the motion state, determine a target model in a processing model, where the processing model at least includes an indoor stationary model, an indoor uniform motion model, an indoor fast motion model, or a vehicle motion model;

[0032] Based on the target model, correct the inertial navigation algorithm and output positioning information.

[0033] Optionally, the concentrating of the signal in the central area through a directional antenna includes:

[0034] Generate a virtual satellite signal, and after power control of the virtual satellite signal, concentrate and transmit a positioning signal with a transmission power meeting a target condition to the central area through the directional antenna.

[0035] Optionally, the method further includes:

[0036] Obtain indoor area size information;

[0037] Based on the indoor area size information, at least obtain an area where the reflection and refraction multipath interference is less than a target threshold, and determine the area as the central area.

[0038] Compared with the prior art, the present invention provides an indoor-outdoor integrated positioning system and method. The system includes a Beidou positioning module, an inertial navigation system, a virtual satellite correction module, and an information console. The virtual satellite correction area is set according to the indoor environment, and a high-precision virtual satellite correction result is obtained within the set area. Outside the area, the inertial navigation system is used for navigation positioning to achieve high-precision continuous positioning in the indoor environment. When the mobile terminal walks into the correction area, the high-precision correction information obtained by the virtual satellite correction module is used to correct the error of the inertial navigation module. Among them, the inertial navigation system outside the area can correct the inertial navigation algorithm based on the corresponding model, so as to achieve complete, continuous, and high-precision indoor-outdoor positioning. It realizes the improvement of positioning accuracy, and the system structure is simple and the cost is low. Description of the Drawings

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings described below are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on the provided drawings.

[0040] Figure 1 Structural schematic diagram of an indoor and outdoor integrated positioning system provided by an embodiment of the present invention;

[0041] Figure 2 Flowchart of a combined positioning method for an indoor virtual satellite and an inertial navigation system provided by an embodiment of the present invention;

[0042] Figure 3 Framework diagram of an indoor and outdoor integrated positioning system based on BDS, INS, and PL provided by an embodiment of the present invention;

[0043] Figure 4 Flow schematic diagram of an indoor and outdoor integrated positioning method provided by an embodiment of the present invention. Detailed implementation manners

[0044] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0045] Terms such as "first" and "second" in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may include steps or units not listed.

[0046] For the convenience of explaining the embodiments of the present invention, the relevant terms will be explained below.

[0047] Inertial Navigation System: (INS) An inertial navigation system is a completely independent system that does not transmit signals to the outside and does not receive signals from the outside. It is a system that uses gyroscopes and accelerometers installed on a vehicle to determine the position of the vehicle. By obtaining the measurement data of the gyroscopes and accelerometers, the movement of the vehicle in the inertial reference coordinate system can be determined, and at the same time, the position of the vehicle in the inertial reference coordinate system can be calculated.

[0048] BeiDou: (BDS) The BeiDou navigation system adopts a similar system and technology as the Global Positioning System, that is, it is divided into three major parts: the space part, the ground monitoring and data processing, and the user receiver, and can provide all-weather, all-time, and high-precision positioning, navigation, and timing services for global users.

[0049] Global Positioning System: (GPS) A global positioning system based on space satellites for high-precision radio navigation. It can provide accurate geographical locations, vehicle speeds, and precise time information anywhere in the world and in near-earth space.

[0050] GNSS: (Global Navigation Satellite System, GNSS) Generally refers to all satellite navigation systems, including global, regional, and enhanced ones, such as the GPS of the United States, Glonass of Russia, Galileo of Europe, and the BeiDou satellite navigation system of China.

[0051] Pseudolite: (PL) A transmitter installed on the ground that emits positioning signals. Its function and principle are similar to those of navigation satellites, including a receiver, a transmitter, and an antenna, and it can send messages in the same format as navigation satellites.

[0052] In an embodiment of the present invention, an indoor and outdoor integrated positioning system is provided. Refer to Figure 1 , including:

[0053] BeiDou positioning module 101, inertial navigation system 102, pseudolite correction module 103, and information console 104, where

[0054] The BeiDou positioning module 101 is used to obtain the ephemeris parameters and synchronization pulse information of the BeiDou satellites and the pseudolite correction module, and calculate the navigation positioning result.

[0055] The information console 104 is used to analyze the ephemeris parameters and synchronization pulse information of the BeiDou satellites; based on the analyzed information, guide the regeneration of the BeiDou satellite signals.

[0056] The virtual satellite calibration module 103 is used to generate the position information of the calibration points in the central area in response to the mobile terminal being in the central area;

[0057] The inertial navigation system 102 is used to perform inertial error correction based on the calibration points in the central area and output positioning information.

[0058] Optionally, the virtual satellite calibration module includes: four virtual satellite positioning calibration units, which are arranged indoors and send positioning calibration signals through directional antennas.

[0059] Furthermore, the inertial navigation system is also used to:

[0060] If the mobile terminal is not in the entire central area, output positioning information.

[0061] Optionally, the inertial navigation system includes:

[0062] A motion state recognition module, a model calling module, and a positioning processing module, where

[0063] The motion state recognition module is used to obtain the motion state of the mobile terminal;

[0064] The model calling module is used to determine a target model in the processing model based on the motion state, and the processing model at least includes an indoor stationary model, an indoor uniform motion model, an indoor rapid motion model, or a vehicle motion model;

[0065] The positioning processing module is used to correct the inertial navigation algorithm based on the target model and output positioning information.

[0066] Optionally, the virtual satellite calibration module is also used to:

[0067] Obtain virtual satellite control signal parameters, which are used to control the virtual satellite calibration module, generate virtual satellite signals, and centrally send positioning signals with transmission power meeting the target conditions to the central area through a directional antenna.

[0068] The present invention realizes indoor-outdoor integrated combined navigation and positioning of BDS / INS / PL, mainly solving the problems of indoor-outdoor integrated high-precision continuous positioning and overcoming the low positioning accuracy caused by multipath interference such as reflection and refraction of indoor virtual satellite signals. Among them, the advantages of the three are integrated. Outdoor, a combined positioning of the Beidou satellite positioning and navigation system based on RTK and the inertial navigation system (abbreviated as inertial navigation) is used. Indoors, a combined positioning of virtual satellites and the inertial navigation system is carried out, so as to meet the needs of people for continuous high-precision positioning indoors and outdoors. On the terminal side, only a combined positioning module of satellite and inertial navigation, that is, a Beidou satellite positioning and navigation module and an inertial navigation module, is needed to realize indoor-outdoor integrated high-precision positioning, with simple structure and low cost.

[0069] The present invention utilizes the advantages that the inertial navigation system has high positioning accuracy in a short time, the Beidou system has high long-term positioning accuracy and no error accumulation, and virtual satellites can regenerate satellite signals in sheltered environments such as indoors and have strong anti-interference ability to carry out indoor-outdoor integrated combined navigation and positioning of BDS / INS / PL. Outdoor, the Beidou satellite positioning and navigation system based on RTK is mainly used, and the inertial navigation system is used for auxiliary navigation and positioning. Indoors, the inertial navigation system is mainly used, and virtual satellites are used to assist in correcting inertial navigation errors to achieve continuous high-precision positioning indoors and outdoors.

[0070] First, a Beidou satellite information console is set outdoors to search for and analyze the ephemeris parameters and synchronization information of outdoor Beidou. The virtual satellite will use the obtained console information to guide the regeneration of Beidou satellite signals and concentrate the virtual satellite signals to the set positioning correction area by reducing the virtual satellite transmission power and using a directional antenna. Among them, in order to reduce the errors caused by multipath interference such as reflection and refraction in virtual satellite positioning correction, the present invention sets the virtual satellite positioning correction area according to the indoor environment, obtains high-precision virtual satellite positioning results within the set area, and uses the inertial navigation system for navigation and positioning outside the area to achieve high-precision continuous positioning in the indoor environment. When the mobile terminal walks into the positioning area, the high-precision positioning information obtained by the virtual satellite will be used to correct the errors of the inertial navigation module. Among them, the inertial navigation system outside the area can select indoor static models, indoor walking speed models, indoor fast movement models or vehicle movement models based on an intelligent motion state recognition module to correct the inertial navigation algorithm, so as to achieve complete continuous high-precision positioning indoors.

[0071] The embodiments of the present invention mainly combine the navigation advantages of the three. Outdoors, the Beidou positioning module is mainly used for navigation and positioning, and the inertial navigation is used for supplementary positioning. Indoors, the inertial navigation is the mainstay, and virtual satellites are used to obtain regional correction points to correct the inertial navigation. At this time, the mobile terminal only includes an inertial navigation module and a satellite navigation module based on RTK, and can obtain high-precision position information for indoor and outdoor integration. This method can overcome the influence of complex indoor and outdoor channel environments. Indoors, by restricting the coverage area of virtual satellite signals, the virtual satellite positioning errors caused by multipath interferences such as reflection and refraction are reduced, and the inertial navigation module is used to make up for the positioning blind area caused by the discontinuous coverage area, so as to achieve seamless switching of high-precision positioning indoors and outdoors. Finally, a good high-precision positioning effect indoors and outdoors is achieved as a whole. Indoors, it is necessary to restrict the coverage range of virtual satellite signals. Therefore, a fast convergence algorithm for virtual satellite navigation signals is adopted to obtain accurate position information of the virtual satellite module within the limited signal coverage reception time and correct the inertial navigation module.

[0072] See Figure 2 , which is a flowchart of a combined positioning method for indoor virtual satellites and inertial navigation systems provided by the embodiments of the present invention.

[0073] The Beidou positioning system has functions of time service, positioning and speed measurement. The information console can search and analyze the ephemeris parameters and synchronous second pulse information of outdoor Beidou satellites to obtain the analyzed information. Among them, the ephemeris parameters are mainly used to simulate the motion trajectory of on-orbit satellites and determine the coordinates of satellites at the simulated moment. There are 16 ephemeris parameters, including ephemeris reference time, semi-major axis of satellite orbit, orbital eccentricity, orbital inclination, argument of perigee, mean anomaly, right ascension of the ascending node of the orbit when the time within the week is 0, correction value for mean motion angular velocity, rate of change of orbital inclination with respect to time, rate of change of right ascension of the ascending node of the orbit with respect to time, correction values for cosine / sine of latitude argument, correction values for cosine / sine of orbital radius, correction values for cosine and sine of inclination.

[0074] Arrange indoor virtual satellites. Four virtual satellite transmitting devices are set according to the indoor environment, and the Beidou positioning and time service information collected by the information console is used to guide the regeneration of Beidou satellite signals. After reducing the power of the virtual satellites, the positioning signals with relatively low transmission power are concentrated and sent to the set positioning area through a directional antenna. By reducing the signal power, the influence of multipath interferences such as signal reflection and refraction on the positioning accuracy can be effectively suppressed. Therefore, a power threshold can be set to better eliminate the multipath interference error, that is, the regional mobile terminal only demodulates signals with a power higher than the threshold power.

[0075] In the embodiments of the present invention, four virtual satellites are set in the indoor environment, but at least 4 virtual satellites are required. The more the number of virtual satellites, the better the positioning effect. Since the satellite signals outdoors cannot reach indoors, and other indoor positioning methods such as WI-FI, Bluetooth, ultra-wideband, inertial navigation, etc. generally have average effects and large limitations, and cannot share the signal receiving circuit with the Beidou positioning module to achieve seamless indoor-outdoor positioning. The use of virtual satellites can solve these problems. Its implementation is not complicated, and virtual satellites are increasingly widely used due to their advantages such as high positioning accuracy, low power consumption, and easy realization of seamless indoor-outdoor positioning.

[0076] Determine the position of the mobile terminal in the area: Use the virtual satellite signal fast convergence high-precision positioning algorithm to obtain the accurate position of the mobile terminal in the set positioning correction area.

[0077] Region virtual satellite high-precision positioning point correction inertial navigation: Use the high-precision position information obtained by the virtual satellite to correct the inertial navigation, and perform error zeroing processing on the inertial navigation system. When the moving target walks outside the indoor virtual satellite correction area, the corrected inertial navigation is used for continuous positioning, and seamless indoor positioning can be achieved.

[0078] See Figure 3 , which is a framework diagram of an indoor-outdoor integrated positioning system based on BDS, INS, and PL provided by the embodiments of the present invention.

[0079] Outdoors, the Beidou system based on RTK is mainly used for navigation and positioning, and the inertial navigation system is used for supplementary positioning. Indoors, the inertial navigation is mainly used, and the virtual satellite is used to obtain the regional correction points to correct the inertial navigation. At the same time, the inertial navigation system can select indoor static models, indoor walking speed motion models, indoor fast motion models, or vehicle motion models, etc. based on the intelligent motion state module to correct the inertial navigation algorithm. The size of the positioning area is mainly determined by the size of the indoor environment. The present invention takes an indoor diamond-shaped hall as an example to illustrate. As Figure 3 shown, the virtual satellite correction area is set as the central area of the hall, and it is set that the mobile terminal will pass through the empty central area of the hall with a high probability.

[0080] In the embodiments of the present invention, the advantages of BDS / INS / PL are integrated. Outdoors, the Beidou system based on RTK is mainly used for navigation and positioning, and the inertial navigation system is used for supplementary positioning. Indoors, the inertial navigation is mainly used, and the virtual satellite is used to obtain the regional correction points to correct the inertial navigation. At the same time, the inertial navigation system can select indoor static models, indoor walking speed motion models, indoor fast motion models, or vehicle motion models, etc. based on the intelligent motion state module to correct the inertial navigation algorithm. This method can overcome the influence of complex indoor and outdoor environments, reduce errors caused by multipath interference such as reflection and refraction, and achieve seamless indoor-outdoor switching. Finally, a good indoor-outdoor positioning effect is achieved as a whole.

[0081] See Figure 4 , the embodiment of the present invention further provides an indoor and outdoor integrated positioning method, including:

[0082] S101. Obtain the ephemeris parameters and synchronous pulse information of the Beidou satellite and the virtual satellite calibration module, and calculate the navigation and positioning result;

[0083] S102. Analyze the ephemeris parameters and synchronous pulse information of the Beidou satellite; based on the analyzed information, guide the regeneration of the Beidou satellite signal.

[0084] S103. In response to the mobile terminal being in the central area, obtain the central area calibration information;

[0085] S104. Calibrate the inertial navigation system based on the central area calibration information, and output the positioning information.

[0086] Further, the method further includes:

[0087] If the mobile terminal is not in the entire central area, the inertial navigation system outputs the positioning information.

[0088] Further, the outputting the positioning information includes:

[0089] Obtain the motion state of the mobile terminal;

[0090] Based on the motion state, determine a target model in the processing model, and the processing model at least includes an indoor stationary model, an indoor uniform motion model, an indoor fast motion model or a vehicle motion model;

[0091] Based on the target model, correct the inertial navigation algorithm and output the positioning information.

[0092] Optionally, the concentrating the signal in the central area through the directional antenna includes:

[0093] Generate a virtual satellite signal, and after the power of the virtual satellite signal is controlled, the positioning signal with the transmission power meeting the target condition is concentrated and sent to the central area through the directional antenna.

[0094] Correspondingly, the method further includes:

[0095] Obtain the indoor area size information;

[0096] Based on the indoor area size information, at least obtain the area where the reflection and refraction multipath interference is less than the target threshold, and determine the area as the central area.

[0097] An embodiment of the present invention provides an indoor and outdoor integrated positioning method. The system includes a Beidou positioning module, an inertial navigation system, a virtual satellite correction module, and an information console. The virtual satellite positioning area is set according to the indoor environment, and high-precision virtual satellite positioning results are obtained within the set area. Outside the area, the inertial navigation system is used for navigation positioning to achieve high-precision continuous positioning in the indoor environment. When the mobile terminal walks into the positioning area, the high-precision positioning information obtained by the virtual satellite is used to correct the errors of the inertial navigation module. Among them, the inertial navigation system outside the area can correct the inertial navigation algorithm based on the corresponding model, so as to achieve complete, continuous and high-precision indoor and outdoor positioning. The positioning accuracy is improved, and the system structure is simple and the cost is low.

[0098] The various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. The same or similar parts among the various embodiments can be referred to each other. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple. For the relevant parts, reference can be made to the description of the method part.

[0099] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art. The general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An indoor and outdoor integrated positioning system, characterized in that, Comprising: A Beidou positioning module, an inertial navigation system, a virtual satellite calibration module, and an information console, wherein, The Beidou positioning module is used to obtain the ephemeris parameters and synchronization pulse information of Beidou satellites and the virtual satellite calibration module, and calculate the navigation positioning result; The information console is used to parse the ephemeris parameters and synchronization pulse information of Beidou satellites; based on the parsed information, generate virtual satellite control signal parameters to guide the regeneration of Beidou satellite signals; The virtual satellite calibration module is used to, in response to the mobile terminal being in the central area, obtain the position information of the calibration points in the central area, wherein the central area represents an area that, based on the indoor area size information, at least obtains a reflection multipath interference less than the target threshold; The inertial navigation system is used to perform inertial navigation error calibration based on the position information of the calibration points in the central area obtained by the virtual satellite calibration module, and output positioning information; in response to the mobile terminal not being in the central area, determine a target model in the processing model based on the motion state of the mobile terminal, and correct the inertial navigation algorithm based on the target model, and output positioning information; wherein the processing model at least includes an indoor stationary model, an indoor uniform motion model, an indoor fast motion model, and a vehicle motion model.

2. The system according to claim 1, wherein The virtual satellite calibration module includes: four virtual satellite positioning calibration units, and the four virtual satellite positioning calibration units are arranged indoors and send positioning calibration signals through directional antennas.

3. The system according to claim 2, wherein The virtual satellite calibration module is further used for: Obtain virtual satellite control signal parameters, which are used to control the virtual satellite calibration module to generate virtual satellite signals, and centrally send the positioning signals with the transmitted power meeting the target conditions to the central area through directional antennas.

4. An indoor and outdoor integrated positioning method, characterized in that, Comprising: Obtain the ephemeris parameters and synchronization pulse information of Beidou satellites and the virtual satellite calibration module, and calculate the navigation positioning result; Parse the ephemeris parameters and synchronization pulse information of Beidou satellites; Based on the parsed information, generate virtual satellite control signal parameters to guide the regeneration of Beidou satellite signals; In response to the mobile terminal being in the central area, obtain the position information of the calibration points in the central area, wherein the central area represents an area that, based on the indoor area size information, at least obtains a reflection multipath interference less than the target threshold; Perform inertial navigation error calibration based on the position information of the calibration points in the central area, and output positioning information; in response to the mobile terminal not being in the central area, determine a target model in the processing model based on the motion state of the mobile terminal, and correct the inertial navigation algorithm based on the target model, and output positioning information; wherein the processing model at least includes an indoor stationary model, an indoor uniform motion model, an indoor fast motion model, and a vehicle motion model.

5. The method according to claim 4, wherein Further comprising: Generate virtual satellite signals, and after power control, centrally send the positioning signals with the transmitted power meeting the target conditions to the central area through directional antennas.

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