A multi-scene indoor and outdoor multi-source fusion positioning system and method

Abstract

The present invention discloses a multi-scenario indoor and outdoor multi-source fusion positioning system and method, which relates to the field of multi-source fusion positioning technology. The system includes a smart phone, a GNSS+Beidou micro base station backpack, a foot-mounted inertial navigation, a Beidou micro base station, a three-element transmitting antenna, a six-element transmitting antenna, two corridor transmitting antennas, and three outdoor transmitting antennas. When a pedestrian enters an indoor corridor, the backpack receives signals from two corridor transmitting antennas to achieve dual-star ranging; when the pedestrian passes through the corridor and the door of a large indoor room, the backpack uses the received three-element transmitting antenna signal to achieve three-element indoor positioning; when the pedestrian enters a large indoor room, the backpack uses the six-element transmitting antenna signal to achieve large indoor room positioning; when the pedestrian moves from a large indoor room to the outside of a building entrance, the backpack achieves joint positioning of GNSS and Beidou micro base station signals. While ensuring positioning continuity, the present invention effectively improves navigation accuracy.

Description

Technical Field

[0001] The present invention relates to the field of multi-source fusion positioning technology, and in particular to a multi-scene indoor and outdoor multi-source fusion positioning system and method including outdoor, indoor corridors, large indoor spaces and indoor and outdoor transition areas, which can realize continuous indoor and outdoor positioning. Background Art

[0002] In recent years, continuous indoor and outdoor positioning technology has become a hot topic of research both domestically and internationally. It can be broadly categorized into three types: wireless signal base station positioning, autonomous dead reckoning, and multi-source fusion positioning. Wireless signal base station positioning faces challenges such as building obstruction and indoor multipath effects. While autonomous dead reckoning is unaffected by the external environment, positioning errors accumulate over time. Fusion of wireless positioning with inertial dead reckoning and indoor structured maps is one of the primary approaches currently underway in multi-source fusion research for indoor and outdoor positioning. However, numerous limitations remain, hindering satisfactory continuous indoor and outdoor positioning results. Continuous pedestrian positioning in multiple indoor and outdoor scenarios remains a challenging technical challenge.

[0003] Beidou micro base stations are ground-based transmitters that transmit signals similar to the BDS B1 frequency. Their positioning principle is the same as that of the Beidou satellite navigation system, achieving a least-squares position solution based on at least four visible satellites. However, in corridors, indoor areas, and areas transitioning between indoor and outdoor, using Beidou micro base stations alone cannot achieve the ideal number of visible satellites and a good geometric factor. Summary of the Invention

[0004] In view of this, the present invention provides a multi-scenario indoor and outdoor multi-source fusion positioning system and method. To solve the problem of continuous high-precision positioning in multiple indoor and outdoor scenarios including outdoor, indoor corridors and large indoor rooms, a multi-source fusion processing method of GNSS / Beidou micro base station back clip + foot-mounted inertial navigation + map prior information is adopted to achieve seamless connection between indoor and outdoor in multiple scenarios, which can greatly improve the continuity and positioning accuracy of positioning in complex indoor and outdoor scenarios.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is:

[0006] A multi-scenario, indoor and outdoor multi-source fusion positioning system includes a foot-mounted inertial navigation system (INS), a Beidou micro base station (BDS), a GNSS+Beidou micro base station back clip, a three-element transmitting antenna, a six-element transmitting antenna, two corridor transmitting antennas, three outdoor transmitting antennas, and a smartphone installed with multi-source information processing software. All transmitting antennas are connected to the Beidou micro base station via signal RF cables of the same length. The Beidou micro base station transmits BDS B1-frequency signals indoors and in transitional areas between indoors and outdoors. The foot-mounted INS transmits its acquired dead-reckoning position to the multi-source information processing software on the smartphone in real time via Bluetooth.

[0007] In open outdoor areas, the GNSS+Beidou micro base station back clip sends the GNSS-RTK positioning results to the smartphone, which then sends the positioning results to the foot-worn inertial navigation system mounted on the instep via Bluetooth to initialize the position and orientation of the foot-worn inertial navigation system.

[0008] When pedestrians enter the indoor corridor, the GNSS+Beidou micro base station back clip receives signals from the two corridor transmitting antennas to achieve dual-satellite ranging;

[0009] When pedestrians pass through corridors and large indoor room doors, the GNSS+Beidou micro base station back clip uses the received signals from the three-element transmitting antenna to achieve three-element indoor positioning;

[0010] When pedestrians enter a large indoor room, the GNSS+Beidou micro base station back clip uses the signal from the six-element transmitting antenna to achieve positioning in the large indoor room;

[0011] When a pedestrian moves from a large indoor room to the outside of a building entrance, the GNSS+Beidou Micro Base Station Back Clip receives signals from three outdoor transmitting antennas, achieving joint positioning of GNSS and Beidou Micro Base Station signals;

[0012] The multi-source information processing software receives the position information sent by the GNSS+Beidou micro base station back clip and the foot-mounted inertial navigation system, and obtains the final position estimate through extended Kalman filtering fusion. If the corridor ranging information reported by the GNSS+Beidou micro base station back clip is received, the current position of the GNSS+Beidou micro base station back clip is first calculated based on the corridor prior information, and then integrated with the foot-mounted inertial navigation position.

[0013] Furthermore, the three-element transmitting antenna is composed of three transmitting antenna units, with half the wavelength of the transmitting signal between each two units. The three-element transmitting antenna is installed above the doorway between the corridor and the large indoor room. The three transmitting antenna units are kept horizontal with the ground of the building and transmit Beidou micro base station signals vertically to the ground of the building.

[0014] Furthermore, the GNSS+Beidou micro base station back clip is attached to the mobile phone and includes an L-band navigation signal receiving antenna, an L-band down-conversion module, a power splitter, a GNSS navigation signal processing module, a Beidou micro base station navigation signal processing module, a microprocessor, and a USB communication module; wherein:

[0015] The L-band navigation signal receiving antenna receives GNSS and Beidou micro base station navigation signals and sends them to the down-conversion module;

[0016] The down-conversion module converts the received L-band navigation signal into an intermediate frequency signal and sends it to the power splitter;

[0017] The power splitter divides one intermediate frequency signal into two, which are respectively connected to the GNSS navigation signal processing module and the Beidou micro base station navigation signal processing module;

[0018] The GNSS navigation signal processing module realizes the capture and tracking of GNSS navigation signals, and outputs satellite number, carrier phase, pseudorange, Doppler, and position observation to the microprocessor;

[0019] The BeiDou micro-base station navigation signal processing module captures and tracks BeiDou micro-base station navigation signals and outputs satellite number, carrier phase, pseudorange, Doppler, and position observations to the microprocessor;

[0020] The microprocessor sends the original observations of the two modules to the USB communication module at the same time at a frequency of once per second;

[0021] The USB communication module sends observation information to the 5G smartphone via a USB to Type-C data cable.

[0022] Furthermore, the six elements of the six-element transmitting antenna are distributed in a hexagon and installed on the ceiling of a large indoor room. The center of the hexagon is the center of the large indoor room, and the vertical distance between the installation position of each element and the nearest wall is not less than 1 meter.

[0023] Furthermore, the two corridor transmitting antennas are installed at the top of both ends of the corridor, and are not less than 30 cm away from the top and not less than 30 cm away from the wall in the horizontal direction. The two corridor transmitting antennas transmit Beidou micro base station navigation signals horizontally toward the corridor relative to each other.

[0024] Furthermore, the three outdoor transmitting antennas are installed at a high position outside the room in the transition area between the large indoor room and the outdoor room, so that the signal can cover the entrance and exit areas of the indoor and outdoor transition area.

[0025] Furthermore, the multi-source information processing software works as follows:

[0026] When the initialization button of the multi-source information processing software is clicked, the multi-source information processing software receives the GNSS-RTK positioning results reported by the GNSS+Beidou micro base station back clip, determines whether the RTK is a fixed solution, and if so, sends it to the foot-mounted INS via Bluetooth to complete the position and direction initialization of the foot-mounted INS. Otherwise, it continues to wait for the GNSS-RTK fixed solution from the GNSS+Beidou micro base station back clip;

[0027] After the foot-mounted inertial navigation system is initialized, the multi-source information processing software simultaneously receives the GNSS+Beidou micro base station back clip and foot-mounted inertial navigation data, and performs multi-source fusion to obtain a position estimate;

[0028] When the corridor button of the multi-source information processing software is clicked, the multi-source information processing software calculates the current position x based on the pseudo-range observations of the two corridor transmitting antennas reported by the GNSS+Beidou micro base station back clip and the corridor prior information. B , and then compared with the received foot-bound inertial navigation position x imu Perform fusion processing;

[0029] When clicking the button at the door of the corridor or large indoor room, the multi-source information processing software first calculates the position x of the GNSS+Beidou micro base station back clip based on the Beidou micro base station signal observation of the three-element transmitting antenna reported by the GNSS+Beidou micro base station back clip using the hyperbola positioning method. B , and then compared with the received foot-bound inertial navigation position x imu Perform fusion processing;

[0030] When the indoor large room button is clicked, the multi-source information processing software calculates the GNSS+Beidou micro base station back clip position x based on the signal observation of the six-element transmitting antenna through the least squares method. B , and then compared with the received foot-bound inertial navigation position x imu Perform fusion processing;

[0031] When the button of the transition zone between the large indoor room and the outdoor area is clicked, the GNSS+Beidou micro base station back clip positioning is realized based on the signals of the three outdoor transmitting antennas and the GNSS signal, and the GNSS+Beidou micro base station back clip position x is obtained. B , and then compared with the received foot-bound inertial navigation position x imu Perform fusion processing;

[0032] When the outdoor open button is clicked, the multi-source information processing software converts the GNSS-RTK positioning results reported by the GNSS+ Beidou micro base station back clip into x B and the received foot-bound inertial navigation position x imu Perform fusion processing.

[0033] A multi-scene indoor and outdoor multi-source fusion positioning method includes the following steps:

[0034] Step 1: In an open outdoor area, use the GNSS+Beidou Micro Base Station back clip to send GNSS-RTK positioning results to a smartphone. The smartphone then sends the positioning results to the foot-worn inertial navigation system via Bluetooth to initialize its position and orientation. The smartphone then simultaneously receives the position data uploaded by the GNSS+Beidou Micro Base Station back clip and the foot-worn inertial navigation system, and uses extended Kalman fusion.

[0035] Step 2: When a pedestrian enters an indoor corridor, the GNSS+Beidou Micro Base Station Back Clip receives Beidou Micro Base Station navigation signals transmitted by two transmitting antennas in the corridor, performs dual-satellite ranging, and sends the ranging results to the smartphone. The smartphone calculates the current position of the GNSS+Beidou Micro Base Station Back Clip based on pre-stored corridor length prior information and then integrates it with the foot-worn inertial navigation position.

[0036] Step 3: When a pedestrian passes through the doorway between the corridor and the large indoor room, the GNSS+Beidou Micro Base Station Back Clip uses the Beidou Micro Base Station signal corresponding to the three-element transmitting antenna to achieve three-element indoor positioning. The positioning result is then sent to the smartphone for fusion with the foot-worn inertial navigation position.

[0037] Step 4: When a pedestrian enters a large indoor room equipped with a six-element transmitting antenna, the GNSS+Beidou Micro Base Station Back Clip uses the corresponding Beidou Micro Base Station signal to achieve indoor spatial positioning. The positioning result is then sent to the smartphone and integrated with the foot-worn inertial navigation position.

[0038] Step 5: When the pedestrian moves from the large indoor room to the building entrance, the GNSS+Beidou Micro Base Station Back Clip receives signals from three outdoor transmitting antennas, achieving joint positioning of GNSS and Beidou Micro Base Station signals, and then sends the positioning result to the smartphone. The smartphone integrates the positioning result of the joint positioning of GNSS and Beidou Micro Base Station signals with the foot-bound inertial navigation position;

[0039] Step 6: When the pedestrian re-enters an open outdoor area, the GNSS+Beidou Micro Base Station Back Clip sends the GNSS-RTK positioning results to the smartphone. The smartphone then fuses the obtained GNSS+Beidou Micro Base Station Back Clip GNSS-RTK position with the foot-worn inertial navigation position.

[0040] Furthermore, the specific method of step 2 is:

[0041] (201) When a pedestrian enters the indoor corridor, the GNSS+Beidou micro base station back clip receives the Beidou micro base station navigation signal from the two transmitting antennas in the corridor, achieving ρ 13 and ρ 14 Double-star ranging, sending the ranging results to the smartphone multi-source information processing software; where ρ 13 and ρ 14 These are the pseudorange measurement values ​​of the navigation signal transmission channel of the Beidou micro base station connected to the two transmitting antennas installed in the corridor:

[0042]

[0043]

[0044] Where r 13 and r14 They are the distances from the GNSS+Beidou micro base station back clip to the two transmitting antennas, δt u is the receiver clock error, δt (s) is the BeiDou micro base station clock error, ε is the pseudorange observation error;

[0045] (202) The multi-source information processing software on the smartphone calculates the current position of the GNSS+Beidou micro base station back clip based on the pre-stored corridor length prior information, and constructs the solution equation based on the positions of the two transmitting antennas and the corridor length information:

[0046]

[0047] Among them, (x u ,y u ) is the horizontal two-dimensional coordinate of the GNSS+Beidou micro base station back clip, (x 13 ,y 13 ) and (x 14 ,y 14 ) are the horizontal two-dimensional coordinates of the two transmitting antennas, L corr is the length of the corridor minus the distance between the two transmitting antennas and the walls at both ends of the corridor, ignoring and The transmitting antenna positions connected to all transmitting channels of the Beidou micro base station have been pre-calibrated. Calculate the above equations to obtain the horizontal two-dimensional position coordinates of the GNSS+Beidou micro base station back clip.

[0048] (203) will (x u ,y u ) and the foot-strap inertial navigation position (x imu ,y imu ) is fused with the extended Kalman filter to obtain the final position estimate.

[0049] Furthermore, the specific method of step 3 is:

[0050] (301) When a pedestrian passes through the door between the corridor and the large indoor room, the GNSS+Beidou micro base station back clip uses the Beidou micro base station signal corresponding to the three-element transmitting antenna to obtain the satellite numbers and carrier phase observations of the three transmitting antenna units. in The calculation formula is as follows:

[0051]

[0052] Where λ is the wavelength of BeiDou micro base station navigation signal, r m is the position of the transmitting antenna corresponding to the m channel, r u is the location of the user receiver, δt u is the receiver clock error, δtms is the Beidou micro base station clock error, N m is the integer ambiguity of the m-channel carrier phase observation, is the carrier phase observation error;

[0053] (302) The position of the GNSS+Beidou micro base station back clip is calculated based on the three-element antenna carrier phase observation. The calculation equation is as follows:

[0054]

[0055] Where Δr 2u =r 2 -r u , Δr 1u =r 1 -r u , considering that the carrier phases output by the three transmitting antennas use the same clock and the same PLL and the RF cable lengths are the same, therefore, N 21 =N 31 , δt 3s =δt 2s =δt 1s The above formula is simplified to:

[0056]

[0057] neglect and Perform Taylor series expansion and least squares on the above formula to calculate the GNSS+Beidou micro base station back clip position (x u ,y u );

[0058] (303) will (x u ,y u ) and the foot-strap inertial navigation position (x imu ,y imu ) is fused with the extended Kalman filter to obtain the final position estimate.

[0059] The technology of the present invention has the following advantages:

[0060] 1. The present invention introduces Beidou satellite navigation signals into indoor spaces through Beidou micro base stations, which can be supported by conventional navigation receiver chips / modules, greatly expanding the service range of Beidou satellite navigation.

[0061] 2. The present invention uses a multi-channel Beidou micro base station to cover corridors, large indoor rooms, and indoor and outdoor transition areas, providing position correction for foot-mounted inertial navigation in a variety of indoor and outdoor scenarios while reducing the difficulty of system deployment and simplifying system operation and maintenance.

[0062] 3. Based on the full use of corridor prior information, the present invention switches different multi-source fusion positioning methods for different scenarios, effectively improving navigation accuracy while ensuring positioning continuity. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a schematic diagram of the principle of the multi-scene indoor and outdoor multi-source fusion positioning system of the present invention;

[0064] Figure 2 It is a working logic diagram of the multi-source information processing software of the present invention;

[0065] Figure 3 The present invention is applicable to indoor and outdoor scenes and pedestrian walking trajectories;

[0066] Figure 4 It is a flow chart of the multi-scene indoor and outdoor multi-source fusion positioning method of the present invention. DETAILED DESCRIPTION

[0067] The present invention will be further described below with reference to specific embodiments and accompanying drawings:

[0068] like Figure 1 The system, shown in Figure 1, features a multi-scenario, indoor and outdoor multi-source fusion positioning system. It includes a foot-mounted inertial navigation system (INS), a 14-channel Beidou microbase station (BDS), a GNSS+Beidou microbase station back clip, a three-element transmitting antenna, a six-element transmitting antenna, two corridor transmitting antennas, three outdoor transmitting antennas, and a smartphone equipped with multi-source information processing software. All transmitting antennas are connected to the Beidou microbase station via RF cables of equal length. The Beidou microbase station transmits BDS-like B1 frequency signals indoors and in transitional areas between indoors and outdoors. In open outdoor areas, the backpack sends the GNSS-RTK positioning results to the smartphone; the smartphone then sends the positioning results via Bluetooth to the foot-worn inertial navigation system installed on the instep to initialize the position and orientation of the foot-worn inertial navigation system; when the pedestrian enters the indoor corridor, the backpack receives the signals from the two corridor transmitting antennas to achieve dual-star ranging; when the pedestrian passes through the corridor and the door of a large indoor room, the backpack uses the received three-element transmitting antenna signals to achieve three-element indoor positioning; when the pedestrian enters a large indoor room, the backpack uses the six-element transmitting antenna signals to achieve large indoor room positioning; when the pedestrian leaves the large indoor room, the backpack uses the six-element transmitting antenna signals to achieve large indoor room positioning. When the robot moves from an inner room to the outside of a building entrance, the backpack receives signals from three outdoor transmitting antennas and processes GNSS and Beidou micro base station signals in a compatible manner to achieve joint positioning of the two. The foot-mounted inertial navigation system sends its acquired dead-reckoning position to the multi-source information processing software on the smartphone via Bluetooth in real time. The multi-source information processing software receives the position information sent by the backpack and the foot-mounted inertial navigation system, and obtains the final position estimate through extended Kalman filtering. If the software receives corridor ranging information reported by the backpack, it first calculates the current position of the backpack based on the corridor prior information, and then fuses it with the foot-mounted inertial navigation system position.

[0069] Figure 2 This is the working logic diagram of the multi-source information processing software. When the initialization button of the multi-source information processing software is clicked, the multi-source information processing software receives the GNSS-RTK positioning result reported by the back clip, determines whether the RTK is a fixed solution, and if so, sends it to the foot-mounted inertial navigation system via Bluetooth to complete the position and direction initialization of the foot-mounted inertial navigation system. Otherwise, it continues to wait for the back clip GNSS-RTK fixed solution; when the foot-mounted inertial navigation system initialization is completed, the multi-source information processing software simultaneously receives the back clip and foot-mounted inertial navigation data, and performs multi-source fusion to obtain a position estimate; when the corridor button of the multi-source information processing software is clicked, the multi-source information processing software calculates the current position x by receiving the pseudo-range observations of the transmitting antennas 13 and 14 reported by the back clip and the corridor prior information. B , and then combined with the received foot-bound inertial navigation x imu When clicking on the door button of the corridor or large indoor room, the multi-source information processing software first calculates the back clip position x based on the signal observations of the three-element transmitting antennas 1, 2, and 3 reported by the back clip, and uses the hyperbolic positioning algorithm to calculate the back clip position x. B , and then combined with the received foot-bound inertial navigation x imu When the indoor large room button is clicked, the multi-source information processing software calculates the back clip position x based on the signal observations of the six-element transmitting antennas 4, 5, 6, 7, 8, and 9 of the large-scale Beidou micro base station and the least squares algorithm. B , and then combined with the received foot-bound inertial navigation x imu When the button of the transition zone between a large indoor room and an outdoor room is clicked, the back clip positioning is realized based on the signals of the three Beidou micro base station transmitting antennas 10, 11, and 12 in the transition zone and GNSS. B , and then combined with the received foot-bound inertial navigation x imu When you click the outdoor open button, the multi-source information processing software will process the GNSS-RTK positioning results reported by the back clip. B With the received foot-bound inertial navigation x imu Position fusion processing.

[0070] Figure 3 This represents the trajectory of pedestrians walking in indoor and outdoor scenes. Indoor and outdoor scenes include open outdoor areas, indoor corridors, large indoor rooms, and the transition area between large indoor rooms and the outdoors. Indoor corridors connect to the outdoors through a doorway, indoor corridors connect to large indoor rooms through a doorway, and large indoor rooms connect to the outdoors through an entrance or exit. A pedestrian starts in the open outdoor area, enters the indoor corridor, then enters the large indoor room, and then walks outside.

[0071] like Figure 4 As shown, a multi-scene indoor and outdoor multi-source fusion positioning method includes the following steps:

[0072] Step 1: In an open outdoor area, the backpack sends the GNSS-RTK positioning results to the smartphone. The smartphone then sends the positioning results to the foot-worn inertial navigation system via Bluetooth to initialize the foot-worn inertial navigation system's position and orientation. The smartphone then simultaneously receives the position data uploaded by the backpack and foot-worn inertial navigation system and uses extended Kalman fusion.

[0073] Step 2: When a pedestrian enters an indoor corridor, the backpack receives the Beidou micro base station navigation signal transmitted by two transmitting antennas in the corridor, realizes dual-star ranging, and sends the ranging result to the smartphone. The smartphone calculates the current position of the backpack based on the pre-stored corridor length prior information, and then integrates it with the foot-worn inertial navigation position.

[0074] (201) When a pedestrian enters the indoor corridor, the back clip receives the Beidou micro base station navigation signal from the two transmitting antennas in the corridor, achieving ρ 13 and ρ 14 The dual-star ranging method sends the ranging results to the multi-source information processing software on the smartphone. 13 and ρ 14 These are the pseudorange measurement values ​​of the Beidou micro base station 13 and 14 navigation signal transmission channels connected to the two transmitting antennas installed in the corridor:

[0075]

[0076]

[0077] where r 13 and r 14 are the geometric distances between the back clip and the transmitting antenna 13 and the transmitting antenna 14, δt u is the receiver clock error, δt (s) = is the clock error of the Beidou micro base station. Since all transmission channels of the Beidou micro base station share the same clock and PLL and use the same RF cable length, the clock errors of the Beidou micro base station channels are the same.

[0078] (202) The multi-source information processing software on the smart phone calculates the current position of the back clip based on the pre-stored corridor length prior information, and constructs a solution equation based on the positions of the transmitting antenna 13 and the transmitting antenna 14 and the corridor length information:

[0079]

[0080] Where (x u ,y u ) is the horizontal two-dimensional coordinate of the back clip, (x 13 ,y 13 ) and (x 14 ,y 14 ) are the horizontal two-dimensional coordinates of the transmitting antenna 13 and the transmitting antenna 14, Lcorr is the length of the corridor minus the distance between the two transmitting antennas and the walls at both ends of the corridor, ignoring and By calculating the above equations, the horizontal two-dimensional position coordinates of the back clamp can be obtained.

[0081] (203) will (x u ,y u ) and the foot-strap inertial navigation position (x imu ,y imu ) is fused with the extended Kalman filter to obtain the final position estimate.

[0082] Step 3: When a pedestrian passes through the door between the corridor and the large indoor room, the back clip uses the Beidou micro base station signal corresponding to the three-element transmitting antenna to achieve three-element indoor exchange area positioning, and then performs fusion correction on the foot-mounted inertial navigation position.

[0083] (301) When a pedestrian passes through the door between the corridor and the large indoor room, the back clip uses the Beidou micro base station signal corresponding to the three-element transmitting antenna to obtain the satellite numbers 1, 2, and 3 and carrier phase observations of the three transmitting antenna units. in The calculation formula is as follows.

[0084]

[0085] Where λ is the wavelength of BeiDou micro base station navigation signal, r m is the position of the transmitting antenna corresponding to the m channel, r u is the location of the user receiver, δt u is the receiver clock error, δt ms is the Beidou micro base station clock error, N m is the integer ambiguity of the m-channel carrier phase observation, is the carrier phase observation error;

[0086] (302) The back clamp position is calculated based on the three-element antenna carrier phase observation. The calculation equation is as follows:

[0087]

[0088] Where Δr 2u =r 2 -r u , Δr 1u =r 1 -r u , considering that the carrier phases output by the three transmitting antennas use the same clock and the same PLL and the RF cable lengths are the same, therefore, N 21 =N 31 , δt 3s=δt 2s =δt 1s The above formula is simplified to:

[0089]

[0090] neglect and Perform Taylor series expansion and least squares on the above formula, and then the back clamp position (x u ,y u ).

[0091] (303) will (x u ,y u ) and the foot-strap inertial navigation position (x imu ,y imu ) is fused with the extended Kalman filter to obtain the final position estimate.

[0092] Step 4: When a pedestrian enters a large indoor room equipped with a six-element transmitting antenna, the backpack uses the corresponding Beidou micro base station signal to achieve indoor spatial positioning, and then sends the positioning result to the smartphone for fusion with the foot-worn inertial navigation position;

[0093] Step 5: When the pedestrian moves from a large indoor room to the building entrance, the backpack receives signals from three outdoor transmitting antennas, processes GNSS and Beidou micro base station signals, and achieves joint positioning. The positioning result is then sent to the smartphone and integrated with the foot-worn inertial navigation position.

[0094] Step 6: When the pedestrian re-enters an open outdoor area, the backpack sends the GNSS-RTK positioning results to the smartphone, which then fuses the backpack's GNSS-RTK position with the foot-worn inertial navigation position.

[0095] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Within the technical scope disclosed by the present invention, it is understood that any changes that can be imagined should be included in the scope of the present invention.

Claims

1. A multi-scenario indoor and outdoor multi-source fusion positioning system, including a foot-mounted inertial navigation system and a Beidou micro base station, characterized by: The system also includes a GNSS+Beidou micro base station back clip, a three-element transmitting antenna, a six-element transmitting antenna, two corridor transmitting antennas, three outdoor transmitting antennas, and a smartphone with multi-source information processing software installed. All transmitting antennas are connected to the Beidou micro base station via signal RF cables of the same length. The Beidou micro base station transmits BDS B1-frequency signals to indoor areas and transition areas between indoor and outdoor areas. The foot-bound inertial navigation system transmits its acquired dead reckoning position to the multi-source information processing software on the smartphone in real time via Bluetooth. In open outdoor areas, the GNSS+Beidou micro base station back clip sends the GNSS-RTK positioning results to the smartphone, which then sends the positioning results to the foot-worn inertial navigation system mounted on the instep via Bluetooth to initialize the position and orientation of the foot-worn inertial navigation system. When pedestrians enter the indoor corridor, the GNSS+Beidou micro base station back clip receives signals from the two corridor transmitting antennas to achieve dual-satellite ranging; When pedestrians pass through corridors and large indoor room doors, the GNSS+Beidou micro base station back clip uses the received signals from the three-element transmitting antenna to achieve three-element indoor positioning; When pedestrians enter a large indoor room, the GNSS+Beidou micro base station back clip uses the signal from the six-element transmitting antenna to achieve positioning in the large indoor room; When a pedestrian moves from a large indoor room to the outside of a building entrance, the GNSS+Beidou Micro Base Station Back Clip receives signals from three outdoor transmitting antennas, achieving joint positioning of GNSS and Beidou Micro Base Station signals; The multi-source information processing software receives the position information sent by the GNSS+Beidou micro base station back clip and the foot-mounted inertial navigation system, and obtains the final position estimate through extended Kalman filtering fusion. If the corridor ranging information reported by the GNSS+Beidou micro base station back clip is received, the current position of the GNSS+Beidou micro base station back clip is first calculated based on the corridor prior information, and then integrated with the foot-mounted inertial navigation position.

2. The multi-scene indoor and outdoor multi-source fusion positioning system according to claim 1 is characterized in that: The three-element transmitting antenna is composed of three transmitting antenna units, with half the wavelength of the transmitting signal between each two units. The three-element transmitting antenna is installed above the doorway between the corridor and the large indoor room. The three transmitting antenna units are kept horizontal with the ground of the building and transmit Beidou micro base station signals vertically to the ground of the building.

3. The multi-scene indoor and outdoor multi-source fusion positioning system according to claim 1 is characterized in that: The GNSS+Beidou micro base station back clip is attached to the mobile phone and includes an L-band navigation signal receiving antenna, an L-band down-conversion module, a power splitter, a GNSS navigation signal processing module, a Beidou micro base station navigation signal processing module, a microprocessor, and a USB communication module; wherein: The L-band navigation signal receiving antenna receives GNSS and Beidou micro base station navigation signals and sends them to the down-conversion module; The down-conversion module converts the received L-band navigation signal into an intermediate frequency signal and sends it to the power splitter; The power splitter divides one intermediate frequency signal into two, which are respectively connected to the GNSS navigation signal processing module and the Beidou micro base station navigation signal processing module; The GNSS navigation signal processing module realizes the capture and tracking of GNSS navigation signals, and outputs satellite number, carrier phase, pseudorange, Doppler, and position observation to the microprocessor; The BeiDou micro-base station navigation signal processing module captures and tracks BeiDou micro-base station navigation signals and outputs satellite number, carrier phase, pseudorange, Doppler, and position observations to the microprocessor; The microprocessor sends the original observations of the two modules to the USB communication module at the same time at a frequency of once per second; The USB communication module sends observation information to the 5G smartphone via a USB to Type-C data cable.

4. The multi-scene indoor and outdoor multi-source fusion positioning system according to claim 1 is characterized in that: The six elements of the six-element transmitting antenna are distributed in a hexagon and installed on the ceiling of a large indoor room. The center of the hexagon is the center of the large indoor room, and the vertical distance between the installation position of each element and the nearest wall is not less than 1 meter.

5. The multi-scene indoor and outdoor multi-source fusion positioning system according to claim 1 is characterized in that: The two corridor transmitting antennas are installed at the top of both ends of the corridor, and are not less than 30 cm away from the top and not less than 30 cm away from the wall in the horizontal direction. The two corridor transmitting antennas transmit Beidou micro base station navigation signals horizontally toward the corridor relative to each other.

6. The multi-scene indoor and outdoor multi-source fusion positioning system according to claim 1 is characterized in that: The three outdoor transmitting antennas are installed at a high position outside a room in a transition area between a large indoor room and an outdoor room, so that the signal can cover the entrance and exit areas of the indoor and outdoor transition area.

7. The multi-scene indoor and outdoor multi-source fusion positioning system according to claim 1 is characterized in that: The multi-source information processing software works as follows: When the initialization button of the multi-source information processing software is clicked, the multi-source information processing software receives the GNSS-RTK positioning results reported by the GNSS+Beidou micro base station back clip, determines whether the RTK is a fixed solution, and if so, sends it to the foot-mounted INS via Bluetooth to complete the position and direction initialization of the foot-mounted INS. Otherwise, it continues to wait for the GNSS-RTK fixed solution from the GNSS+Beidou micro base station back clip; After the foot-mounted inertial navigation system is initialized, the multi-source information processing software simultaneously receives the GNSS+Beidou micro base station back clip and foot-mounted inertial navigation data, and performs multi-source fusion to obtain a position estimate; When you click the corridor button of the multi-source information processing software, the multi-source information processing software calculates the current position based on the pseudo-range observations of the two corridor transmitting antennas reported by the GNSS+Beidou micro base station back clip and the corridor prior information. x B , and then compared with the received foot-bound inertial position x imu Perform fusion processing; When clicking the button at the door of the corridor or large indoor room, the multi-source information processing software first calculates the position of the GNSS+Beidou micro base station back clip using the hyperbola positioning method based on the Beidou micro base station signal observations of the three-element transmitting antenna reported by the GNSS+Beidou micro base station back clip. x B ， Then, with the received foot-bound inertial position x imu Perform fusion processing; When the indoor large room button is clicked, the multi-source information processing software calculates the position of the GNSS+Beidou micro base station back clip using the least squares method based on the signal observations of the six-element transmitting antenna. x B ， Then, with the received foot-bound inertial position x imu Perform fusion processing; When the button for the transition zone between the large indoor room and the outdoor area is clicked, the GNSS+Beidou micro base station back clip positioning is realized based on the signals of the three outdoor transmitting antennas and the GNSS signal, and the GNSS+Beidou micro base station back clip position is obtained. x B ， Then, with the received foot-bound inertial position x imu Perform fusion processing; When the outdoor open button is clicked, the multi-source information processing software will convert the GNSS-RTK positioning results reported by the GNSS+ Beidou micro base station back clip into x B and the received foot-bound inertial navigation position x imu Perform fusion processing.

8. A multi-scene indoor and outdoor multi-source fusion positioning method, characterized in that: The steps include: Step 1: In an open outdoor area, use the GNSS+Beidou Micro Base Station back clip to send GNSS-RTK positioning results to a smartphone. The smartphone then sends the positioning results to the foot-worn inertial navigation system via Bluetooth to initialize its position and orientation. The smartphone then simultaneously receives the position data uploaded by the GNSS+Beidou Micro Base Station back clip and the foot-worn inertial navigation system, and uses extended Kalman fusion. Step 2: When a pedestrian enters an indoor corridor, the GNSS+Beidou Micro Base Station Back Clip receives Beidou Micro Base Station navigation signals transmitted by two transmitting antennas in the corridor, performs dual-satellite ranging, and sends the ranging results to the smartphone. The smartphone calculates the current position of the GNSS+Beidou Micro Base Station Back Clip based on pre-stored corridor length prior information and then integrates it with the foot-worn inertial navigation position. Step 3: When a pedestrian passes through the doorway between the corridor and the large indoor room, the GNSS+Beidou Micro Base Station Back Clip uses the Beidou Micro Base Station signal corresponding to the three-element transmitting antenna to achieve three-element indoor positioning. The positioning result is then sent to the smartphone for fusion with the foot-worn inertial navigation position. Step 4: When a pedestrian enters a large indoor room equipped with a six-element transmitting antenna, the GNSS+Beidou Micro Base Station Back Clip uses the corresponding Beidou Micro Base Station signal to achieve indoor spatial positioning. The positioning result is then sent to the smartphone and integrated with the foot-worn inertial navigation position. Step 5: When the pedestrian moves from the large indoor room to the building entrance, the GNSS+Beidou Micro Base Station Back Clip receives signals from three outdoor transmitting antennas, achieving joint positioning of GNSS and Beidou Micro Base Station signals, and then sends the positioning result to the smartphone. The smartphone integrates the positioning result of the joint positioning of GNSS and Beidou Micro Base Station signals with the foot-bound inertial navigation position; Step 6: When the pedestrian re-enters an open outdoor area, the GNSS+Beidou Micro Base Station Back Clip sends the GNSS-RTK positioning results to the smartphone. The smartphone then fuses the obtained GNSS+Beidou Micro Base Station Back Clip GNSS-RTK position with the foot-worn inertial navigation position.

9. A multi-scene indoor and outdoor multi-source fusion positioning method according to claim 8, characterized in that: The specific method of step 2 is: (201) When pedestrians enter the indoor corridor, the GNSS+Beidou micro base station back clip receives the Beidou micro base station navigation signal from the two transmitting antennas in the corridor, achieving and Dual-star ranging, sending the ranging results to the smartphone multi-source information processing software; and These are the pseudorange measurement values ​​of the navigation signal transmission channel of the Beidou micro base station connected to the two transmitting antennas installed in the corridor: ； Where, r 13 and r 14 They are the distances from the GNSS+Beidou micro base station back clip to the two transmitting antennas, is the receiver clock error, is the Beidou micro base station clock error, ε is the pseudorange observation error; (202) The multi-source information processing software on the smartphone calculates the current position of the GNSS+Beidou micro base station back clip based on the pre-stored corridor length prior information, and constructs the solution equation based on the positions of the two transmitting antennas and the corridor length information: ； in,( x u , y u ) is the horizontal two-dimensional coordinate of the GNSS+Beidou micro base station back clip, ( x 13 , y 13 )and( x 14 , y 14 ) are the horizontal two-dimensional coordinates of the two transmitting antennas, L corr is the length of the corridor minus the distance between the two transmitting antennas and the walls at both ends of the corridor, ignoring and ,The transmitting antenna positions connected to all transmitting channels of Beidou micro base station have been pre-calibrated. ,The above equations are calculated to obtain the horizontal two-dimensional position coordinates of GNSS+ Beidou micro base station ,back clip; (203) x u , y u ) and foot-strap inertial navigation position ( x imu , y imu ) is fused with the extended Kalman filter to obtain the final position estimate.

10. The multi-scene indoor and outdoor multi-source fusion positioning method according to claim 8, characterized in that: The specific method of step 3 is: (301) When a pedestrian passes through the door between the corridor and the large indoor room, the GNSS+Beidou micro base station back clip uses the Beidou micro base station signal corresponding to the three-element transmitting antenna to obtain the satellite numbers and carrier phase observations of the three transmitting antenna units. 、 、 ,in The calculation formula is as follows: ； in, is the wavelength of Beidou micro base station navigation signal, r m yes m The channel corresponds to the position of the transmitting antenna, r u is the location of the user receiver, is the receiver clock error, is the Beidou micro base station clock error, N m yes m Channel carrier phase observation integer ambiguity, is the carrier phase observation error; (302) The position of the GNSS+Beidou micro base station back clip is calculated based on the three-element antenna carrier phase observation. The calculation equation is as follows: ； in, , , considering that the carrier phases output by the three transmitting antennas use the same clock and the same PLL and the RF cable lengths are the same, therefore, , The above formula is simplified to: ； neglect and , Taylor series expansion and least squares are performed on the above formula to solve the GNSS+Beidou micro base station back clamp position ( x u , y u ); (303) x u , y u ) and foot-strap inertial navigation position ( x imu , y imu ) is fused with the extended Kalman filter to obtain the final position estimate.

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