Indoor positioning method, equipment and product

Abstract

The present application provides an indoor positioning method, device and product, which relates to the field of satellite positioning technology. The indoor positioning method includes: obtaining satellite information transmitted by an outdoor unit, the satellite information including navigation messages and time parameters; generating a target navigation message and obtaining a first signal delay based on the satellite information and its own position information; generating a satellite navigation signal based on the target navigation message and the first signal delay, sending the satellite navigation signal to the terminal so that the terminal determines that the satellite navigation signal comes from an indoor base station, obtaining the position information of the indoor base station, and performing indoor positioning based on the position information and the satellite navigation signal. The embodiment of the present application can achieve seamless switching between indoor positioning and outdoor positioning without changing the hardware structure of the terminal, effectively reducing the positioning cost of the terminal and expanding the application scope of indoor positioning.

Description

Technical Field

[0001] The present application relates to the field of satellite positioning technology, and more specifically, to an indoor positioning method, device and product. Background Art

[0002] At present, the positioning method based on the global satellite navigation system has basically met people's positioning and navigation needs in outdoor environments. However, most human activities are carried out indoors, underground, and in other environments that block satellite signals, making it difficult to receive satellite signals and use satellite signals for positioning. With the increasing demand for indoor intelligent location services such as automatic parking and emergency rescue, there is an urgent need to achieve rapid indoor and outdoor positioning.

[0003] The current indoor positioning system generally uses indoor beacons for positioning through arrival time (TOA). However, the radio frequency band used by this positioning method is different from that of satellite signals, which means that the terminal using this positioning method needs to change its own hardware equipment. For example, in addition to setting up the hardware for receiving satellite signals, it is also necessary to set up the hardware corresponding to the radio frequency band, which increases the positioning cost and limits the application scope of indoor positioning. Summary of the invention

[0004] The embodiments of the present application provide an indoor positioning method, device and product, which can solve the problem that the existing indoor positioning method needs to change the hardware equipment of the terminal, increase the hardware cost and positioning cost, and limit the application scope of indoor positioning. In order to achieve this purpose, the embodiments of the present application provide the following solutions.

[0005] According to one aspect of an embodiment of the present application, an indoor positioning method is provided, which is used for an indoor base station connected to a terminal, and the method includes:

[0006] Acquire satellite information transmitted by the outdoor unit, wherein the satellite information includes navigation messages and time parameters;

[0007] Generate a target navigation message and obtain a first signal delay according to the satellite information and its own position information;

[0008] A satellite navigation signal is generated based on the target navigation message and the first signal delay, and the satellite navigation signal is sent to a terminal so that the terminal determines that the satellite navigation signal comes from an indoor base station, obtains the position information of the indoor base station, and performs indoor positioning based on the position information and the satellite navigation signal, wherein the satellite navigation signal includes information indicating that it is transmitted from the indoor base station.

[0009] In a possible implementation, the indoor base station is connected to the outdoor unit via a coaxial cable, and the step of acquiring satellite information transmitted by the outdoor unit includes:

[0010] The outdoor unit is connected to receive the navigation message and time parameters transmitted by the outdoor unit, wherein the navigation message and time parameters are extracted by the outdoor unit from the collected satellite signals.

[0011] In a possible implementation, generating a target navigation message according to the satellite information and the own position information includes:

[0012] The target navigation message is compiled based on the satellite information, a flag bit in the target navigation message is set to a preset mode, and the position information is modulated into the target navigation message, wherein the preset mode includes an indoor mode.

[0013] In a possible implementation, obtaining the first signal delay includes:

[0014] Acquire the position information of the satellite according to the navigation message, and determine the first pseudorange based on the position information of the satellite, the own position information and the navigation message;

[0015] A first signal delay is acquired according to the first pseudorange.

[0016] In a possible implementation, the generating a satellite navigation signal based on the target navigation message and the first signal delay includes:

[0017] Acquire a ranging code and a Doppler frequency shift parameter, and modulate the ranging code and the target navigation message according to the Doppler frequency shift parameter and the first signal delay to obtain a satellite navigation signal;

[0018] The satellite navigation signal is transmitted.

[0019] In a possible implementation manner, obtaining the Doppler frequency shift parameter includes:

[0020] Acquire the speed of the satellite, and determine the relative speed between the satellite and the satellite based on the speed of the satellite;

[0021] The Doppler shift parameter is calculated according to the relative speed.

[0022] According to one aspect of an embodiment of the present application, there is provided an indoor positioning method for a terminal connected to an indoor base station, the method comprising:

[0023] Receive a satellite navigation signal, the satellite navigation signal includes satellite information transmitted by an outdoor unit acquired by an indoor base station, generate a target navigation message and acquire a first signal delay according to the satellite information and its own position information, and generate a signal based on the target navigation message and the first signal delay, the satellite information includes a navigation message and a time parameter;

[0024] If it is determined that the satellite navigation signal comes from an indoor base station, the location information of the indoor base station is acquired, and indoor positioning is performed according to the location information and the satellite navigation signal.

[0025] In a possible implementation, performing indoor positioning according to the position information and the satellite navigation signal includes:

[0026] Acquire a second signal time delay according to the satellite navigation signal, calculate a second pseudorange based on the second signal time delay, and determine a first pseudorange through the position information and the satellite navigation signal;

[0027] The distance between the terminal and the indoor base station is determined according to the second pseudorange and the first pseudorange, and indoor positioning is performed based on the distance.

[0028] According to one aspect of an embodiment of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the steps of the method described above.

[0029] According to one aspect of an embodiment of the present application, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described above are implemented.

[0030] According to one aspect of an embodiment of the present application, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps of the method described above are implemented.

[0031] The beneficial effects of the technical solution provided by the embodiment of the present application are:

[0032] The indoor positioning method provided by the present application obtains satellite information transmitted by an outdoor unit; generates a target navigation message and obtains a first signal delay based on the satellite information and its own position information; generates a satellite navigation signal based on the target navigation message and the first signal delay, and sends the satellite navigation signal to a terminal so that the terminal determines that the satellite navigation signal comes from an indoor base station, obtains the position information of the indoor base station, and performs indoor positioning based on the position information and the satellite navigation signal. The embodiment of the present application can transmit a satellite navigation signal for positioning through an indoor base station, so that the terminal can perform indoor positioning based on the satellite navigation signal, and can achieve seamless switching between indoor and outdoor positioning without changing the hardware structure of the terminal, effectively reducing the positioning cost of the terminal and expanding the application scope of indoor positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in describing the embodiments of the present application.

[0034] Figure 1 A flowchart of an indoor positioning method for an indoor base station provided in an embodiment of the present application;

[0035] Figure 2 A flowchart of the indoor positioning method provided in the embodiment of the present application;

[0036] Figure 3 A flowchart of an indoor positioning method for a terminal provided in an embodiment of the present application;

[0037] Figure 4 A structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] The embodiments of the present application are described below in conjunction with the drawings in the present application. It should be understood that the implementation methods described below in conjunction with the drawings are exemplary descriptions for explaining the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions of the embodiments of the present application.

[0039] It will be understood by those skilled in the art that, unless specifically stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the terms "including" and "comprising" used in the embodiments of the present application refer to that the corresponding features can be implemented as the presented features, information, data, steps, operations, elements and / or components, but do not exclude the implementation of other features, information, data, steps, operations, elements, components and / or combinations thereof supported by the present technical field. It should be understood that when we say that an element is "connected" or "coupled" to another element, the one element may be directly connected or coupled to the other element, or it may refer to that the one element and the other element establish a connection relationship through an intermediate element. In addition, the "connection" or "coupling" used herein may include wireless connection or wireless coupling. The term "and / or" used herein indicates at least one of the items defined by the term, for example, "A and / or B" indicates that it is implemented as "A", or is implemented as "A", or is implemented as "A and B".

[0040] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0041] The following describes several exemplary embodiments to illustrate the technical solutions of the embodiments of the present application and the technical effects produced by the technical solutions of the present application. It should be noted that the following embodiments can refer to, draw on or combine with each other, and the same terms, similar features and similar implementation steps in different embodiments will not be described repeatedly.

[0042] The indoor positioning method, device and product provided in this application are intended to solve at least one technical problem existing in the prior art.

[0043] An indoor positioning method is provided in an embodiment of the present application. The method can be used for an indoor base station, which is connected to an outdoor unit capable of collecting satellite signals, and generates a satellite navigation signal based on the satellite information transmitted by the outdoor unit for positioning a terminal that receives the satellite navigation signal.

[0044] Optionally, the outdoor unit may be an outdoor satellite signal acquisition station, which is arranged in an area where satellite signals are not blocked so as to facilitate the acquisition of satellite signals.

[0045] Optionally, in order to achieve time synchronization between the outdoor unit and the indoor base station, the outdoor unit can be connected to the indoor base station via a coaxial cable, and the coaxial cable is used to achieve data transmission between the two.

[0046] Alternatively, if Figure 1 , Figure 2 As shown, the indoor positioning method includes:

[0047] S101: Acquire satellite information transmitted by the outdoor unit.

[0048] Optionally, the satellite information includes navigation messages and time parameters, wherein the navigation message may include data such as ephemeris, almanac, ionospheric model parameters, and time correction values. Specifically, the ephemeris is the orbital parameter in the satellite message that indicates the precise position of the satellite, which can provide information for calculating the satellite's motion position. The almanac is the rough orbital parameter of all satellites in orbit in the satellite navigation message, which helps to shorten the capture time of the navigation signal. Navigation service parameters refer to parameters such as satellite identifier, data period number, navigation data validity, and signal health status. The time correction value is used to correct the satellite clock, which can be the three coefficients of the satellite clock model correction model. The time parameter is used as the starting time of the signal simulation of the indoor base station.

[0049] Optionally, obtaining satellite information transmitted by the outdoor unit includes: connecting to the outdoor unit, receiving a navigation message and time parameters transmitted by the outdoor unit, wherein the navigation message and time parameters are extracted by the outdoor unit from collected satellite signals.

[0050] In one embodiment, the outdoor unit is deployed outdoors and the indoor base station is set up indoors. The two are connected by a coaxial cable. The outdoor unit collects GNSS satellite signals within the visible range, extracts navigation messages and time parameters from the collected satellite signals, and transmits the navigation messages and time parameters to the indoor base station.

[0051] Optionally, there may be multiple indoor base stations, which are arranged at different locations indoors, and the multiple indoor base stations may be connected to the same outdoor unit and obtain the navigation message and time parameters transmitted by the outdoor unit at the same time.

[0052] S102: Generate a target navigation message and obtain a first signal delay according to satellite information and its own position information.

[0053] Optionally, a target navigation message is generated according to satellite information and its own position information, including: compiling a target navigation message based on satellite information, setting a flag in the target navigation message to a preset mode, and modulating the position information into the target navigation message, wherein the preset mode includes an indoor mode.

[0054] Optionally, the location information of the indoor base station may be pre-stored in the indoor unit, and the location information is obtained by engineering measurement. For example, after indoor BIM modeling, the location of each indoor base station is obtained by position simulation measurement according to the modeling results.

[0055] In one embodiment, the compiled target navigation message may include navigation message information, and when compiled, a flag bit of the target navigation message is used to indicate that the current mode is the indoor mode. The position of the indoor base station is modulated into the target navigation message.

[0056] Optionally, the first signal delay is a signal delay when the satellite signal reaches the indoor base station. Obtaining the first signal delay includes: obtaining satellite position information according to the navigation message, determining a first pseudorange based on the satellite position information, its own position information and the navigation message; and obtaining the first signal delay according to the first pseudorange.

[0057] In one embodiment, an ionosphere model, a troposphere model and other models that affect satellite signal transmission are obtained, and parameters that affect satellite signal transmission are determined based on the models. A first pseudorange related to the distance between the indoor base station and the satellite is calculated by combining the parameters, the satellite's position information and the indoor base station's position information. The first pseudorange is divided by the electromagnetic wave transmission speed to obtain a first signal delay.

[0058] Alternatively, we can also use the formula ρ 伪 =ρ+c(δt+δT)+δ to calculate pseudorange, where ρ 伪 represents the first pseudorange, c represents the speed of light, δt represents the error correction of the satellite clock relative to the GPS time, δT represents the error correction of the indoor base station clock relative to the GPS time, and δI represents the delay correction of the signal propagating in the atmosphere.

[0059] S103: Generate a satellite navigation signal based on the target navigation message and the first signal delay, send the satellite navigation signal to the terminal so that when the terminal determines that the satellite navigation signal comes from the indoor base station, obtain the location information of the indoor base station, and perform indoor positioning based on the location information and the satellite navigation signal.

[0060] Optionally, the satellite navigation signal includes information indicating that it is transmitted from an indoor base station, and the information may be stored in the target navigation message. Specifically, the information of the flag bit of the target navigation message may be used to indicate that it is transmitted from an indoor base station. For example, the flag bit of the target navigation message is set to "indoor mode" to indicate that the satellite navigation signal is transmitted from an indoor base station. When the terminal determines that the flag bit is "indoor mode", it determines that the received satellite navigation signal comes from an indoor base station.

[0061] Optionally, the redundant bits in the target navigation message can be used as flag bits to set an indoor signal source flag so that the terminal can quickly confirm that the signal comes from an indoor base station after receiving the satellite navigation signal.

[0062] Optionally, generating a satellite navigation signal based on a target navigation message and a first signal delay includes: acquiring a ranging code and a Doppler frequency shift parameter, modulating the ranging code and the target navigation message according to the Doppler frequency shift parameter and the first signal delay to obtain a satellite navigation signal; and sending the satellite navigation signal.

[0063] Optionally, the modulation process includes spread spectrum modulation and carrier adjustment, and the specific processes of the carrier modulation and spread spectrum modulation can be consistent with the modulation processing operations of existing satellites.

[0064] Optionally, the ranging code is a PN code (a binary code sequence used to measure the distance from the satellite to the receiver, which is a pseudo-random noise code), which can be obtained by the outdoor unit from the satellite signal and transmitted to the indoor base station.

[0065] Optionally, when acquiring the ranging code and Doppler parameters, the cumulative error caused by digital truncation may be acquired according to a digital truncation process related to the satellite signal, and error compensation may be performed on the target navigation message according to the cumulative error.

[0066] Optionally, obtaining the Doppler frequency shift parameter includes: obtaining the speed of the satellite, determining the relative speed between the satellite and itself based on the speed of the satellite; and calculating the Doppler frequency shift parameter according to the relative speed.

[0067] Optionally, the satellite speed can be obtained according to the navigation message, and the relative speed between the indoor base station and the satellite can be calculated according to the location of the indoor base station, the rotation information of the earth and the speed of the satellite, and the Doppler frequency shift parameter can be calculated based on the relative speed using the Doppler frequency shift calculation formula.

[0068] Optionally, after obtaining the Doppler frequency shift parameter, the ranging code and the target navigation message are processed according to the format of the satellite signal, and the processed ranging code and the target navigation message are subjected to spread spectrum modulation and carrier modulation according to the first signal delay and the Doppler frequency shift parameter to obtain a satellite navigation signal. The setting of the flag bit in the target navigation message and the addition of the indoor base station location information can be performed during the modulation process.

[0069] Optionally, after obtaining the satellite navigation signal, the satellite navigation signal is subjected to high D / A digital-to-analog conversion and up-conversion processing to form a high-dynamic satellite navigation signal for external broadcasting. The terminal can receive the high-dynamic satellite navigation signal by receiving satellite signals.

[0070] Optionally, after receiving the satellite navigation signal, the terminal obtains the target navigation message in the satellite navigation signal, and determines the source of the received signal through the target navigation message. If it is determined to be from a satellite, outdoor positioning is performed according to a satellite-related positioning method. If it is determined to be from an indoor base station, the location information of the indoor base station is obtained through the target navigation message, and positioning is performed according to the location information.

[0071] Optionally, indoor positioning is performed based on the location information and the satellite navigation signal, including: obtaining a second signal delay based on the satellite navigation signal, calculating a second pseudorange based on the second signal delay, and determining a first pseudorange through the location information and the satellite navigation signal; determining the distance between the terminal and the indoor base station based on the second pseudorange and the first pseudorange, and performing indoor positioning based on the distance.

[0072] Optionally, after obtaining the distance between the terminal and the indoor base station, the distance can be input into a calculation formula related to GPS position solution (such as a set of simultaneous equations for positioning solution), and the calculation formula is used to perform positioning solution to obtain the terminal's position.

[0073] In one embodiment, the number of indoor base stations may be 4, and the terminal may be a user terminal. When the user terminal receives the satellite navigation signal transmitted by the indoor base station, it first resolves the target navigation message in the satellite navigation signal to determine that it comes from the indoor base station, obtains the accurate coordinates of the indoor base station, and infers the position of the satellite based on the coordinates and the target navigation message. The second signal delay is obtained according to the target navigation signal, and the second pseudo-range P of the user terminal (P=the distance from the satellite to the indoor base station+the distance from the user terminal to the indoor base station) is calculated based on the second signal delay, and the first pseudo-range P1 between the satellite and the indoor base station is calculated in combination with the coordinates of the indoor base station, and the distance between the user terminal and the indoor base station is recorded as P2, then P=P1+P2. Since P and P1 are known, the value of P2, that is, the distance between the user terminal and the indoor base station, can be inferred. Since the clock difference between the outdoor unit and the satellite navigation system has been solved in the solution process, and there is no clock difference between the indoor base station and the outdoor unit, the distance between the user terminal and the four indoor base stations can be calculated, and the four parameters X, Y, Z and t can be effectively solved based on the distance, among which X, Y, Z refer to the position information of the user terminal in the three-dimensional coordinate system, and t is the clock difference. The positioning solution process is completed.

[0074] Optionally, the terminal may pre-store the calculation process information corresponding to outdoor and indoor. The terminal detects the current environment according to the received signal. If it is determined to be indoors, the terminal calls the corresponding calculation process information based on the received signal to perform positioning solution to achieve indoor positioning. If it is determined to be outdoor, the terminal calls the corresponding calculation process information based on the received signal to perform positioning solution to achieve outdoor positioning.

[0075] This application can achieve seamless switching between indoor and outdoor positioning without changing the hardware equipment of the existing user terminal (after entering the room, once the indoor signal is received, it will automatically switch to indoor mode. Considering the homology of indoor and outdoor signals, there is no cold start problem and the switching can be completed quickly), which can effectively reduce the positioning cost.

[0076] According to one aspect of an embodiment of the present application, an indoor positioning method is provided for a terminal connected to an indoor base station.

[0077] Optionally, the terminal may be a mobile phone, a smart watch, a tablet computer, or other devices capable of receiving satellite signals and using satellite signals for positioning.

[0078] like Figure 3 As shown, the indoor positioning method includes:

[0079] S201: Receive a satellite navigation signal, where the satellite navigation signal includes the indoor base station acquiring satellite information transmitted by the outdoor unit, generating a target navigation message and acquiring a first signal delay based on the satellite information and its own position information, and generating a signal based on the target navigation message and the first signal delay.

[0080] Optionally, the satellite information includes navigation messages and time parameters.

[0081] S202: If it is determined that the satellite navigation signal comes from an indoor base station, the location information of the indoor base station is obtained, and indoor positioning is performed according to the location information and the satellite navigation signal.

[0082] Optionally, the indoor base station is connected to the outdoor unit via a coaxial cable, and the indoor base station obtains satellite information transmitted by the outdoor unit, including: connecting to the outdoor unit, receiving navigation messages and time parameters transmitted by the outdoor unit, the navigation messages and the time parameters are extracted by the outdoor unit from the collected satellite signals.

[0083] Optionally, a target navigation message is generated according to satellite information and its own position information, including: compiling a target navigation message based on satellite information, setting a flag in the target navigation message to a preset mode, and modulating the position information into the target navigation message, wherein the preset mode includes an indoor mode.

[0084] Optionally, obtaining the first signal delay includes: obtaining position information of the satellite according to the navigation message, determining a first pseudorange based on the satellite position information, its own position information and the navigation message; and obtaining the first signal delay according to the first pseudorange.

[0085] Optionally, generating a satellite navigation signal based on a target navigation message and a first signal delay includes: acquiring a ranging code and a Doppler frequency shift parameter, modulating the ranging code and the target navigation message according to the Doppler frequency shift parameter and the first signal delay to obtain a satellite navigation signal; and sending the satellite navigation signal.

[0086] Optionally, obtaining the Doppler frequency shift parameter includes: obtaining a speed of the satellite, determining a relative speed between the indoor reference and the satellite based on the speed of the satellite; and calculating the Doppler frequency shift parameter according to the relative speed.

[0087] Optionally, indoor positioning is performed based on the location information and the satellite navigation signal, including: obtaining a second signal delay based on the satellite navigation signal, calculating a second pseudorange based on the second signal delay, and determining a first pseudorange through the location information and the satellite navigation signal; determining the distance between the terminal and the indoor base station based on the second pseudorange and the first pseudorange, and performing indoor positioning based on the distance.

[0088] In an optional embodiment, an electronic device is provided, such as Figure 4 As shown, Figure 4The electronic device 4000 shown includes: a processor 4001 and a memory 4003. The processor 4001 and the memory 4003 are connected, such as through a bus 4002. Optionally, the electronic device 4000 may also include a transceiver 4004, which may be used for data interaction between the electronic device and other electronic devices, such as data transmission and / or data reception. It should be noted that in actual applications, the transceiver 4004 is not limited to one, and the structure of the electronic device 4000 does not constitute a limitation on the embodiments of the present application.

[0089] Processor 4001 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 4001 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0090] The bus 4002 may include a path to transmit information between the above components. The bus 4002 may be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus. The bus 4002 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0091] Memory 4003 can be ROM (Read Only Memory) or other types of static storage devices that can store static information and instructions, RAM (Random Access Memory) or other types of dynamic storage devices that can store information and instructions, or it can be EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disk storage, optical disk storage (including compressed optical disk, laser disc, optical disk, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage medium, other magnetic storage devices or any other medium that can be used to carry or store computer programs and can be read by a computer, without limitation here.

[0092] The memory 4003 is used to store the computer program for executing the embodiment of the present application, and the execution is controlled by the processor 4001. The processor 4001 is used to execute the computer program stored in the memory 4003 to implement the steps shown in the above method embodiment.

[0093] Among them, the electronic device can be any electronic product that can interact with an object, such as a personal computer, a tablet computer, a smart phone, a personal digital assistant (PDA), a game console, an interactive network television (IPTV), a smart wearable device, etc.

[0094] The electronic device may also include a network device and / or an object device, wherein the network device includes, but is not limited to, a single network server, a server group consisting of multiple network servers, or a cloud consisting of a large number of hosts or network servers for cloud computing.

[0095] The network where the electronic device is located includes but is not limited to the Internet, a wide area network, a metropolitan area network, a local area network, a virtual private network (Virtual Private Network, VPN), etc.

[0096] An embodiment of the present application provides a computer-readable storage medium, which includes a computer program. When the computer program is executed by a processor, the steps and corresponding contents of the aforementioned method embodiment can be implemented.

[0097] An embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the steps and corresponding contents of the aforementioned method embodiment can be implemented.

[0098] The terms "first", "second", "third", "fourth", "1", "2", etc. (if any) in the specification and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that shown or described in the drawings.

[0099] It should be understood that, although each operation step is indicated by arrows in the flowchart of the embodiment of the present application, the implementation order of these steps is not limited to the order indicated by the arrows. Unless clearly stated herein, in some implementation scenarios of the embodiment of the present application, the implementation steps in each flowchart can be performed in other orders according to demand. In addition, some or all of the steps in each flowchart are used for actual implementation scenarios, and may include multiple sub-steps or multiple stages. Some or all of these sub-steps or stages can be executed at the same time, and each sub-step or stage in these sub-steps or stages can also be executed at different times respectively. In different scenarios at the execution time, the execution order of these sub-steps or stages can be flexibly configured according to demand, and the embodiment of the present application does not limit this.

[0100] The above is only an optional implementation method for some implementation scenarios of the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the technical concept of the solution of the present application, other similar implementation means used for the technical ideas of the present application also fall within the protection scope of the embodiments of the present application.

Claims

1. An indoor positioning method, characterized in that: An indoor base station for connecting to a terminal, the method comprising: Acquire satellite information transmitted by the outdoor unit, wherein the satellite information includes navigation messages and time parameters; Generate a target navigation message and obtain a first signal delay according to the satellite information and its own position information, wherein the target navigation message includes the navigation message in the satellite information, the position of the indoor base station, and a flag indicating that the current flag is an indoor mode; The acquiring of the first signal delay includes: By formula =ρ+c(δt+δT)+δCalculate the first pseudorange, where, represents the first pseudorange, c represents the speed of light, δt represents the error correction of the satellite clock relative to the GPS time, δT represents the error correction of the indoor base station clock relative to the GPS time, and δ represents the delay correction of the signal propagating in the atmosphere; Obtaining a first signal delay by dividing the first pseudorange by the electromagnetic wave transmission speed; generating a satellite navigation signal based on the target navigation message and the first signal delay, sending the satellite navigation signal to a terminal so that the terminal determines that the satellite navigation signal comes from an indoor base station, obtaining location information of the indoor base station, and performing indoor positioning according to the location information and the satellite navigation signal, wherein the satellite navigation signal includes the target navigation message and information indicating that the satellite navigation signal is transmitted from the indoor base station; The indoor positioning according to the position information and the satellite navigation signal includes: the terminal obtains a second signal delay according to the satellite navigation signal received by the terminal, calculates a second pseudorange based on the second signal delay, and determines a first pseudorange through the position information of the indoor base station and the satellite position information in the target navigation message; and determines the distance between the terminal and the indoor base station according to the second pseudorange and the first pseudorange.

2. The indoor positioning method according to claim 1, characterized in that: The indoor base station is connected to the outdoor unit via a coaxial cable, and the obtaining of satellite information transmitted by the outdoor unit includes: The outdoor unit is connected to receive the navigation message and time parameters transmitted by the outdoor unit, wherein the navigation message and time parameters are extracted by the outdoor unit from the collected satellite signals.

3. The indoor positioning method according to claim 1, characterized in that: The generating of the target navigation message according to the satellite information and the own position information comprises: The target navigation message is compiled based on the satellite information, a flag bit in the target navigation message is set to a preset mode, and the position information is modulated into the target navigation message, wherein the preset mode includes an indoor mode.

4. The indoor positioning method according to claim 2, characterized in that: The first signal delay is obtained, including: Acquire the position information of the satellite according to the navigation message, and determine the first pseudorange based on the position information of the satellite, the own position information and the navigation message; A first signal delay is acquired according to the first pseudorange.

5. The indoor positioning method according to claim 1, characterized in that: The generating a satellite navigation signal based on the target navigation message and the first signal delay comprises: Acquire a ranging code and a Doppler frequency shift parameter, and modulate the ranging code and the target navigation message according to the Doppler frequency shift parameter and the first signal delay to obtain a satellite navigation signal; The satellite navigation signal is transmitted.

6. The indoor positioning method according to claim 5, characterized in that: Acquiring the Doppler frequency shift parameter includes: Acquire the speed of the satellite, and determine the relative speed between the satellite and the satellite based on the speed of the satellite; The Doppler shift parameter is calculated according to the relative speed.

7. An indoor positioning method, characterized in that: A terminal for connecting to an indoor base station, the method comprising: Receive a satellite navigation signal, wherein the satellite navigation signal is satellite information transmitted by an outdoor unit obtained by an indoor base station, generate a target navigation message and obtain a first signal delay according to the satellite information and its own position information, and generate a signal based on the target navigation message and the first signal delay, wherein the satellite information includes a navigation message and a time parameter, the satellite navigation signal includes the target navigation message, and the target navigation message includes the navigation message in the satellite information and the position of the indoor base station; The acquiring of the first signal delay includes: By formula =ρ+c(δt+δT)+δCalculate the first pseudorange, where, represents the first pseudorange, c represents the speed of light, δt represents the error correction of the satellite clock relative to the GPS time, δT represents the error correction of the indoor base station clock relative to the GPS time, and δ represents the delay correction of the signal propagating in the atmosphere; Obtaining a first signal delay by dividing the first pseudorange by the electromagnetic wave transmission speed; If it is determined that the satellite navigation signal comes from an indoor base station, obtaining location information of the indoor base station; Performing indoor positioning according to the location information and the satellite navigation signal includes: A second signal delay is obtained according to the satellite navigation signal received by the terminal, a second pseudorange is calculated based on the second signal delay, and a first pseudorange is determined through the position information of the indoor base station and the satellite position information in the target navigation message; and a distance between the terminal and the indoor base station is determined according to the second pseudorange and the first pseudorange.

8. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the steps of the method according to any one of claims 1 to 7.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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