Indoor and outdoor integrated fusion positioning product based on ad hoc network and management system thereof

Abstract

The invention discloses an ad hoc network-based indoor and outdoor integrated fusion positioning product and management system, and relates to the technical field of positioning, and the product comprises a positioning terminal and a plurality of indoor nodes. The positioning terminal comprises an ad hoc network module and a fusion processor; wherein the ad hoc network module receives indoor node signals and performs ad hoc network to obtain a positioning network; the fusion processor receives the satellite signal and / or the positioning network node signal, and performs positioning according to the indoor node signal and / or the positioning network node signal to obtain position information; a fusion positioning algorithm is loaded in the fusion processor, and an optimal signal is dynamically selected for positioning. According to the invention, high-precision positioning and corresponding management of indoor and outdoor seamless switching can be realized, and the positioning precision and the user experience are improved.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and more specifically to an indoor and outdoor integrated positioning product based on a self-organizing network and a management system thereof. Background Art

[0002] At present, with the development of Internet of Things (IoT) and wireless communication technology, indoor and outdoor positioning technologies have been widely used, and the demand for continuous indoor and outdoor positioning is also increasing. There are large differences between traditional indoor positioning technology and outdoor positioning technology in terms of accuracy, coverage and interoperability. Outdoor positioning technology such as GPS is limited in indoor environments, while indoor positioning technologies such as Bluetooth beacons and Wi-Fi positioning cannot provide accurate location information in outdoor environments. In addition, the existing technology usually requires manual configuration when switching indoor and outdoor positioning modes, and seamless switching cannot be achieved.

[0003] Therefore, how to provide stable and high-precision location services in both indoor and outdoor environments is an urgent problem that technical personnel in this field need to solve. Summary of the invention

[0004] In view of this, the present invention provides an indoor and outdoor integrated fusion positioning product based on a self-organizing network and a management system thereof, which realizes high-precision positioning and corresponding management with seamless switching between indoor and outdoor based on the self-organizing network (SON) technology, can automatically identify the user's environment, and intelligently select the appropriate positioning method to improve positioning accuracy and user experience.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] Indoor and outdoor integrated positioning products based on ad hoc networks, including positioning terminals and several indoor nodes;

[0007] The positioning terminal includes a self-organizing network module and a fusion processor; wherein the self-organizing network module receives indoor node signals and performs self-organizing network to obtain a positioning network; the fusion processor receives satellite signals and / or positioning network node signals, and performs positioning according to the indoor node signals and / or positioning network node signals to obtain location information;

[0008] The fusion processor is loaded with a fusion positioning algorithm, which dynamically selects the optimal signal for positioning.

[0009] The technical effect of the above technical solution is that the self-organizing network module selects the self-organizing network positioning network, performs positioning calculations based on the node signals of the positioning network, allows nodes to cooperate with each other, forms a network through self-organization of wireless communications, and improves indoor positioning accuracy; the fusion positioning algorithm can dynamically select the optimal positioning method according to the user's current location and environmental conditions, and can smoothly switch between different positioning technologies to ensure continuous and stable positioning services.

[0010] Preferably, the self-organizing network module communicates with the indoor nodes, automatically assigns an IP to each indoor node, and generates a neighbor list for each indoor node. The self-organizing network module selects the neighbor list of the corresponding indoor node according to the signal strength of the indoor node to generate a positioning network; each indoor node periodically sends broadcast packets and listens to the broadcast packets of other indoor nodes, searches for neighbor nodes and generates a neighbor list based on the broadcast packets, and the broadcast packets include IP, key, authentication mechanism, service set identifier and channel, etc.; the neighbor list of each indoor node records the information of all discovered neighbor nodes.

[0011] Preferably, the fusion processor performs positioning calculations based on the type of received signals and the set positioning rules; if only satellite signals are received, a multi-reference station positioning algorithm is used to perform positioning calculations based on the satellite signals to obtain position information; if only positioning network node signals are received, positioning calculations are performed based on the indoor positioning algorithm to obtain position information; if both satellite signals and positioning network node signals are received at the same time, a trajectory fusion positioning method is used to perform positioning calculations to obtain position information.

[0012] Preferably, the multi-reference station positioning algorithm is to calculate the pseudo-range correction values ​​of multiple reference stations, interpolate the pseudo-range correction values ​​using the inverse distance weighted method, correct the pseudo-range equation from the positioning terminal to the satellite, realize pseudo-range differential positioning, and obtain position information; the specific steps include:

[0013] The pseudorange observation equation from satellite j to base station i is:

[0014]

[0015] in, Pseudorange from satellite j to reference station i; represents the geometric distance from satellite j to base station i; (X j , Y j , Z j ) is the coordinate of satellite j; (X i , Y i , Z i ) is the coordinate of base station i; t i is the base station receiver clock error; t j is the satellite clock error, T j i ,Ij i are the ionospheric refraction correction and tropospheric refraction correction of satellite j at base station i, respectively; ε i is the pseudorange observation noise of the reference station; c is the speed of light;

[0016] Pseudorange correction value of base station i for satellite j for:

[0017]

[0018] According to the pseudo-range correction value of base station i to satellite j and the distance between the positioning terminal and base station i, the positioning pseudo-range correction value of the positioning terminal to satellite j is interpolated by inverse distance weighted interpolation It is expressed as:

[0019]

[0020] Among them, d i Indicates the distance from the base station to the positioning terminal; (X M , Y M , Z M ) is the coordinate of the positioning terminal M; m represents the number of reference stations;

[0021] Substitute the positioning pseudorange correction value into the pseudorange equation of the positioning terminal for satellite j to obtain the pseudorange observation value D from the positioning terminal to satellite j, which is expressed as:

[0022]

[0023] Among them, ρ j represents the pseudorange from positioning terminal M to satellite j; represents the positioning pseudorange correction value of the positioning terminal M to the satellite j; t M represents the positioning terminal receiver clock error, ε M represents the pseudorange observation noise;

[0024] The initial value of the positioning point is estimated by the Chan algorithm, and the Taylor expansion is performed on the simultaneous formulas of pseudo-range observation values ​​D corresponding to multiple satellites to the positioning terminal at the initial value. The Taylor algorithm is iterated cyclically to obtain the coordinates of the positioning terminal and the location information.

[0025] Preferably, the steps of performing positioning calculation using the trajectory fusion positioning method include:

[0026] Receive satellite signals and obtain predicted trajectories according to trajectory prediction models;

[0027] Receive the positioning network node signal, use the indoor positioning algorithm to obtain the current indoor coordinates, and convert the current indoor coordinates to the actual rectangular coordinate system of the positioning terminal to obtain the current actual coordinate point. Set the radius to make a positioning circle with the current actual coordinate point as the center of the circle;

[0028] Determine whether the predicted trajectory and the positioning circle intersect; if they do not intersect, determine the number of satellite signals. If the number of signals is less than or equal to the set threshold, use the indoor positioning algorithm to calculate the positioning information based on the positioning network node signal, otherwise determine the position information based on the predicted trajectory; if they intersect, select the trajectory point on the predicted trajectory that is closest to the center of the positioning circle to obtain the position information.

[0029] Preferably, the trajectory prediction model can adopt the GM (1,1) grey prediction model, which is expressed as:

[0030]

[0031] X (0) ={X (0) (1),X (0) (2), …, X (0) (n)}

[0032]

[0033] X (1) ={X (1) (1),X (1) (2),…,X (1) (n)}

[0034] in, To predict trajectory points, a time series of predicted trajectory points constitutes a predicted trajectory; is the cumulative forecast value, k represents the time series X (0) The kth observation among the n observations of X (1) is the time series generated by accumulation, a is the development gray number, and b is the internal control gray number.

[0035] Preferably, the structure of the positioning network includes a star topology and a mesh topology.

[0036] Preferably, clock synchronization is performed on all indoor nodes to ensure that nodes in the network can correctly process information such as timestamps; data, including control information and user data, are transmitted between all indoor nodes via wireless links.

[0037] Preferably, indoor nodes communicate with each other using encryption technology based on keys to prevent data from being eavesdropped or tampered with; communication authentication is performed based on an authentication mechanism to ensure that only authorized nodes can join the positioning network.

[0038] Preferably, indoor nodes are deployed at appropriate locations indoors according to the layout and needs of the building. The nodes should be evenly distributed to ensure signal coverage without dead spots.

[0039] Preferably, the positioning terminal includes but is not limited to mobile terminals such as smart phones and wearable devices, with built-in multi-mode positioning modules that support multiple positioning methods such as GPS, Beidou, Wi-Fi, and Bluetooth.

[0040] An indoor and outdoor integrated fusion positioning management system based on a self-organizing network, including a central management module, a satellite communication module and fusion positioning products;

[0041] The satellite signals received by the satellite communication module and the indoor node signals of the fusion positioning products are transmitted to the central management module;

[0042] The central management module enhances and filters satellite signals and indoor node signals and transmits them to the fusion positioning product;

[0043] The fusion positioning product performs integrated indoor and outdoor positioning based on satellite signals to obtain location information.

[0044] Preferably, the satellite signal includes satellite coordinates, satellite clock errors, reference station coordinates, reference station receiver clock errors, reference station pseudorange observation noise, ionospheric refraction corrections and tropospheric refraction corrections.

[0045] Preferably, it also includes a fault detection module to detect whether the indoor nodes in the fusion positioning product fail. When any indoor node fails, the central management module controls the fusion positioning product to bypass the failed indoor node and re-establish the positioning network according to the neighbor list of the indoor node.

[0046] Preferably, it also includes a positioning algorithm selection module, which selects an indoor positioning algorithm according to the strength of the indoor node signal and transmits it to the fusion positioning product; the positioning algorithm includes a triangulation positioning method, a fingerprint positioning method and a particle filtering method.

[0047] It can be seen from the above technical solutions that, compared with the prior art, the present invention discloses a kind of indoor and outdoor integrated fusion positioning product and its management system based on self-organizing network, which realizes high-precision positioning with seamless switching between indoor and outdoor, reduces manual intervention, and improves user experience. Among them, self-organizing network technology allows nodes to cooperate with each other, improves positioning accuracy, can be quickly deployed to adapt to the ever-changing environment, is easy to expand, and can cover a larger area by adding nodes. Compared with traditional positioning systems, self-organizing network technology can reduce dependence on external infrastructure, reduce overall costs, and enhance the flexibility and stability of the system; fusion positioning realizes intelligent switching of positioning, selects different positioning calculation methods according to signal status and signal prediction results, reduces energy consumption and improves positioning accuracy, and at the same time corrects and improves satellite signal positioning, further improving positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0049] Figure 1 A schematic diagram of the structure of the indoor and outdoor integrated positioning product based on a self-organizing network provided by the present invention;

[0050] Figure 2 A schematic diagram of the positioning process using the trajectory fusion positioning method provided by the present invention;

[0051] Figure 3 This is a schematic diagram of the structure of the indoor and outdoor integrated fusion positioning management system provided by the present invention. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] The embodiment of the present invention discloses an indoor and outdoor integrated positioning product based on a self-organizing network, such as Figure 1As shown, it includes a positioning terminal and several indoor nodes; the positioning terminal includes a self-organizing network module and a fusion processor; wherein the self-organizing network module receives indoor node signals and performs self-organizing network to obtain a positioning network; the fusion processor receives satellite signals and / or positioning network node signals, and performs positioning according to indoor node signals and / or positioning network node signals to obtain location information; the fusion processor is loaded with a fusion positioning algorithm to dynamically select the optimal signal for positioning.

[0054] Furthermore, the self-organizing network module communicates with the indoor nodes and automatically assigns an IP to each indoor node. Each indoor node generates a neighbor list. The self-organizing network module selects the neighbor list of the corresponding indoor node according to the signal strength of the indoor node to generate a positioning network; each indoor node periodically sends broadcast packets and listens to the broadcast packets of other indoor nodes, searches for neighbor nodes and generates a neighbor list based on the broadcast packets. The broadcast packets include IP, key, authentication mechanism, service set identifier and channel, etc.; the neighbor list of each indoor node records the information of all discovered neighbor nodes.

[0055] Furthermore, the fusion processor performs positioning calculations based on the type of received signals and the set positioning rules; if only satellite signals are received, a multi-reference station pseudo-range differential positioning algorithm is used to perform positioning calculations based on the satellite signals to obtain position information; if only positioning network node signals are received, positioning calculations are performed based on the indoor positioning algorithm to obtain position information; if both satellite signals and positioning network node signals are received at the same time, a trajectory fusion positioning method is used to perform positioning calculations to obtain position information.

[0056] Furthermore, the structures of the positioning network include star topology and mesh topology.

[0057] Furthermore, clock synchronization is performed on all indoor nodes to ensure that nodes in the network can correctly process information such as timestamps; data, including control information and user data, is transmitted between all indoor nodes via wireless links.

[0058] Furthermore, indoor nodes communicate with each other using encryption technology based on keys to prevent data from being eavesdropped or tampered with; communication authentication is performed based on an authentication mechanism to ensure that only authorized nodes can join the positioning network.

[0059] Furthermore, indoor nodes should be deployed in appropriate locations indoors according to the layout and needs of the building. The nodes should be evenly distributed to ensure signal coverage without dead spots.

[0060] Furthermore, the positioning terminals include but are not limited to mobile terminals such as smart phones and wearable devices, with built-in multi-mode positioning modules that support multiple positioning methods such as GPS, Beidou, Wi-Fi, and Bluetooth.

[0061] On the other hand, in a specific embodiment, the multi-reference station positioning algorithm is to calculate the pseudo-range correction values ​​of multiple reference stations, interpolate the pseudo-range correction values ​​using the inverse distance weighted method, correct the pseudo-range equation from the positioning terminal to the satellite, realize pseudo-range differential positioning, and obtain position information; the specific steps include:

[0062] S1: The pseudo-range observation equation from satellite j to base station i is:

[0063]

[0064] in, Pseudorange from satellite j to reference station i; represents the geometric distance from satellite j to base station i; (X j , Y j , Z j ) is the coordinate of satellite j; (X i , Y i , Z i ) is the coordinate of base station i; t i is the base station receiver clock error; t j is the satellite clock error, T j i ,I j i are the ionospheric refraction correction and tropospheric refraction correction of satellite j at base station i, respectively; ε i is the pseudorange observation noise of the reference station; c is the speed of light;

[0065] S2: Pseudorange correction value of base station i for satellite j for:

[0066]

[0067] S3: According to the pseudo-range correction value of the base station i to the satellite j, and the distance between the positioning terminal and the base station i, the positioning pseudo-range correction value of the positioning terminal to the satellite j is interpolated by inverse distance weighted interpolation. It is expressed as:

[0068]

[0069] Among them, d i Indicates the distance from the base station to the positioning terminal; (X M , Y M , Z M ) is the coordinate of the positioning terminal M; m represents the number of reference stations;

[0070] S4: Substitute the positioning pseudorange correction value into the pseudorange equation of the positioning terminal for satellite j to obtain the pseudorange observation value D from the positioning terminal to satellite j, expressed as:

[0071]

[0072] Among them, ρ j represents the pseudorange from positioning terminal M to satellite j; represents the positioning pseudorange correction value of the positioning terminal M to the satellite j; t M represents the positioning terminal receiver clock error, ε M represents the pseudorange observation noise;

[0073] S5: The initial value of the positioning point is estimated by the Chan algorithm, and the Taylor expansion is performed on the simultaneous formulas of pseudo-range observation values ​​D corresponding to multiple satellites to the positioning terminal at the initial value. The Taylor algorithm is iterated cyclically to obtain the coordinates of the positioning terminal and the location information.

[0074] On the other hand, in a specific embodiment, the process of using the trajectory fusion positioning method to perform positioning calculation is as follows: Figure 2 As shown, the specific steps include:

[0075] S1: Receive satellite signals and obtain predicted trajectory according to trajectory prediction model;

[0076] S2: Receive the positioning network node signal, use the indoor positioning algorithm to obtain the current indoor coordinates, and convert the current indoor coordinates to the actual rectangular coordinate system of the positioning terminal to obtain the current actual coordinate point. Set the radius to make a positioning circle with the current actual coordinate point as the center of the circle;

[0077] S3: Determine whether the predicted trajectory and the positioning circle intersect; if they do not intersect, determine the number of satellite signals. If the number of signals is less than or equal to the set threshold, use the indoor positioning algorithm to calculate the positioning information based on the positioning network node signal, otherwise determine the position information based on the predicted trajectory; if they intersect, select the trajectory point on the predicted trajectory that is closest to the center of the positioning circle to obtain the position information.

[0078] Furthermore, the trajectory prediction model can adopt the GM (1,1) grey prediction model, which is expressed as:

[0079]

[0080] X (0) ={X (0) (1),X (0) (2),…,X (0) (n)}

[0081]

[0082] X (1) ={X (1) (1),X (1) (2),…,X (1)(n)}

[0083] in, To predict trajectory points, a time series of predicted trajectory points constitutes a predicted trajectory; is the cumulative forecast value, k represents the time series X (0) The kth observation among the n observations of X (1) is the time series generated by accumulation, a is the development gray number, and b is the internal control gray number.

[0084] On the other hand, indoor and outdoor integrated fusion positioning products based on self-organizing networks build indoor and outdoor integrated fusion positioning management systems, such as Figure 3 As shown, it includes central management module, satellite communication module and fusion positioning product;

[0085] The satellite signals received by the satellite communication module and the indoor node signals of the fusion positioning products are transmitted to the central management module;

[0086] The central management module enhances and filters satellite signals and indoor node signals and transmits them to the fusion positioning product;

[0087] The fusion positioning product performs integrated indoor and outdoor positioning based on satellite signals to obtain location information.

[0088] Furthermore, the satellite signal includes satellite coordinates, satellite clock errors, reference station coordinates, reference station receiver clock errors, reference station pseudorange observation noise, ionospheric refraction corrections, and tropospheric refraction corrections.

[0089] Furthermore, it also includes a fault detection module to detect whether the indoor nodes in the fusion positioning product fail. When any indoor node fails, the central management module controls the fusion positioning product to bypass the failed indoor node and re-establish the positioning network based on the neighbor list of the indoor node.

[0090] Furthermore, it also includes a positioning algorithm selection module, which selects an indoor positioning algorithm according to the strength of the indoor node signal; the positioning algorithm includes a triangulation positioning method, a fingerprint positioning method and a particle filtering method.

[0091] Among them, triangulation positioning: calculate the distance based on signal strength or arrival time difference (TOA / TDOA), and then infer the position; fingerprint positioning: pre-establish a fingerprint database containing signal characteristics of different locations, and find the best matching location by comparing the signal received by the terminal with the fingerprint in the database; particle filtering: combine multiple sensor information, use particle filters to estimate the position and improve positioning accuracy; the positioning algorithm selection module can select the algorithm that best suits the current environment, or combine multiple algorithms to improve positioning accuracy.

[0092] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part.

[0093] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An indoor and outdoor integrated positioning product based on a self-organizing network, characterized in that: Includes positioning terminal and several indoor nodes; The positioning terminal includes a self-organizing network module and a fusion processor; wherein the self-organizing network module receives indoor node signals and performs self-organizing network to obtain a positioning network; the fusion processor receives satellite signals and / or positioning network node signals, and performs positioning according to the indoor node signals and / or positioning network node signals to obtain location information; The fusion processor is loaded with a fusion positioning algorithm, which dynamically selects the optimal signal for positioning.

2. The indoor and outdoor integrated positioning product based on ad hoc network according to claim 1, characterized in that: The self-organizing network module communicates with indoor nodes and automatically assigns IP addresses to each indoor node. Each indoor node generates a neighbor list. The self-organizing network module selects the corresponding indoor node neighbor list based on the indoor node signal strength to generate a positioning network. Each indoor node periodically sends broadcast packets and listens to the broadcast packets of other indoor nodes, searches for neighbor nodes and generates a neighbor list based on the broadcast packets.

3. The indoor and outdoor integrated positioning product based on ad hoc network according to claim 1, characterized in that: The fusion processor performs positioning calculations based on the type of received signals and the set positioning rules; if only satellite signals are received, a multi-reference station positioning algorithm is used to perform positioning calculations based on the satellite signals to obtain position information; If only the positioning network node signal is received, the positioning calculation is performed according to the indoor positioning algorithm to obtain the location information; if the satellite signal and the positioning network node signal are received at the same time, the trajectory fusion positioning method is used to perform positioning calculation to obtain the location information.

4. The indoor and outdoor integrated positioning product based on ad hoc network according to claim 3 is characterized in that: The multi-reference station positioning algorithm calculates the pseudo-range correction values ​​of multiple reference stations, interpolates the pseudo-range correction values ​​using the inverse distance weighted method, corrects the pseudo-range equation from the positioning terminal to the satellite, realizes pseudo-range differential positioning, and obtains position information; The specific steps include: The pseudorange observation equation from satellite j to reference station i is: in, Pseudorange from satellite j to reference station i; represents the geometric distance from satellite j to base station i; (X j , Y j , Z j ) is the coordinate of satellite j; (X i , Y i , Z i ) is the coordinate of base station i; t i is the base station receiver clock error; t j is the satellite clock error, T j i ,I j i are the ionospheric refraction correction and tropospheric refraction correction of satellite j at base station i, respectively; ε i is the pseudorange observation noise of the reference station; c is the speed of light; Pseudorange correction value of base station i for satellite j for: According to the pseudo-range correction value of base station i to satellite j and the distance between the positioning terminal and base station i, the positioning pseudo-range correction value of the positioning terminal to satellite j is interpolated by inverse distance weighted interpolation It is expressed as: Among them, d i Indicates the distance from the base station to the positioning terminal; (X M , Y M , Z M ) is the coordinate of the positioning terminal M; m represents the number of reference stations; Substitute the positioning pseudorange correction value into the pseudorange equation of the positioning terminal for satellite j to obtain the pseudorange observation value D from the positioning terminal to satellite j, which is expressed as: Among them, ρ j represents the pseudorange from positioning terminal M to satellite j; represents the positioning pseudorange correction value of the positioning terminal M to the satellite j; t M represents the positioning terminal receiver clock error, ε M represents the pseudorange observation noise; The initial value of the positioning point is estimated by the Chan algorithm, and the Taylor expansion is performed on the simultaneous formulas of pseudo-range observation values ​​D corresponding to multiple satellites to the positioning terminal at the initial value. The Taylor algorithm is iterated cyclically to obtain the coordinates of the positioning terminal and the location information.

5. The indoor and outdoor integrated positioning product based on ad hoc network according to claim 1, characterized in that: The steps of positioning calculation using trajectory fusion positioning method include: Receive satellite signals and obtain predicted trajectories according to trajectory prediction models; Receive the positioning network node signal, use the indoor positioning algorithm to obtain the current indoor coordinates, and convert the current indoor coordinates to the actual rectangular coordinate system of the positioning terminal to obtain the current actual coordinate point. Set the radius to make a positioning circle with the current actual coordinate point as the center of the circle; Determine whether the predicted trajectory and the positioning circle intersect; if they do not intersect, determine the number of satellite signals. If the number of signals is less than or equal to the set threshold, use the indoor positioning algorithm to calculate the positioning information based on the positioning network node signal, otherwise determine the position information based on the predicted trajectory; if they intersect, select the trajectory point on the predicted trajectory that is closest to the center of the positioning circle to obtain the position information.

6. The indoor and outdoor integrated positioning product based on ad hoc network according to claim 5, characterized in that: The trajectory prediction model adopts the GM (1,1) grey prediction model.

7. The indoor and outdoor integrated positioning product based on ad hoc network according to claim 1, characterized in that: The structures of positioning networks include star topology and mesh topology.

8. An indoor and outdoor integrated positioning management system based on a self-organizing network, characterized in that: The indoor and outdoor integrated positioning product based on a self-organizing network comprises any one of claims 1 to 7, and further comprises a central management module and a satellite communication module; The satellite signals received by the satellite communication module and the indoor node signals of the fusion positioning products are transmitted to the central management module; The central management module enhances and filters satellite signals and indoor node signals and transmits them to the fusion positioning product; The fusion positioning product performs integrated indoor and outdoor positioning based on satellite signals to obtain location information.

9. The indoor and outdoor integrated fusion positioning management system based on ad hoc network according to claim 8, characterized in that: It also includes a fault detection module to detect whether the indoor nodes in the fusion positioning product have faults. When any indoor node fails, the central management module controls the fusion positioning product to bypass the failed indoor node and re-establish the positioning network based on the neighbor list of the indoor node.

10. The indoor and outdoor integrated fusion positioning management system based on ad hoc network according to claim 8, characterized in that: It also includes a positioning algorithm selection module, which selects an indoor positioning algorithm according to the strength of the indoor node signal and transmits it to the fusion positioning product.

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