Indoor and outdoor seamless positioning method, system, electronic device, and readable storage medium

Abstract

The present application relates to a positioning method. In view of the problem of insufficient positioning reliability, continuity and stability when using modern positioning systems, 5G technology or inertial navigation systems alone in complex environments, an indoor and outdoor seamless positioning method, system, electronic device and readable storage medium are provided for positioning mobile targets in a Beidou and 5G intersection environment. The working mode of the mobile target in the Beidou and 5G intersection area is determined according to Beidou observation information and 5G observation information, and different positioning methods are adopted in different working modes. In particular, when the working mode is a weak blind spot in the intersection area, one of Beidou plus inertial navigation positioning, 5G plus inertial navigation positioning and Beidou plus 5G plus inertial navigation positioning is selectively adopted for target positioning; when the working mode is a cross-area with no blind spot, Beidou plus 5G plus inertial navigation positioning is adopted for target positioning; when the working mode is a cross-area with a complete blind spot, single inertial navigation positioning is adopted for target positioning.

Description

Technical Field

[0001] The present application relates to a positioning method, and specifically to an indoor and outdoor seamless positioning method, system, electronic device, and readable storage medium. Background Art

[0002] Positioning-Navigation-Timing (PNT) is a system engineering that integrates multiple technical means. Its goal is to achieve seamless coverage and high-precision global positioning services using multiple media such as radio waves, geomagnetic waves, and sound waves in different scenarios. In some complex areas, modern positioning systems using a single technology often find it difficult to meet the needs of high-precision positioning. Although satellite navigation systems can provide centimeter-level positioning services, they also have problems such as weak radio signal landing power, unsuitability for indoor and underwater use, and inability to solve the positioning problem in denied areas. The introduction of 5G (5th Generation Mobile Communication Technology, referred to as 5G) technology provides new possibilities for solving this problem. It can not only provide sub-meter or even centimeter-level positioning accuracy, but also correct positioning data in real time through a low-latency network architecture. This means that high-precision indoor and outdoor positioning can be achieved while providing high-speed communication services within the coverage of 5G base stations. However, 5G technology also has the problem of low positioning accuracy in non-line-of-sight conditions. The Inertial Navigation System (INS) calculates the position, velocity and attitude of a device by measuring its acceleration and rotation. It does not rely on external signals and can therefore still work in environments where satellite signals or 5G signals are weak or blocked. INS can provide continuous and autonomous positioning information, but errors accumulate over time and require regular calibration.

[0003] Therefore, in the complex environment where Beidou and 5G intersect, when a mobile target shuttles between the joint coverage area of ​​the two, there are three different working modes: complete blind area, weak blind area and no blind area. Using modern positioning systems, 5G technology or inertial navigation systems alone will have problems with insufficient positioning reliability, continuity and stability in such a complex environment. Summary of the invention

[0004] This application aims to address the problems of insufficient positioning reliability, continuity and stability when using modern positioning systems, 5G technology or inertial navigation systems alone in complex environments, and provides a seamless indoor and outdoor positioning method, system, electronic device, and readable storage medium.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In the first aspect, the present application proposes a seamless indoor and outdoor positioning method for positioning a mobile target in a Beidou and 5G crossover environment, including:

[0007] Obtain Beidou observation information, 5G observation information and inertial navigation observation information;

[0008] Combining Beidou observation information and 5G observation information, determining the working mode of the mobile target in the intersection area of ​​Beidou and 5G; the working mode includes a complete blind area in the intersection area, a weak blind area in the intersection area, and no blind area in the intersection area;

[0009] When the working mode is a complete blind spot in the intersection area, single inertial navigation positioning is used for target positioning; when the working mode is a weak blind spot in the intersection area, according to the number of Beidou visible satellites and the average signal-to-noise ratio of visible satellites in the Beidou observation information, and the number of 5G base stations and the average signal power of visible base stations in the 5G observation information, it is determined to use one of Beidou plus inertial navigation positioning, 5G plus inertial navigation positioning, and Beidou plus 5G plus inertial navigation positioning for target positioning; when the working mode is no blind spot in the intersection area, Beidou plus 5G plus inertial navigation positioning is used for target positioning; among which, inertial navigation positioning is based on inertial navigation observation information.

[0010] Furthermore, after obtaining Beidou observation information, 5G observation information and inertial navigation observation information, the method further includes:

[0011] The Beidou observation information and 5G observation information are filtered and self-checked in turn.

[0012] Further, the determining of the working mode of the mobile target in the Beidou and 5G intersection area includes:

[0013] (1) respectively determining the Beidou status information in the Beidou observation information and the 5G status information in the 5G observation information; if Beidou is unavailable and 5G is unavailable, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is a complete blind area in the intersection area; if Beidou is available, executing step (2); if 5G is available, executing step (4);

[0014] (2) Determine whether the number of visible Beidou satellites is greater than or equal to 4. If so, execute step (3). Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is a weak blind spot in the intersection area.

[0015] (3) Determine whether the average signal-to-noise ratio of the visible satellite is greater than or equal to 30. If so, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is no blind spot in the intersection area. Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is weak blind spot in the intersection area.

[0016] (4) Determine whether the number of 5G base stations is greater than or equal to 4. If so, execute step (5). Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is a weak blind spot in the intersection area.

[0017] (5) Determine whether the average value of the visible base station signal power is greater than or equal to 200. If so, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is no blind spot in the intersection area. Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is weak blind spot in the intersection area.

[0018] Furthermore, the single inertial navigation positioning includes:

[0019] The current velocity vector, longitude, latitude and altitude of the moving target are obtained by the following formula:

[0020]

[0021] in, is the current velocity vector derivative of the moving target, is the direction cosine matrix, For comparison, is the angular velocity of the Earth's rotation n The projection of the system, for n Relative to e The angular velocity of the system is n The projection of the system, is the current velocity vector of the moving target, is the acceleration due to gravity, is the derivative of the current latitude of the moving target, is the current northward speed of the moving target, is the meridian curvature radius, is the current height of the moving target, is the derivative of the current longitude of the moving target, is the current eastward speed of the moving target, is the radius of curvature of the Maoyou circle, is the current latitude of the moving target, is the derivative of the current height of the moving target, is the current celestial speed of the moving target.

[0022] Furthermore, the Beidou plus inertial navigation positioning includes:

[0023] The measurement equation is:

[0024]

[0025] in,

[0026]

[0027] in, is the measurement vector, is the measurement matrix, is the measurement error vector, is a matrix whose elements are all zeros, The subscript of is the matrix size, is a matrix with 3 rows and 6 columns whose elements are all 0. is the latitude calculated by inertial navigation, is the longitude calculated by inertial navigation, is the height calculated by inertial navigation, is the latitude calculated by Beidou, is the longitude calculated by Beidou, is the altitude calculated by Beidou, is a 15-dimensional state vector.

[0028] Furthermore, the 5G plus inertial navigation positioning includes:

[0029] The measurement equation is:

[0030]

[0031] in,

[0032]

[0033] in, The latitude calculated for 5G, The longitude calculated for 5G, Calculated altitude for 5G.

[0034] Furthermore, the Beidou plus 5G plus inertial navigation positioning includes:

[0035] The measurement equation is:

[0036]

[0037] in,

[0038]

[0039] in, The latitude calculated by Beidou plus 5G, The longitude calculated by Beidou plus 5G, This is the height calculated by Beidou plus 5G.

[0040] In a second aspect, the present application proposes an indoor and outdoor seamless positioning system, comprising:

[0041] Acquisition module, used to obtain Beidou observation information, 5G observation information and inertial navigation observation information;

[0042] A working mode module is used to determine the working mode of the mobile target in the intersection area of ​​Beidou and 5G by combining Beidou observation information and 5G observation information; the working modes include a complete blind area in the intersection area, a weak blind area in the intersection area, and no blind area in the intersection area;

[0043] The positioning module is used to use single inertial navigation positioning to locate the target when the working mode is a complete blind spot in the intersection area; when the working mode is a weak blind spot in the intersection area, according to the number of Beidou visible satellites and the average signal-to-noise ratio of visible satellites in the Beidou observation information, and the number of 5G base stations and the average signal power of visible base stations in the 5G observation information, determine to use one of Beidou plus inertial navigation positioning, 5G plus inertial navigation positioning, and Beidou plus 5G plus inertial navigation positioning for target positioning; when the working mode is no blind spot in the intersection area, Beidou plus 5G plus inertial navigation positioning is used for target positioning; among which, inertial navigation positioning is based on inertial navigation observation information.

[0044] In the third aspect, the present application proposes an electronic device, comprising: a memory and one or more processors; the memory is coupled to the processor; wherein the memory stores computer program code, the computer program code includes computer instructions, and when the computer instructions are executed by the processor, the electronic device performs the steps of the above-mentioned indoor and outdoor seamless positioning method.

[0045] In a fourth aspect, the present application proposes a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned indoor and outdoor seamless positioning method are implemented.

[0046] Compared with the prior art, this application has the following beneficial effects:

[0047] This application proposes a seamless indoor and outdoor positioning method for positioning mobile targets in a Beidou and 5G crossover environment. According to Beidou observation information and 5G observation information, the working mode of the mobile target in the Beidou and 5G crossover area is determined, and different positioning methods are used in different working modes. In particular, when the working mode is a weak blind area in the crossover area, Beidou plus inertial navigation positioning, 5G plus inertial navigation positioning, Beidou plus 5G plus inertial navigation positioning are selectively used for target positioning. When the working mode is a crossover area without blind areas, Beidou plus 5G plus inertial navigation positioning is used for target positioning. When the working mode is a crossover area with complete blind areas, single inertial navigation positioning is used for target positioning. In the Beidou and 5G crossover environment, through the introduction of inertial navigation, the result jump problem caused by the switching of positioning algorithms in the Beidou plus 5G signal overlapping area is effectively solved, and finally the problem of high-precision smooth positioning of dynamic targets in complex crossover areas such as satellite denial and 5G non-line-of-sight is solved, which has good development prospects and application prospects.

[0048] The present application also proposes an indoor and outdoor seamless positioning system, an electronic device and a computer storage medium, which have all the advantages of the above-mentioned indoor and outdoor seamless positioning method. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0050] Figure 1 This is a schematic diagram of the first process of the indoor and outdoor seamless positioning method of this application;

[0051] Figure 2 It is a schematic diagram of the intersection area;

[0052] Figure 3 This is a second flow chart of the indoor and outdoor seamless positioning method of the present application;

[0053] Figure 4 A flow chart for determining the Beidou plus 5G cross-region positioning algorithm;

[0054] Figure 5 This is a schematic diagram of the test results of the embodiment of the present application;

[0055] Figure 6 A schematic diagram of the indoor and outdoor seamless positioning system of the present application. DETAILED DESCRIPTION

[0056] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0057] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0058] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0059] In the description of the embodiments of the present application, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or the orientation or position relationship in which the invented product is usually placed when used. It is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0060] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0061] In the description of the embodiments of the present application, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0062] PNT is a comprehensive technology based on the global satellite navigation system, which provides an accurate and reliable way to determine the location and time information on the earth. It includes positioning, navigation and timing. Positioning generally uses GNSS (Global Navigation Satellite System) satellite signals to measure the distance between the user receiver and the satellite, combined with the three-dimensional spatial geometric relationship, to calculate the geographical location coordinates of the user receiver. Navigation usually provides users with an optimal path planning based on the user's starting point and destination, combined with map data and real-time traffic information, to guide users to reach their destination along the path. Timing uses the atomic clock on the GNSS satellite to provide accurate time information to the user receiver, and the user receiver can use this time information for time synchronization and data transmission.

[0063] Satellite navigation systems, such as GPS (Global Positioning System) and BeiDou, are extremely important positioning tools in modern science and technology. They use satellites in space to transmit radio signals, and ground receiving equipment analyzes these signals to achieve precise positioning, with an accuracy of up to centimeters. However, satellite navigation systems are not omnipotent. Their limitations are mainly manifested in several aspects: (1) Radio signals are affected by many factors during propagation, such as atmospheric interference and building obstruction, resulting in weak signal power when they reach the ground, affecting the positioning effect. (2) In indoor environments or underwater, satellite navigation systems often fail to work properly because signals are difficult to penetrate obstacles. (3) In denied areas, satellite signals may be artificially interfered with or shielded, making the positioning system ineffective. The emergence of 5G technology provides a new approach to solving the above problems. As the fifth generation of mobile communication technology, 5G not only provides ultra-high-speed data transmission capabilities, but also shows great potential in positioning services due to its dense network layout and low latency characteristics. 5G base stations can be densely deployed in cities, indoors, and even underwater to form a powerful signal coverage network. Using 5G signals for positioning can theoretically achieve sub-meter or even centimeter-level accuracy, and the positioning data can be corrected in real time through the network, effectively improving the accuracy and stability of positioning. However, 5G positioning technology is not perfect, especially in non-line-of-sight situations, that is, when the signal propagation path is blocked by obstacles, the positioning accuracy will be significantly affected. This is because the signal will attenuate and delay when penetrating or diffracting obstacles, making it difficult for the positioning algorithm to accurately calculate the target position. In order to make up for the shortcomings of 5G technology, the inertial navigation system has become an effective supplementary solution. The inertial navigation system is a completely autonomous positioning system that does not rely on external signals. Instead, it continuously measures the acceleration and angular velocity of the device through built-in sensors such as accelerometers and gyroscopes, and then obtains the position, speed and attitude information of the device through integral operations. Because it does not rely on external signals, the inertial navigation system can still work normally in environments where satellite signals and 5G signals are weak or blocked, providing users with continuous and autonomous positioning services. However, the inertial navigation system also has its limitations, that is, the error will accumulate over time, and the positioning accuracy will significantly decrease after long-term operation.

[0064] Based on the above problems, the present application proposes a method, system, electronic device, and readable storage medium for seamless indoor and outdoor positioning. The present application is described in detail below in conjunction with embodiments and drawings.

[0065] like Figure 1 As shown, it is a first flow chart of the indoor and outdoor seamless positioning method of the present application, which may include:

[0066] S101, obtain Beidou observation information, 5G observation information and inertial navigation observation information.

[0067] It should be noted that Beidou observation information mainly includes data received from the Beidou satellite navigation system, such as satellite visibility (i.e. which satellites are visible at the current location), the signal-to-noise ratio (SNR) of each visible satellite, and positioning data. 5G observation information usually covers relevant information received from 5G network base stations, such as the number of 5G base stations that can be connected at present, the average signal power of each visible base station, and positioning data. Inertial navigation observation information mainly includes data output by INS, such as positioning-related data such as angular velocity and acceleration. This information is crucial for the subsequent determination of the working mode of the area where the mobile target is located and the solution of the positioning results.

[0068] S102, combining Beidou observation information and 5G observation information, determining the working mode of the mobile target in the intersection area of ​​Beidou and 5G; the working modes include a complete blind area in the intersection area, a weak blind area in the intersection area, and no blind area in the intersection area.

[0069] It should be noted that if Figure 2 The figure shows a schematic diagram of the intersection area. A completely blind area in the intersection area means that in this area, it is impossible to effectively receive the signal of the Beidou satellite, and it is impossible to stably connect to the 5G network, so satellite navigation or 5G base station assisted positioning is impossible. A weak blind area in the intersection area means that in this area, although the Beidou or 5G signal exists, it is not strong enough to complete high-precision positioning alone. In this case, it is necessary to comprehensively consider the visible number and signal quality of Beidou satellites, as well as the coverage and signal strength of 5G base stations to determine the most appropriate positioning strategy. A no blind area in the intersection area means that in this area, the signals of Beidou and 5G are very good, and the advantages of both can be fully utilized for joint positioning to improve the accuracy and reliability of positioning.

[0070] S103, when the working mode is a complete blind spot in the intersection area, single inertial navigation positioning is used for target positioning; when the working mode is a weak blind spot in the intersection area, according to the number of Beidou visible satellites and the average signal-to-noise ratio of visible satellites in the Beidou observation information, and the number of 5G base stations and the average signal power of visible base stations in the 5G observation information, determine to use one of Beidou plus inertial navigation positioning, 5G plus inertial navigation positioning, and Beidou plus 5G plus inertial navigation positioning for target positioning; when the working mode is no blind spot in the intersection area, Beidou plus 5G plus inertial navigation positioning is used for target positioning.

[0071] In practical applications, when the working mode is the complete blind zone of the intersection area, all external signal sources are unavailable, forming a complete blind zone. Single inertial navigation positioning can be used. The inertial navigation system relies on internal sensors to measure the acceleration and angular velocity of the moving target, and calculates the position, speed and attitude by integration. It does not rely on external signals, so it can still perform autonomous positioning in an environment without external signals. When the working mode is the weak blind zone of the intersection area, although there is a signal in the intersection area, the signal quality is unstable or weak. For example, the Beidou satellite signal and the 5G signal are partially visible, but not enough to provide reliable positioning alone. At this time, the availability of each signal source can be comprehensively evaluated based on the number of Beidou visible satellites and the average signal-to-noise ratio of visible satellites in the Beidou observation information, as well as the number of 5G base stations and the average signal power of visible base stations in the 5G observation information. For example, if the Beidou signal quality is good (many satellites, high signal-to-noise ratio), Beidou plus inertial navigation positioning is used, using Beidou to provide absolute position information, and inertial navigation to provide continuity and high dynamic performance; if the 5G signal quality is good (many base stations, strong signal power), 5G plus inertial navigation positioning is used, using the high-density base stations of the 5G network to achieve precise positioning, and inertial navigation assists in improving positioning continuity and stability; if the quality of Beidou and 5G signals is relatively impressive, Beidou plus 5G plus inertial navigation positioning is used, and multiple signal sources are integrated to improve positioning accuracy and reliability. When the working mode is no blind spot in the intersection area, the Beidou satellite signal and 5G signal in the intersection area are both good, without significant blind spots or interference. Beidou plus 5G plus inertial navigation positioning can be used to make full use of all available signal sources to achieve high-precision and high-reliability comprehensive positioning.

[0072] This application can flexibly select the most appropriate positioning strategy according to the different working modes to ensure that accurate and reliable positioning services can be provided in various environments.

[0073] In practical applications, the indoor and outdoor seamless positioning method of the present application may include a Beidou positioning module, an INS positioning module, a 5G positioning module and an indoor and outdoor fusion positioning module when implemented. Among them, the Beidou positioning module is used to receive Beidou satellite signals, and output Beidou observation information and Beidou positioning data and other data to the indoor and outdoor positioning fusion module for processing. The Beidou positioning module is usually required to have the ability to realize outdoor Beidou high-precision positioning, indoor Beidou pseudo-satellite signal reception and analysis, and obtain original observation data. The 5G positioning module is used to receive 5G base station signals, and send observation information and 5G positioning data and other data to the indoor and outdoor fusion positioning module. The INS positioning module sends positioning-related data such as angular velocity and acceleration to the indoor and outdoor fusion positioning module. The indoor and outdoor fusion positioning module is used to determine the area and working mode of the mobile target, and the INS positioning module is fused with the determination result to select Beidou plus inertial navigation positioning output, 5G plus inertial navigation positioning output, Beidou plus 5G plus inertial navigation positioning output or single inertial navigation positioning output as the final positioning result output of the mobile target.

[0074] like Figure 3 As shown, it is a second flow chart of the indoor and outdoor seamless positioning method of the present application, which may include:

[0075] S201, data acquisition and preprocessing.

[0076] First, the Beidou positioning module, 5G positioning module and INS positioning module collect Beidou observation information, 5G observation information and inertial navigation observation information respectively, and perform filtering, self-checking and other pre-processing on the Beidou observation information and 5G observation information respectively to ensure that effective observation information is obtained and the positioning data can be passed to the subsequent processing stage. It should be noted that Figure 3 Since there are too many types of observation information to list them all, only some of them are listed. Ellipses indicate that other observation information may also be included.

[0077] S202, pattern recognition.

[0078] The Beidou plus 5G cross-joint coverage area can be divided into three working modes: complete blind area in the cross-area, weak blind area in the cross-area, and no blind area in the cross-area. Therefore, before positioning, the first thing to be solved is how to judge which positioning mode and positioning algorithm should be adopted based on the existing Beidou observation information and 5G observation information. This application adopts a multi-parameter judgment algorithm, that is, the collected relevant data information of Beidou satellites and 5G base stations, such as the number of visible satellites, satellite PDOP (Position Dilution of Precision), satellite signal-to-noise ratio, receiver status indication, number of 5G base stations, base station Euclidean distance and other parameters are used as judgment parameters.

[0079] In this embodiment, the strength of the Beidou satellite signal can be determined by the three parameters of the status information output by the Beidou module, the number of visible satellites, and the satellite signal-to-noise ratio. The strength of the 5G signal can be determined by the three parameters of the status information output by the 5G module, the number of visible base stations, and the visible base station signal power.

[0080] S203, combining the Beidou satellite signal strength and the 5G signal strength judgment results, determines the working mode of the mobile target in the Beidou plus 5G intersection area, and then determines the positioning algorithm.

[0081] like Figure 4 The figure shows a schematic diagram of the process of determining the Beidou plus 5G cross-region positioning algorithm. Specifically, it may include:

[0082] (1) respectively determining the Beidou status information in the Beidou observation information and the 5G status information in the 5G observation information; if Beidou is unavailable and 5G is unavailable, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is a complete blind area in the intersection area; if Beidou is available, executing step (2); if 5G is available, executing step (4);

[0083] (2) Determine whether the number of visible Beidou satellites is greater than or equal to 4. If so, execute step (3). Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is a weak blind spot in the intersection area.

[0084] (3) Determine whether the average signal-to-noise ratio of the visible satellite is greater than or equal to 30. If so, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is no blind spot in the intersection area. Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is weak blind spot in the intersection area.

[0085] (4) Determine whether the number of 5G base stations is greater than or equal to 4. If so, execute step (5). Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is a weak blind spot in the intersection area.

[0086] (5) Determine whether the average value of the visible base station signal power is greater than or equal to 200. If so, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is no blind spot in the intersection area. Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is weak blind spot in the intersection area.

[0087] It should be noted that no matter which working mode the mobile target is in in the Beidou and 5G intersection area, Beidou plus inertial navigation positioning can be used for target positioning in the Beidou coverage area, and 5G plus inertial navigation positioning can be used for target positioning in the 5G coverage area.

[0088] In addition, in other embodiments of the present application, the specific judgment values ​​of the number of visible satellites, the number of 5G base stations, the average signal-to-noise ratio of visible satellites, and the average signal power of visible base stations can also be adjusted according to different positioning requirements.

[0089] S204: Determine a suitable positioning algorithm.

[0090] According to the above judgment results, after clarifying the area and working mode of the mobile target, the target positioning can be carried out. There are four positioning algorithm models: Beidou plus inertial navigation positioning, 5G plus inertial navigation positioning, single inertial navigation positioning, Beidou plus 5G plus inertial navigation positioning.

[0091] The specific algorithms for different positioning are as follows:

[0092] (1) Beidou positioning:

[0093] Features satellites, when When , pseudo-range single-point positioning can be achieved, the principle is as follows:

[0094]

[0095] in, Respectively The pseudorange from satellite to receiver, express The coordinates of the satellites, which is a nonlinear system of equations. Indicates the coordinates of the moving target, superscript represents transpose, Indicates the receiver clock error.

[0096] Assume the approximate coordinates of the receiver are , superscript Indicates transposition. For example, in The first-order Taylor series expansion is:

[0097]

[0098] in, Indicates The pseudorange from satellite to receiver, Expressed in approximate coordinates The corresponding pseudo-range is Represents a high-order infinitesimal, which is omitted in the subsequent solution. Indicates The coordinates of the satellites, .

[0099] make , and ignoring the higher-order terms of the Taylor series expansion, we can get:

[0100]

[0101] In fact, the receiver clock error is also a quantity to be determined. The nonlinear equations can be written in matrix form as:

[0102]

[0103] in, Represents the residual error in Beidou positioning, Represents the design matrix in Beidou positioning, Represents the state quantity to be estimated.

[0104] Through least squares calculation, we can get:

[0105]

[0106] Then you can:

[0107]

[0108] in,

[0109]

[0110] Iterative calculation to obtain the final position of the receiver at the current moment , and then transform the rectangular coordinate system into the geodetic coordinate system.

[0111]

[0112] It cannot be solved directly. , can be calculated The iterative formula is:

[0113]

[0114] Then, by:

[0115]

[0116] Calculate the Beidou latitude .

[0117] pass:

[0118]

[0119] Calculate the Beidou longitude ,

[0120] pass:

[0121]

[0122] Calculate the Beidou altitude .

[0123] In the formula, is the semi-major axis of the ellipse, is the eccentricity of the ellipse, is the radius of curvature of the Maoyou circle.

[0124] (2) 5G positioning:

[0125] Assume the coordinates of the 5G base station are , other base stations have The equation based on TDOA positioning principle is:

[0126]

[0127] in, They are To The distance corresponding to the time difference. correspond The coordinates of the base station. Taking a base station as an example, the equation based on the TDOA positioning principle is:

[0128]

[0129] in, .

[0130] exist The first-order Taylor series expansion is:

[0131]

[0132] in, Indicated in The corresponding distance difference.

[0133] make , , , , , , and ignoring the higher-order terms of the Taylor series expansion, we can get:

[0134]

[0135] Will The nonlinear equation can be written in matrix form as:

[0136]

[0137] in, represents the residual error in 5G positioning, Represents the design matrix in 5G positioning.

[0138] Through least squares calculation, we can get:

[0139]

[0140] Then you can:

[0141]

[0142] Iterative calculation to get the current receiver position: 5G calculated latitude , longitude calculated by 5G , 5G calculated height .

[0143] (3) Beidou plus 5G positioning algorithm:

[0144] Combining the previous Beidou positioning principle and 5G positioning principle, Beidou positioning equations and The 5G positioning equations are combined and written in matrix form as follows:

[0145]

[0146] in, Indicates the residual error in Beidou plus 5G positioning, Represents the design matrix in Beidou plus 5G positioning.

[0147] Through least squares calculation, we can get:

[0148]

[0149] Then you can:

[0150]

[0151] in,

[0152]

[0153] Iterative calculation to get the current position of the receiver: the latitude calculated by Beidou plus 5G , Longitude calculated by Beidou plus 5G , the height calculated by Beidou plus 5G .

[0154] (4) Single inertial navigation positioning:

[0155] The inertial navigation attitude update algorithm is:

[0156]

[0157] in, is the direction cosine matrix, which represents the attitude of the inertial navigation. yes The antisymmetric matrix of yes Relative to The angular velocity of the system is The projection of the system, is the derivative of the direction cosine matrix.

[0158]

[0159] is the observed value of the gyroscope, indicating Relative to The angular velocity of the system is The projection of the system, yes, is the angular velocity of the Earth's rotation The projection of the system, yes Relative to The angular velocity of the system is Projection of the system.

[0160] It should be noted that The carrier coordinate system is a coordinate system fixed to the carrier. The origin is usually taken at the center of mass of the carrier or a fixed point. The direction of the coordinate axis depends on the specific shape and design of the carrier. The carrier coordinate system is one of the basic reference coordinate systems in inertial navigation. The physical quantities measured by the inertial device are all relative to the carrier coordinate system. The inertial coordinate system is a coordinate system that remains stationary or moves at a uniform speed in a straight line in space. It is also called the geocentric inertial coordinate system. The origin is located at the center of mass of the earth, the z-axis points to the agreed pole along the earth's rotation axis, and the x-axis and y-axis are located in the equatorial plane and point to specific stars or directions. In inertial navigation, the inertial coordinate system is used as an intermediate reference system to convert the measurement data in the carrier coordinate system into the navigation coordinate system. The navigation coordinate system is a reference coordinate system used to determine the navigation parameters of the carrier. The origin can be located at any point on the surface of the earth. The direction of the coordinate axis is determined according to the geographic direction. The navigation coordinate system is fixed to the surface of the earth and rotates with the rotation of the earth. The navigation coordinate system is the final target coordinate system in inertial navigation.

[0161]

[0162] in, is the angular velocity of the Earth's rotation, Indicates latitude, represents the meridian curvature radius, represents the radius of curvature of the y-axis circle, It means the earth is high. represents the eastward speed, Indicates north speed.

[0163] The speed update algorithm is:

[0164]

[0165] in, represents the derivative of the velocity vector, represents the velocity vector, represents the specific force, corresponding to the observed value of the accelerometer, is the acceleration due to gravity.

[0166] The location update algorithm is:

[0167]

[0168] in, represents the derivative of latitude, represents the derivative of longitude, represents the derivative of height, Indicates the current celestial speed of the moving target.

[0169] (5) Combined navigation and positioning: that is, Beidou plus inertial navigation positioning, 5G plus inertial navigation positioning, and Beidou plus 5G plus inertial navigation positioning.

[0170] Integrated navigation positioning is mainly based on inertial navigation, and Beidou and 5G are used as important measurement information to correct inertial navigation errors. Integrated navigation positioning is achieved through the Kalman filter algorithm, which requires the establishment of state equations and measurement equations. In this application, as long as the Beidou positioning result is , , , 5G positioning results , , , or Beidou plus 5G joint positioning results , , By substituting the measurement equations of combined navigation and positioning in sequence, you can obtain the Beidou plus inertial navigation positioning results, 5G plus inertial navigation positioning results, and Beidou plus 5G plus inertial navigation positioning results respectively.

[0171] a. The state equation is:

[0172]

[0173] in,

[0174]

[0175] Among them, the superscript represents transpose, represents a 15-dimensional state vector, express The differential of is the state transfer matrix, represents the noise transfer matrix, Represents system noise. represents the 3D posture error vector, represents the three-dimensional velocity error vector, represents the three-dimensional position error vector, represents the three-dimensional gyroscope error vector, represents the three-dimensional accelerometer error vector.

[0176]

[0177] in, It means that all matrix elements are 0, and the subscripts represent the rows and columns of the matrix. express Department and Coordinate transformation matrix between systems. represents the gyroscope measurement white noise, represents the accelerometer measuring white noise.

[0178]

[0179] in, , , Respectively Relative to The angular velocity of the system is The easting component, northing component and sky component under the projection.

[0180]

[0181] in, represents the meridian curvature radius, represents the radius of curvature of the y-axis circle, It means the earth is high. Indicates latitude.

[0182]

[0183] in, is the angular velocity of the Earth's rotation, , They represent the eastward speed and the northward speed respectively.

[0184]

[0185] in, , , Respectively, the ratio is The east component, north component and sky component under the projection.

[0186]

[0187] in, represents the celestial velocity, represents the north speed, Indicates eastward speed.

[0188]

[0189] b. The measurement equation is:

[0190]

[0191] in:

[0192]

[0193] in, represents the measurement error vector, , , They represent the latitude, longitude and altitude calculated by inertial navigation respectively. , , They respectively represent the latitude, longitude and altitude calculated by Beidou.

[0194] If it is inertial navigation plus 5G positioning, the state equation remains unchanged, and only the measurement equation needs to be replaced Modify the expression to the following:

[0195]

[0196] in, , , Respectively represent the latitude, longitude and altitude calculated by 5G. At the same time, Just modify it to the measurement noise of 5G.

[0197] If it is inertial navigation plus Beidou plus 5G navigation positioning, the state equation remains unchanged, and only the measurement equation needs to be replaced Modify the expression to the following:

[0198]

[0199] At the same time, the measurement equation Just change it to the measurement noise of Beidou + 5G.

[0200] This application can ultimately achieve the purpose of seamless positioning of mobile targets in the Beidou plus 5G intersection area. The test results of this embodiment are as follows: Figure 5 As shown, Figure 5 The green dot in the middle is the calibrated true trajectory value, and the red dot is the actual measured value. The final statistical measurement positioning error RMSE (Root Mean Square Error) is 2.072m.

[0201] This application uses Beidou or 5G to provide absolute high-precision location information, integrates the characteristics of inertial navigation, and combines 5G positioning technology, Beidou satellite navigation system and inertial navigation system to achieve seamless indoor and outdoor positioning. 5G and Beidou provide absolute high-precision location information, while inertial navigation continues to provide continuous positioning services when 5G signals and satellite signals are unstable. The three complement each other to ensure the reliability and stability of the positioning system in complex environments.

[0202] like Figure 6 As shown, the present application also proposes an indoor and outdoor seamless positioning system, which may include:

[0203] Acquisition module, used to obtain Beidou observation information, 5G observation information and inertial navigation observation information;

[0204] A working mode module is used to determine the working mode of the mobile target in the intersection area of ​​Beidou and 5G by combining Beidou observation information and 5G observation information; the working modes include a complete blind area in the intersection area, a weak blind area in the intersection area, and no blind area in the intersection area;

[0205] The positioning module is used to use single inertial navigation positioning to locate the target when the working mode is a complete blind spot in the intersection area; when the working mode is a weak blind spot in the intersection area, according to the number of Beidou visible satellites and the average signal-to-noise ratio of visible satellites in the Beidou observation information, and the number of 5G base stations and the average signal power of visible base stations in the 5G observation information, determine to use one of Beidou plus inertial navigation positioning, 5G plus inertial navigation positioning, and Beidou plus 5G plus inertial navigation positioning for target positioning; when the working mode is no blind spot in the intersection area, Beidou plus 5G plus inertial navigation positioning is used for target positioning; among which, inertial navigation positioning is based on inertial navigation observation information.

[0206] It should be noted that in the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the system embodiments described above are merely schematic. For example, the division of each module is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules can be combined or integrated into another device, or some features can be ignored or not executed. The module described as a separate component may or may not be physically separated. The component displayed as a module may be a physical unit or multiple physical units, that is, it may be located in one place, or it may be distributed in multiple different places. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment.

[0207] In addition, each module in each embodiment of the present invention may be integrated into a processing unit, each module may exist physically separately, or two or more modules may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of a software functional unit.

[0208] An embodiment of the present application also provides an electronic device, which may include one or more processors, a memory, and a communication interface.

[0209] The memory, the communication interface and the processor are coupled, for example, the memory, the communication interface and the processor may be coupled together via a bus.

[0210] The communication interface is used to transmit data with other devices. The memory stores computer program code. The computer program code includes computer instructions. When the computer instructions are executed by the processor, the electronic device executes the steps of the indoor and outdoor seamless positioning method in the embodiment of the present application.

[0211] Wherein, the processor can be a processor or a controller, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the present disclosure. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of DSP and microprocessors, and the like. The processor can be used to support electronic devices to execute the method steps provided in the above embodiments.

[0212] The bus may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus. The above bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0213] An embodiment of the present application provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the indoor and outdoor seamless positioning method described in any of the above embodiments are implemented.

[0214] The computer-readable storage medium involved in the present application includes random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium known in the technical field.

[0215] For the description of the relevant parts of the indoor and outdoor seamless positioning system, electronic device, and computer-readable storage medium provided in the embodiments of the present application, please refer to the detailed description of the corresponding parts in the indoor and outdoor seamless positioning method provided in the embodiments of the present application, which will not be repeated here. In addition, the parts of the above-mentioned technical solutions provided in the embodiments of the present application that are consistent with the implementation principles of the corresponding technical solutions in the prior art are not described in detail to avoid excessive elaboration.

[0216] The above are only preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A seamless indoor and outdoor positioning method for positioning a mobile target in a Beidou and 5G crossover environment, characterized in that: include: Obtain Beidou observation information, 5G observation information and inertial navigation observation information; Combining Beidou observation information and 5G observation information, determining the working mode of the mobile target in the intersection area of ​​Beidou and 5G; the working mode includes a complete blind area in the intersection area, a weak blind area in the intersection area, and no blind area in the intersection area; The determining of the working mode of the mobile target in the intersection area of ​​Beidou and 5G includes: (1) respectively determining the Beidou status information in the Beidou observation information and the 5G status information in the 5G observation information; if Beidou is unavailable and 5G is unavailable, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is a complete blind area in the intersection area; if Beidou is available, executing step (2); if 5G is available, executing step (4); (2) Determine whether the number of visible Beidou satellites is greater than or equal to 4. If so, execute step (3). Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is a weak blind spot in the intersection area. (3) Determine whether the average signal-to-noise ratio of the visible satellite is greater than or equal to 30. If so, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is no blind spot in the intersection area. Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is weak blind spot in the intersection area. (4) Determine whether the number of 5G base stations is greater than or equal to 4. If so, execute step (5). Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is a weak blind spot in the intersection area. (5) Determine whether the average value of the visible base station signal power is greater than or equal to 200. If so, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is no blind spot in the intersection area. Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is weak blind spot in the intersection area. When the working mode is a complete blind spot in the intersection area, single inertial navigation positioning is used for target positioning; when the working mode is a weak blind spot in the intersection area, according to the number of Beidou visible satellites and the average signal-to-noise ratio of visible satellites in the Beidou observation information, and the number of 5G base stations and the average signal power of visible base stations in the 5G observation information, it is determined to use one of Beidou plus inertial navigation positioning, 5G plus inertial navigation positioning, and Beidou plus 5G plus inertial navigation positioning for target positioning; when the working mode is no blind spot in the intersection area, Beidou plus 5G plus inertial navigation positioning is used for target positioning; among which, inertial navigation positioning is based on inertial navigation observation information.

2. The indoor and outdoor seamless positioning method according to claim 1, characterized in that: After obtaining Beidou observation information, 5G observation information and inertial navigation observation information, the method further includes: The Beidou observation information and 5G observation information are filtered and self-checked in turn.

3. The indoor and outdoor seamless positioning method according to claim 1, characterized in that: The single inertial navigation positioning comprises: The current velocity vector, longitude, latitude and altitude of the moving target are obtained by the following formula: in, is the current velocity vector derivative of the moving target, is the direction cosine matrix, For comparison, is the angular velocity of the Earth's rotation n The projection of the system, for Relative to The angular velocity of the system is The projection of the system, is the current velocity vector of the moving target, is the acceleration due to gravity, is the derivative of the current latitude of the moving target, is the current northward speed of the moving target, is the meridian curvature radius, is the current height of the moving target, is the derivative of the current longitude of the moving target, is the current eastward speed of the moving target, is the radius of curvature of the Maoyou circle, is the current latitude of the moving target, is the derivative of the current height of the moving target, is the current celestial speed of the moving target.

4. The indoor and outdoor seamless positioning method according to claim 3, characterized in that: The Beidou plus inertial navigation positioning includes: The measurement equation is: in, in, is the measurement vector, is the measurement matrix, is the measurement error vector, is a matrix whose elements are all zeros, The subscript of is the matrix size, is a matrix with 3 rows and 6 columns whose elements are all 0. is the latitude calculated by inertial navigation, is the longitude calculated by inertial navigation, is the height calculated by inertial navigation, is the latitude calculated by Beidou, is the longitude calculated by Beidou, is the altitude calculated by Beidou, is a 15-dimensional state vector.

5. The indoor and outdoor seamless positioning method according to claim 4, characterized in that: The 5G plus inertial navigation positioning includes: The measurement equation is: in, in, The latitude calculated for 5G, The longitude calculated for 5G, Calculated altitude for 5G.

6. The indoor and outdoor seamless positioning method according to claim 5, characterized in that: The Beidou plus 5G plus inertial navigation positioning includes: The measurement equation is: in, in, The latitude calculated by Beidou plus 5G, The longitude calculated by Beidou plus 5G, This is the height calculated by Beidou plus 5G.

7. A seamless indoor and outdoor positioning system, characterized in that: include: Acquisition module, used to obtain Beidou observation information, 5G observation information and inertial navigation observation information; A working mode module is used to determine the working mode of the mobile target in the intersection area of ​​Beidou and 5G by combining Beidou observation information and 5G observation information; the working modes include a complete blind area in the intersection area, a weak blind area in the intersection area, and no blind area in the intersection area; The determining of the working mode of the mobile target in the intersection area of ​​Beidou and 5G includes: (1) respectively determining the Beidou status information in the Beidou observation information and the 5G status information in the 5G observation information; if Beidou is unavailable and 5G is unavailable, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is a complete blind area in the intersection area; if Beidou is available, executing step (2); if 5G is available, executing step (4); (2) Determine whether the number of visible Beidou satellites is greater than or equal to 4. If so, execute step (3). Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is a weak blind spot in the intersection area. (3) Determine whether the average signal-to-noise ratio of the visible satellite is greater than or equal to 30. If so, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is no blind spot in the intersection area. Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is weak blind spot in the intersection area. (4) Determine whether the number of 5G base stations is greater than or equal to 4. If so, execute step (5). Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is a weak blind spot in the intersection area. (5) Determine whether the average value of the visible base station signal power is greater than or equal to 200. If so, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is no blind spot in the intersection area. Otherwise, the working mode of the mobile target in the intersection area of ​​Beidou and 5G is weak blind spot in the intersection area. The positioning module is used to use single inertial navigation positioning to locate the target when the working mode is a complete blind spot in the intersection area; when the working mode is a weak blind spot in the intersection area, according to the number of Beidou visible satellites and the average signal-to-noise ratio of visible satellites in the Beidou observation information, and the number of 5G base stations and the average signal power of visible base stations in the 5G observation information, determine to use one of Beidou plus inertial navigation positioning, 5G plus inertial navigation positioning, and Beidou plus 5G plus inertial navigation positioning for target positioning; when the working mode is no blind spot in the intersection area, Beidou plus 5G plus inertial navigation positioning is used for target positioning; among which, inertial navigation positioning is based on inertial navigation observation information.

8. An electronic device, characterized in that: include: A memory and one or more processors; the memory is coupled to the processor; wherein the memory stores computer program code, the computer program code includes computer instructions, and when the computer instructions are executed by the processor, the electronic device executes the steps of the indoor and outdoor seamless positioning method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the indoor and outdoor seamless positioning method as described in any one of claims 1 to 6 are implemented.

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