Seamless indoor and outdoor positioning system of conduction fusion integrated base station

Abstract

The invention relates to a positioning technology, and discloses a seamless indoor and outdoor positioning system of a conduction fusion integrated base station, which comprises a Beidou ground-based augmentation network, a mobile positioning terminal and a core cloud service, and is characterized in that the Beidou ground-based augmentation network is used for receiving and processing signals from Beidou satellites; the mobile positioning terminal is used for receiving signals of a Beidou satellite and a Beidou ground-based augmentation network, and the core cloud service is used for receiving positioning data uploaded by the mobile positioning terminal and providing accurate position information; the method has the advantages that the positioning precision is high, and the positioning precision and stability are improved by fusing multiple factors such as communication signal strength and base station position information; seamless switching: seamless switching of indoor and outdoor environments is realized, the situation of positioning interruption or jump is avoided, and the user experience is improved; and the cost is low: an integrated base station design is adopted, so that the hardware cost and the maintenance cost are reduced, and the economical efficiency of the technology is improved.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, in particular to a seamless indoor and outdoor positioning system of a communication and navigation integrated base station. Background Art

[0002] The BeiDou satellite navigation and positioning system is a global satellite navigation system that China is implementing and independently developing and operating. The BeiDou satellite navigation and positioning system consists of three parts: space, ground monitoring and user applications, and can achieve real-time continuous positioning and navigation on a global scale. The BeiDou satellite navigation and positioning system provides position, time and speed services through geosynchronous satellite constellations, and provides short message communication services through active and passive means. At present, the BeiDou satellite navigation and positioning system has been widely used in the fields of transportation, shipping, public safety, production safety, emergency response, anti-terrorism, forest fire prevention and pipeline inspection. As an important part of the satellite navigation system, the ground augmentation system is an important means to improve the performance and availability of satellite navigation and positioning, and is a key link to ensure the excellent performance of the satellite navigation system.

[0003] With the rapid development of science and technology, positioning technology plays an increasingly important role in people's lives. Outdoor positioning technology is already quite mature, and the widespread application of the Global Navigation Satellite System (GNSS) has greatly satisfied outdoor positioning services. However, in complex environments such as indoors or in urban canyons, GNSS technology cannot provide stable and reliable positioning services, so indoor positioning technology has always been a hot topic of research.

[0004] Although a large number of indoor positioning technologies have emerged in recent years, there is an obvious gap between indoor and outdoor positioning systems because they are developed independently, making it difficult to achieve seamless connection. This bottleneck restricts the further development of positioning technology, making indoor and outdoor seamless positioning an urgent problem to be solved. In addition, with the popularization and application of 5G technology, the integration of communication and navigation has become a new development trend. The high speed and large capacity of 5G networks facilitate the stable transmission of navigation signals, making communication and navigation integration possible. Communication and navigation integration can not only expand the coverage of positioning signals, but also improve the accuracy and stability of positioning.

[0005] Therefore, the development of a seamless indoor and outdoor positioning system with integrated communication and navigation base stations has important practical application value and far-reaching significance. The system aims to achieve seamless indoor and outdoor positioning, improve positioning accuracy and stability, and bring greater convenience to people's lives and work. Summary of the invention

[0006] The purpose of the present invention is to provide a seamless indoor and outdoor positioning system of a communication and navigation integrated base station to solve the above-mentioned deficiencies in the prior art.

[0007] In order to achieve the above-mentioned objectives, the present invention provides the following technical solutions: a seamless indoor and outdoor positioning system of an integrated communication and navigation base station, comprising a Beidou ground-based augmentation network, a mobile positioning terminal and a core cloud service. The Beidou ground-based augmentation network is used to receive and process signals from Beidou satellites, the mobile positioning terminal is used to receive signals from Beidou satellites and the Beidou ground-based augmentation network, and the core cloud service is used to receive positioning data uploaded by the mobile positioning terminal to provide accurate location information.

[0008] Preferably, the Beidou Ground-Based Augmentation Network is also used to generate differential data to correct errors in satellite signals.

[0009] Preferably, it also includes a data processing module. When switching between indoor and outdoor environments, the data processing module will achieve smooth switching between indoor and outdoor positioning according to changes in communication signal strength and updates of base station location information.

[0010] Preferably, the smooth switching algorithm may adopt a Kalman filter.

[0011] Preferably, the mobile positioning terminal uses 5G base station signals and indoor positioning technology to achieve seamless switching of positioning.

[0012] Preferably, the mobile terminal uses a positioning algorithm to achieve seamless indoor positioning.

[0013] Preferably, the positioning algorithm of the mobile positioning terminal may adopt a weighted least squares method.

[0014] The beneficial effects of the present invention are: in the above technical solution, the present invention has the following advantages:

[0015] (1) High positioning accuracy: By integrating multiple factors such as communication signal strength and base station location information, the positioning accuracy and stability are improved.

[0016] (2) Seamless switching: It realizes seamless switching between indoor and outdoor environments, avoids positioning interruption or jump, and improves user experience.

[0017] (3) Low cost: The integrated base station design reduces hardware and maintenance costs and improves the economic efficiency of the technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For ordinary technicians in this field, other drawings can also be obtained based on these drawings.

[0019] Figure 1 A system framework diagram provided for an embodiment of the present invention; DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0021] In the description of the present invention, unless otherwise specified, "multiple" means two or more than two; the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention 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 invention. In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connected" 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 directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] like Figure 1 As shown, an embodiment of the present invention provides a seamless indoor and outdoor positioning system of an integrated communication and navigation base station, including a Beidou ground-based augmentation network, a mobile positioning terminal and a core cloud service. The Beidou ground-based augmentation network is used to receive and process signals from Beidou satellites, and the mobile positioning terminal is used to receive signals from Beidou satellites and the Beidou ground-based augmentation network. The core cloud service is used to receive positioning data uploaded by the mobile positioning terminal and provide accurate location information. It also includes a data processing module. When switching between indoor and outdoor environments, the data processing module will achieve smooth switching of indoor and outdoor positioning according to changes in communication signal strength and updates of base station location information.

[0023] As the core of signal enhancement, the BeiDou Ground-Based Augmentation Network receives and processes signals from BeiDou satellites, generates differential data, and significantly improves positioning accuracy. The basic principle of differential data generation can be expressed by the following formula:

[0024] ΔP i =P iR -P i B

[0025] ΔP i is the differential correction of the ith satellite; P i R is the pseudorange of the i-th satellite received by the reference station; P i Bis the theoretical pseudorange of the ith satellite calculated by the reference station.

[0026] The mobile positioning terminal integrates a variety of positioning technologies. It can not only receive signals from Beidou satellites and Beidou ground-based augmentation network to achieve centimeter-level high-precision positioning outdoors, but also use 5G base station signals and indoor positioning technology in indoor environments covered by 5G networks to ensure seamless switching of positioning. In addition, the mobile terminal positioning algorithm can comprehensively consider factors such as communication signal strength, base station location information, and mobile terminal location information to achieve seamless indoor and outdoor positioning. The positioning algorithm of the mobile positioning terminal can use weighted least squares (WLS) to integrate multiple signal sources:

[0027]

[0028] is the estimated position vector; H is the observation matrix, which contains the geometric relationship of each signal source; W is the weight matrix, which reflects the reliability and accuracy of each signal source; Z is the observation vector, which contains the observation value of each signal source;

[0029] When switching between indoor and outdoor environments, the data processing module will implement smooth switching between indoor and outdoor positioning based on changes in communication signal strength and updates to base station location information to avoid positioning interruptions or jumps. Specifically, the smooth switching algorithm can use a Kalman filter:

[0030]

[0031]

[0032] P k|k =(IK k H)P k|k-1

[0033] is a priori estimate; is the posterior estimate; P k|k-1 and P k|k are the covariance matrices of the prior and posterior estimates, respectively; K k is the Kalman gain; A is the state transfer matrix; B is the control input matrix; uk is the control input; H is the observation matrix; Q is the process noise covariance matrix; R is the observation noise covariance matrix; zk is the observation value.

[0034] The core cloud service serves as the center of data processing and services. It receives positioning data uploaded by mobile positioning terminals, performs in-depth processing and analysis through powerful algorithms, provides accurate location information, and provides stable and reliable positioning services for various applications through cloud service interfaces.

[0035] At the same time, the core cloud service is also responsible for real-time monitoring of the operating status of the entire system, optimizing system performance through data analysis, and ensuring the continued stability and efficiency of positioning services. Through the design of this integrated base station, the technology provides users with a seamless, high-precision, and high-reliability indoor and outdoor positioning experience.

[0036] In the construction of smart cities, the present invention can be used for the positioning and management of urban infrastructure, thereby improving the efficiency and intelligence level of urban management; in the field of intelligent transportation, the present invention can be used for vehicle positioning, navigation, and traffic flow monitoring, thereby improving the safety and efficiency of traffic operation; in the field of logistics tracking, the present invention can be used for real-time positioning and tracking of goods, thereby improving the accuracy and efficiency of logistics management; in the field of emergency rescue, the present invention can be used to quickly locate the location of disaster-stricken areas and rescue personnel, thereby improving the response speed and effectiveness of emergency rescue.

[0037] The above description is only by way of illustration of certain exemplary embodiments of the present invention. It is undoubted that those skilled in the art can modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of protection of the claims of the present invention.

Claims

1. A seamless indoor and outdoor positioning system of a communication and navigation integrated base station, characterized in that: It includes Beidou Ground-Based Augmentation Network, mobile positioning terminals and core cloud services. Beidou Ground-Based Augmentation Network is used to receive and process signals from Beidou satellites. Mobile positioning terminals are used to receive signals from Beidou satellites and Beidou Ground-Based Augmentation Network. Core cloud services are used to receive positioning data uploaded by mobile positioning terminals and provide accurate location information.

2. According to claim 1, a seamless indoor and outdoor positioning system of a communication and guidance integrated base station is characterized in that: The BeiDou Ground-Based Augmentation Network is also used to generate differential data to correct errors in satellite signals.

3. According to claim 1, a seamless indoor and outdoor positioning system of a communication and navigation integrated base station is characterized in that: It also includes a data processing module. When switching between indoor and outdoor environments, the data processing module will achieve smooth switching between indoor and outdoor positioning based on changes in communication signal strength and updates to base station location information.

4. The seamless indoor and outdoor positioning system of the communication and navigation integrated base station according to claim 3 is characterized in that: The smooth switching algorithm can adopt Kalman filter.

5. The seamless indoor and outdoor positioning system of a communication and navigation integrated base station according to claim 1 is characterized in that: The mobile positioning terminal uses 5G base station signals and indoor positioning technology to achieve seamless switching of positioning.

6. The seamless indoor and outdoor positioning system of a communication and navigation integrated base station according to claim 1 is characterized in that: Mobile terminals use positioning algorithms to achieve seamless indoor positioning.

7. A seamless indoor and outdoor positioning system of a communication and navigation integrated base station according to claim 6, characterized in that: The positioning algorithm of the mobile positioning terminal can adopt the weighted least square method.

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