Outdoor and indoor positioning method and system based on RTK and UWB technology

Abstract

The present application relates to the field of positioning technology, and provides an outdoor and indoor positioning method and system based on RTK and UWB technology. The method includes: traversing the target area to construct a three-dimensional map and perform multi-level identification to generate an identification map; locking the target object to be located, matching the identification map to determine the initial environmental information; activating the first positioning technology to track the target object to be located to generate tracking trajectory information; mapping the tracking trajectory information to the identification map to analyze and generate a switching instruction, and activating the second positioning technology according to the instruction; integrating the two technologies to formulate switching suggestions, simulating the execution to generate a positioning path; forming a switching strategy based on the path error optimization suggestion to achieve cross-regional positioning. The present application solves the technical problems of unstable positioning accuracy and unsmooth switching caused by differences in outdoor and indoor positioning environments, and realizes seamless switching and dynamic adjustment of positioning strategies based on RTK and UWB technologies, ensuring the technical effect of efficient and accurate positioning services in different environments.

Description

Technical Field

[0001] The present application relates to the field of positioning technology, and in particular to an outdoor and indoor positioning method and system based on RTK and UWB technologies. Background Art

[0002] With the rapid development of intelligent technology, the application demand of positioning technology in many fields is increasing. Although traditional positioning technologies, such as GPS, can provide relatively accurate positioning services in outdoor environments, the positioning accuracy is greatly reduced in indoor environments due to factors such as signal blocking and reflection. At the same time, indoor positioning technologies, such as UWB (ultra-wideband technology), have excellent performance in high-precision positioning, but their application in outdoor environments still has certain limitations.

[0003] In order to solve the problems of unstable accuracy and unsmooth switching of traditional positioning technology in indoor and outdoor environments, positioning systems based on the integration of multiple technologies have gradually become a research hotspot in recent years. RTK (real-time dynamic positioning technology) is a high-precision outdoor positioning technology that can provide centimeter-level positioning accuracy, while UWB technology has demonstrated high accuracy and anti-interference capabilities in indoor environments. By combining RTK and UWB technology, seamless switching between outdoor and indoor environments can be achieved, overcoming the limitations of a single technology in a specific environment and providing efficient and accurate positioning services.

[0004] However, the existing RTK and UWB technologies still face multiple challenges when used in combination. For example, how to accurately identify environmental changes, how to ensure the stability and accuracy of positioning during the switching process from outdoor to indoor and from indoor to outdoor, and how to effectively fuse the data of the two technologies. Most of the existing technical solutions are optimized for specific environments and lack a unified solution. Therefore, there is an urgent need for a comprehensive positioning method based on RTK and UWB technologies that can perform intelligent switching and data fusion according to different target environments, thereby improving the accuracy and reliability of positioning. Summary of the invention

[0005] This application provides an outdoor and indoor positioning method and system based on RTK and UWB technology, aiming to solve the technical problems of unstable positioning accuracy and unsmooth switching caused by differences in outdoor and indoor positioning environments.

[0006] The first aspect disclosed in the present application provides an outdoor and indoor positioning method based on RTK and UWB technology, the method comprising: traversing a target area for three-dimensional analysis to construct a regional three-dimensional map, multi-level identification of the target area according to the regional three-dimensional map, and generating a target area identification map; locking a target object to be positioned, traversing the target area identification map to match the target object to be positioned, and determining the initial environment information of the target object to be positioned; activating a first positioning technology according to the initial environment information, tracking the position of the target object to be positioned by the first positioning technology, and generating tracking trajectory information; mapping the tracking trajectory information to the target area identification map for dynamic analysis, generating a positioning switching instruction, updating the first positioning technology by the positioning switching instruction, and activating a second positioning technology; fusing the first positioning technology with the second positioning technology according to the positioning switching instruction, formulating a positioning switching suggestion, simulating and executing the positioning switching suggestion according to the tracking trajectory information, and generating positioning path information of the target object to be positioned; performing positioning determination on the target object to be positioned based on the positioning path information, optimizing the positioning switching suggestion according to the determination result, generating a positioning switching strategy, and positioning outdoor and indoor according to the positioning switching strategy.

[0007] Another aspect disclosed in the present application provides an outdoor and indoor positioning system based on RTK and UWB technology, the system comprising: a multi-level identification module: traversing the target area for three-dimensional analysis to construct a three-dimensional map of the area, performing multi-level identification on the target area according to the three-dimensional map of the area, and generating a target area identification map; an environment matching module: locking the target object to be located, traversing the target area identification map to match the target object to be located, and determining the initial environment information of the target object to be located; a position tracking module: activating the first positioning technology according to the initial environment information, tracking the position of the target object to be located through the first positioning technology, and generating tracking trajectory information; a technology updating module: converting the tracking trajectory information into the tracking trajectory information. Map to the target area identification map for dynamic analysis, generate a positioning switching instruction, update the first positioning technology through the positioning switching instruction, and activate the second positioning technology; switch suggestion simulation module: according to the positioning switching instruction, the first positioning technology and the second positioning technology are data-fused, a positioning switching suggestion is formulated, and the positioning switching suggestion is simulated and executed according to the tracking trajectory information to generate the positioning path information of the target object to be located; outdoor and indoor positioning module: based on the positioning path information, the positioning judgment of the target object to be located is performed, the positioning switching suggestion is optimized according to the judgment result, a positioning switching strategy is generated, and the outdoor and indoor positioning is performed according to the positioning switching strategy.

[0008] One or more technical solutions provided in this application have at least the following technical effects or advantages:

[0009] The above-mentioned outdoor and indoor positioning method based on RTK and UWB technology, the method constructs a three-dimensional map of the target area through three-dimensional analysis, and performs multi-level identification of the area according to the map to generate an identification map; then, the object to be located is locked, the identification map is matched to determine its initial environmental information, and then according to the initial environmental information, the first positioning technology is activated to track the position of the target object to be located, and trajectory information is generated; then, the trajectory information is mapped to the target area identification map, dynamic analysis is performed, positioning switching instructions are generated, the first positioning technology is updated and the second positioning technology is activated; then, the data of the two positioning technologies are combined to formulate switching suggestions, and these suggestions are simulated and executed according to the trajectory information to generate the positioning path information of the target object to be located; finally, positioning judgment is made according to the path information, the switching suggestions are optimized, and the positioning switching strategy is generated to achieve accurate positioning outdoors and indoors.

[0010] The above description is only an overview of the technical solution of the present application. In order to more clearly understand the technical means of the present application, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0012] Figure 1 The figure is a flowchart of an outdoor and indoor positioning method based on RTK and UWB technology in an embodiment.

[0013] Figure 2 This is an architecture diagram of an outdoor and indoor positioning system based on RTK and UWB technology in one embodiment.

[0014] Explanation of the reference numerals: multi-level identification module 11, environment matching module 12, location tracking module 13, technology updating module 14, switching suggestion simulation module 15, outdoor and indoor positioning module 16. DETAILED DESCRIPTION

[0015] The embodiments of the present application provide an outdoor and indoor positioning method and system based on RTK and UWB technologies to solve the technical problems of unstable positioning accuracy and unsmooth switching caused by differences in outdoor and indoor positioning environments.

[0016] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0017] It should be noted that the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or server that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or modules that are not explicitly listed or inherent to these processes, methods, products or devices.

[0018] Embodiment 1, as Figure 1 As shown, the present application provides an outdoor and indoor positioning method based on RTK and UWB technology, the method comprising:

[0019] The target area is traversed to perform three-dimensional analysis to construct a three-dimensional map of the area, and the target area is marked in multiple levels according to the three-dimensional map of the area to generate a target area marking map.

[0020] In an embodiment of the present application, a three-dimensional analysis is performed on the target area, spatial data within the target area is collected and a three-dimensional map of the area is constructed. This process forms a three-dimensional model of the area through precise scanning and data acquisition; subsequently, based on the three-dimensional map of the area, the area is marked at multiple levels. For example, in the first level of marking, key structures such as houses and buildings in the area are marked, and in the second level of marking, the signal strength in the area is marked. These markings can not only provide a basis for the subsequent distinction between indoor and outdoor areas, but also help to accurately identify and process positioning requirements in different environments; finally, the generated markings are matched to obtain a target area identification map, which combines these multi-level identification information to provide necessary data support for subsequent positioning tracking and switching.

[0021] Further, the present application provides a method of traversing a target area for three-dimensional analysis to construct a three-dimensional map of the region, performing multi-level identification of the target area according to the three-dimensional map of the region, and generating a target area identification map, the method comprising:

[0022] Based on the target area, multiple common reference benchmarks are determined, and the target area is traversed for scanning to obtain a high-density point cloud data set of the target area; the high-density point cloud data set is aligned according to the multiple common reference benchmarks to construct a three-dimensional map of the area; the three-dimensional map of the area is divided according to geographical types to generate a primary identification, and the primary identification includes an outdoor area identification, an indoor area identification, and a transition area identification; the three-dimensional map of the area is positioned and constrained according to signal characteristics to generate a secondary identification, and the secondary identification includes a signal strength identification; the outdoor area identification, the indoor area identification, and the transition area identification are matched with the signal strength identification to construct the target area identification map.

[0023] Preferably, multiple fixed objects with significant features are selected in the target area as common reference points, such as building corners, road signs, road intersections, etc. These common reference points are used for subsequent alignment and matching to ensure that the point cloud data can be accurately aligned to a unified coordinate system; then, a scanning device (such as a lidar or other high-precision sensor) is used to scan the target area to collect a large amount of spatial data. These data form a high-density point cloud data set, which contains all important spatial information of the target area, such as terrain, building structure, etc.; then, the obtained high-density point cloud data is registered using multiple common reference points. The purpose of registration is to align the scanned point cloud data with known common reference points to ensure spatial consistency between different scanned data sets. The commonly used registration algorithm is the iterative closest point (ICP) algorithm, which can accurately align multiple point cloud data sets. In this process, the point cloud data sets are roughly aligned according to the position of the common reference points. Rough alignment is It is done by selecting known common reference points, calculating the displacement difference of the reference points for translation, and calculating the rotation angle by comparing the relative positions between the reference points. Then, the point cloud position is adjusted by the least squares method and other algorithms to make it preliminarily aligned, laying the foundation for subsequent fine registration. After the preliminary alignment, the ICP algorithm finds the matching point pairs in the point cloud dataset according to the current rough registration (that is, each point in the point cloud is paired with the nearest point in another point cloud), and then adjusts the position of the dataset by iterative optimization to minimize the distance between the corresponding point pairs until the predetermined convergence standard is reached (meeting the maximum number of iterations or less than the maximum allowable error of the point pair). Through continuous iteration of the ICP algorithm, the accurately registered point cloud dataset is obtained; then, multiple registered point cloud datasets are fused into a whole point cloud. At this time, all point cloud datasets have been aligned and form a complete regional three-dimensional map, which contains the spatial structure and object distribution of the entire target area.

[0024] After obtaining the three-dimensional map of the region, the three-dimensional map of the region is divided into geographical types according to the predefined geographical type division rules. This geographical type division rule can divide outdoor areas, indoor areas and transition areas. The outdoor area refers to all open areas, such as streets, parks, open spaces, etc. Usually, the three-dimensional map features of these areas are relatively simple, without walls or roof coverage. When dividing, they can be identified based on the height and morphological features of the area (such as areas without roofs). The indoor area includes the space inside the building, such as rooms, corridors, stairwells, etc. These areas are usually enclosed by structures such as walls and roofs, so they can be divided by identifying spaces with closed structures. The transition area is the area connecting indoors and outdoors, such as porches, corridors, foyers, balconies, etc. These areas usually have the intersection of two environmental features and can be identified based on the spatial morphology and signal characteristics of the three-dimensional map; the algorithm is used to segment the area through the spatial features in the three-dimensional map, for example, a morphological-based region extraction method or a deep learning-based image segmentation method is used to distinguish different geographical areas. For each area, its physical features (such as roof height, walls, openings, etc.) and connectivity with adjacent areas are input into the geographical type division rules for comparison, and according to The comparison results are divided into geographical types, so that each area is assigned a corresponding first-level identification, including outdoor area identification, indoor area identification, and transition area identification. Through these identifications, the functions and characteristics of different areas can be clarified, providing a basis for subsequent positioning; then, based on the three-dimensional map of the area, the strength information of the radio signal in the area is identified. In different areas, the signal strength may vary greatly, especially the difference between indoor and outdoor environments. By reading the signal strength of each area, each area can be further constrained and a second-level identification can be generated to distinguish the signal quality in different areas, which helps to accurately determine the positioning accuracy; then, the generated outdoor area identification, indoor area identification and transition area identification are matched with the signal strength identification, that is, the outdoor area identification or indoor area identification or transition area identification is matched with the corresponding signal strength identification. Through this matching, the spatial layout of the area can be combined with the signal strength data to construct an identification map of the target area. This target area identification map integrates spatial information and signal strength information, providing necessary data support for subsequent positioning and tracking. The identification map can be used to guide the switching of positioning technology in different environments to achieve higher-precision positioning.

[0025] The target object to be located is locked, the target area identification map is traversed to match the target object to be located, and initial environment information of the target object to be located is determined.

[0026] In one embodiment, when it is necessary to locate an object, the features of the object are used as the features of the target object to be located, such as shape, color, size, etc.; then, the target object to be located is identified and locked through a defined target area identification map, that is, by traversing each area in the target area identification map, the features of each part in the area are analyzed to find features that match the target object to be located. Once a matching area is found, the initial environmental information of the target object to be located is determined. The environmental information includes the spatial position of the target object to be located, the surrounding physical environment (such as indoors, outdoors or in a transitional area), signal strength, and obstacle information, etc., which provides a basis for subsequent precise positioning.

[0027] The first positioning technology is activated according to the initial environment information, and the position of the target object to be positioned is tracked by the first positioning technology to generate tracking trajectory information.

[0028] In one embodiment, the optimal positioning technology is first determined by analyzing the initial environmental information of the target object to be positioned (such as location, type of area, signal characteristics, etc.). If the target object to be positioned is in an outdoor open area or a transition area, RTK technology can be selected for positioning, because RTK can provide centimeter-level positioning accuracy and is suitable for outdoor environments. If the target object to be positioned is in an indoor or complex environment, UWB technology can be selected for positioning, because UWB technology can provide higher accuracy indoors and adapt to complex indoor signal propagation environments. According to the analysis results, the appropriate positioning technology (RTK or UWB) will be activated, and real-time positioning of the target object to be positioned will begin; during the real-time positioning process, its position coordinates will be continuously updated to generate continuous tracking trajectory information. This information records the movement path of the target object to be positioned from the starting position to the current state, providing support for subsequent positioning switching and data fusion.

[0029] Furthermore, the present application provides activating a first positioning technology according to the initial environment information, tracking the position of the target object to be located by using the first positioning technology, and generating tracking trajectory information, the method comprising:

[0030] Extract the signal strength identifier in the initial environmental information of the target object to be located for analysis, and construct a signal strength matrix; set information classification rules, wherein the information classification rules include a first activation condition and a second activation condition; judge the initial environmental information according to the information classification rules, and generate an activation instruction based on the judgment result and the signal strength matrix; activate the first positioning technology through the activation instruction, and perform real-time solution on the target object to be located through the first positioning technology to determine multiple position coordinates of the target object to be located; continuously track according to the multiple position coordinates to obtain multiple tracking paths, perform continuity analysis on the multiple tracking paths, and construct the tracking trajectory information.

[0031] Optionally, signal strength identifiers are extracted from the initial environmental information of the target to be located. These identifiers represent the signal strength of the target to be located at different locations, which can usually be the strength values ​​of Wi-Fi, UWB or RTK signals. By combining the extracted signal strength identifiers with the surrounding signal strength identifiers and converting them into a matrix form, a signal strength matrix can be constructed. This signal strength matrix is ​​a multidimensional array used to represent the signal strength of the target to be located in different areas and the signal strength of the surrounding environment of the target to be located. Each element in the matrix corresponds to the signal strength of a location point, so that quantitative comparison can be performed in subsequent analysis; then, in order to accurately activate the appropriate positioning For positioning technology, a set of information classification rules will be set, which includes the first activation condition and the second activation condition. The first activation condition is the RTK activation condition, and the corresponding signal strength is greater than or equal to -85dBm (to ensure that the signal quality is good enough), the corresponding number of visible satellites is greater than or equal to 6 (to ensure that there are enough satellite signals for positioning), and the corresponding obstacle density is less than or equal to 10% (to ensure that there are no high-rise buildings or other obstacles in the area that interfere with the propagation of RTK signals); the second activation condition is the UWB activation condition, and the corresponding signal strength is greater than or equal to 90dBm (to ensure that the signal is strong enough to provide accurate positioning), and the corresponding UWB base station signal coverage number is greater than or equal to 3 (to ensure At least three base stations can provide sufficient signal coverage), and the corresponding obstacle interference level is less than or equal to level 2 (to ensure that the multipath effect does not seriously interfere with signal transmission, according to the preset interference level table); then, the initial environmental information is judged with the defined information classification rules, and the area type, signal strength, obstacle information, etc. in the initial environmental information are analyzed to see whether they meet the requirements of the corresponding activation conditions in the information classification rules. If the first activation condition is met, an RTK activation instruction is generated to activate the RTK technology for positioning. Otherwise, a UWB activation instruction is generated to activate the UWB technology for positioning; then, according to the activation instruction, the corresponding positioning technology (RTK or UWB) is selected and activated. B) Start real-time position calculation of the target object to be located by the selected positioning technology (RTK or UWB). For RTK technology, the position of the target object to be located is determined by receiving satellite signals. For UWB technology, the distance of the target object to be located is calculated by receiving base station signals, thereby obtaining multiple position coordinates of the target object to be located. By continuously obtaining the real-time position coordinates of the target object to be located, the trajectory of the target object to be located is continuously tracked. These coordinates will be continuously updated over time to form a complete trajectory. During the tracking process, multiple tracking paths will be generated according to the coordinates of the target object to be located at different times. These paths reflect the movement trajectory of the target object to be located in space.By analyzing these multiple paths, we can determine whether they are smooth and whether there are obvious jumps or errors. During the analysis, we will check whether the relative distance and time interval between each position coordinate meet the corresponding preset value to ensure that the path is continuous and there is no abnormal fluctuation. By analyzing multiple tracking paths, we can finally generate the complete tracking trajectory information of the target object to be located. This tracking trajectory information records the moving path and time series of the target object to be located, helping to achieve high-precision positioning. ;

[0032] Furthermore, the present application provides a method for determining the initial environment information according to the information classification rule, and generating an activation instruction according to the determination result combined with the signal strength matrix, the method comprising:

[0033] The initial environmental information is matched with the first activation condition and the second activation condition. When the determination result meets the first activation condition, the target to be located is positioned and analyzed according to the signal strength matrix to obtain a first determination result. According to the first determination result, the RTK technology is used as the first positioning technology to generate a first activation instruction, and the first activation instruction has a unique activation relationship with the first positioning technology. When the determination result meets the second activation condition, the target to be located is positioned and analyzed according to the signal strength matrix to obtain a second determination result. According to the second determination result, the UWB technology is used as the first positioning technology to generate a second activation instruction, and the second activation instruction has a unique activation relationship with the second positioning technology.

[0034] Optionally, first extract relevant signal strength identification, area type (indoor or outdoor) and other environmental features (such as obstacle density, signal coverage, etc.) from the initial environmental information of the target to be located, and then compare the extracted initial environmental information with the set activation conditions. When the initial environmental information of the target to be located meets the first activation condition, the signal strength matrix and the signal strength in the initial environmental information are compared and analyzed to determine the area type (indoor, outdoor or transition area) where the target to be located is located. For example, if the target to be located is outdoors or in a transition area and meets the first activation condition, confirm to use RTK positioning. technology, at this time, the first judgment result will be set to activate RTK; according to this first judgment result, RTK is selected as the first positioning technology, and a first activation instruction will be generated. This first activation instruction has a unique activation relationship with the RTK technology, which means that each time the activation instruction is generated, the RTK technology will be activated for positioning; similarly, when the second judgment result obtained in the same way is to activate UWB, UWB is selected as the first positioning technology, and a second activation instruction will be generated. This second activation instruction also has a unique activation relationship with the UWB technology, and each time the activation instruction is generated, the UWB technology will be activated for positioning. Through the above steps, the activation instruction and positioning technology can be dynamically adjusted according to the movement of the target object to be positioned to ensure the continuous accuracy of positioning.

[0035] The tracking trajectory information is mapped to the target area identification map for dynamic analysis, a positioning switching instruction is generated, the first positioning technology is updated through the positioning switching instruction, and the second positioning technology is activated.

[0036] In one embodiment, after obtaining the real-time tracking trajectory information of the target object to be located through the first positioning technology (such as RTK or UWB), the tracking trajectory information is compared with the target area identification map, and the movement trajectory of the target object to be located is mapped to the identification map. The target area identification map contains information of different geographical types (indoor, outdoor, transitional area, etc.) in the area. Through this mapping, the trajectory of the target object to be located can be associated with environmental information such as the area type and signal strength. Subsequently, the tracking trajectory of the target object to be located is dynamically analyzed to detect the changing trend of the trajectory and determine whether the target object to be located has crossed the boundary of the area. For example, the target object to be located may enter the indoor area from the outdoor area. If the dynamic analysis result shows that the target object to be located will enter the area of ​​another positioning technology (from the outdoor to the indoor), a positioning switching instruction will be generated to indicate the update of the currently used positioning technology. According to this positioning switching instruction, the currently used first positioning technology will be updated, for example, the current RTK positioning is stopped and the UWB positioning is activated because the target object to be located has entered the indoor area. In summary, this process maps the tracking trajectory of the target object to be located to the target area identification map, combines dynamic analysis to determine the motion state of the target object to be located, generates and executes positioning switching instructions, and ensures that the positioning technology can be switched in time when the environment changes (such as area type, signal strength), thereby maintaining the accurate positioning of the target object to be located.

[0037] Further, the present application provides mapping the tracking trajectory information to the target area identification map for dynamic analysis, generating a positioning switching instruction, updating the first positioning technology through the positioning switching instruction, and activating the second positioning technology, the method comprising:

[0038] A regional coordinate system of the target area is constructed based on the target area identification map; the multiple tracking paths are synchronously mapped to the target area identification map according to the regional coordinate system to obtain multiple tracking trajectory identification coordinates; trajectory dynamic calculation is performed based on the multiple tracking trajectory identification coordinates, and whether the multiple tracking trajectory identification coordinates have intersections with the boundaries according to the calculation results, if there is an intersection, new area information is extracted: it is determined whether the new area information is consistent with the area information of the previous tracking trajectory identification coordinates, if not, a positioning switching instruction is generated; when the first positioning technology is RTK technology, UWB technology is activated as the second positioning technology according to the positioning switching instruction, and when the first positioning technology is UWB technology, RTK technology is activated as the second positioning technology according to the positioning switching instruction.

[0039] Optionally, first, a regional coordinate system of the target area is constructed with the lower left corner of the target area identification map as the origin, or the center point or a fixed reference point can be used as the origin. This coordinate system can uniformly calibrate the coordinates of each position in the target area, which is convenient for subsequent analysis and calculation; then, the multiple tracking path data obtained from the first positioning technology are synchronously mapped to the target area identification map according to the regional coordinate system, each path represents the position change of the target object to be located at a certain moment, and the mapped path can indicate the actual motion trajectory of the target object to be located in the area. Through synchronous mapping, a set of new coordinate points, namely, multiple tracking trajectory identification coordinates, are obtained. These coordinates represent the position of the target object to be located in the target area. As time goes by, the motion trajectory of the target object to be located is gradually formed; then, the trajectory dynamic calculation is performed on the multiple tracking trajectory identification coordinates, that is, the cross product method is used to dynamically determine whether there is an intersection between the trajectory and the boundary. For example, on a certain trajectory, the coordinates at a certain moment are The coordinates at the previous moment are The points at both ends of the boundary are Then, the vector form of this moment is The vector form of the boundary is Then, the cross product Cross Product if have different signs (one positive and one negative), then there is a crossover point if If the signs are the same, there is no intersection; when an intersection is detected, the information of the new area that has been entered will be extracted, and the information of the area will be compared with the area information of the target to be located at the previous moment. If the new area is inconsistent with the previous area, it means that the positioning environment of the target to be located has changed, and it may have entered indoors from outdoors. At this time, a positioning switching instruction is generated. This instruction is used to update the current positioning technology to adapt to the new environment; if the current positioning technology is RTK, UWB technology will be activated as the second positioning technology according to the switching instruction. If the current positioning technology is UWB, RTK technology will be activated as the second positioning technology according to the switching instruction. In summary, this process tracks the trajectory changes of the target to be located in real time, and dynamically adjusts the positioning technology according to the intersection of the trajectory and the area boundary. By generating a positioning switching instruction, it ensures that the target to be located can switch to the most suitable positioning technology when it enters a new environment, thereby providing more accurate positioning information.

[0040] The first positioning technology and the second positioning technology are data-fused according to the positioning switching instruction, a positioning switching suggestion is formulated, and the positioning switching suggestion is simulated and executed according to the tracking trajectory information to generate positioning path information of the target object to be located.

[0041] In one embodiment, when the target to be located crosses the boundary of the area and a positioning switching instruction is generated, switching values ​​are extracted from multiple tracking trajectory identification coordinates according to the switching instruction. These values ​​reflect the changes in the trajectory or the dynamic changes of the target to be located between different areas. According to these values, the positioning data obtained by the first positioning technology and the second positioning technology are filtered to generate the filtering results of the two. Subsequently, data prediction is performed based on the RTK filtering result combined with the RTK technology to generate positioning prediction information of the target to be located in the outdoor environment. At the same time, the indoor positioning data is corrected based on the UWB filtering result combined with the UWB technology to ensure the accuracy of the positioning data in the outdoor environment. Afterwards, the indoor positioning prediction information is fused with the outdoor positioning correction information to generate the fusion result of indoor and outdoor data. This fusion process ensures that the indoor and outdoor positioning data can be accurately located according to the target. The actual position of the target object to be located is marked, and seamless switching between indoor and outdoor environments is achieved. Corresponding positioning switching suggestions are formulated to clarify when and how to switch from RTK to UWB, or vice versa, to ensure the continuity and accuracy of the positioning of the target object to be located. Then, simulation operation is performed based on the tracking trajectory information of the target object to be located, and multiple simulated motion trajectories are generated to predict the motion path of the target object to be located under different positioning technologies. Multiple simulated positioning switching areas are generated through simulated positioning switching suggestions, and switching evaluation is performed based on these simulated positioning switching areas. Finally, the positioning path of the target object to be located is generated based on the evaluation results, and an accurate positioning trajectory of the target object to be located is provided. This trajectory can accurately reflect the position change of the target object to be located during the switching process between outdoor and indoor environments, ensuring that the positioning can operate stably and efficiently in complex environments.

[0042] Further, the present application provides a method for fusing data of the first positioning technology and the second positioning technology according to the positioning switching instruction to formulate a positioning switching suggestion, the method comprising:

[0043] Extract the switching value of the positioning switching instruction according to the multiple tracking trajectory identification coordinates; filter the first positioning technology and the second positioning technology according to the switching value to generate a filtering result, and the filtering result includes an RTK filtering result and a UWB filtering result; perform data prediction based on the RTK filtering result in combination with the RTK technology to generate outdoor positioning prediction information; perform data correction based on the UWB filtering result in combination with the UWB technology to generate indoor positioning correction information; fuse the indoor positioning prediction information with the outdoor positioning correction information according to the multiple tracking trajectory identification coordinates to generate indoor and outdoor data fusion results; synchronously map the indoor and outdoor data fusion results to a transition area, and formulate the positioning switching recommendation.

[0044] Optionally, the coordinates of multiple tracking trajectory identifiers are continuously calculated in the same manner as described above. Each time an intersection is determined, a positioning switch instruction is executed. By counting the number of executions of the positioning switch instruction, the switching value of the positioning switch instruction can be determined. Subsequently, the positioning data of the first positioning technology (such as RTK) is filtered according to the number of switches. The purpose of filtering is to remove noise and improve the accuracy of the positioning results. When the number of switches is high, it may indicate that the target object to be located is in a frequently switched area. The system will adjust the filtering parameters to better adapt to this frequent switching situation. Taking Kalman filtering as an example, the prediction step of Kalman filtering is used to estimate the current position of the target object to be located. The prediction result is combined with the actual RTK positioning data of the target object to be located. The Kalman filter calculates the Kalman gain, weighs the credibility of prediction and measurement, and dynamically adjusts the state estimation of the target to be positioned. At each positioning switch, the filter parameters are adjusted according to the number of switches to improve the positioning accuracy. As the number of switches increases, the weight of the measurement data is increased, so that the positioning is more stable and accurate when the area is frequently switched. Similarly, the positioning data of the second positioning technology (such as UWB) is filtered according to the number of switches. After the above filtering process, the filtering results including the RTK filtering results and the UWB filtering results are obtained, wherein the RTK filtering results include the accurate results of RTK positioning, which are suitable for outdoor or open areas, and the UWB filtering results include the accurate results of UWB positioning, which are suitable for indoor or complex environments.

[0045] When the target object to be positioned is about to enter the indoor area, the RTK signal may gradually attenuate due to building occlusion, resulting in reduced positioning accuracy. In order to know the position of the target object to be positioned in advance before it enters the indoor area, it is necessary to use the RTK filtering results to perform outdoor positioning prediction. The purpose of outdoor positioning prediction is to predict the future trajectory of the target object in the outdoor area based on its current position, speed and other information in the outdoor area. Specifically, the current position and speed of the target object to be positioned are obtained through the RTK filtering results, and a motion model of the target object to be positioned (such as a uniform straight line model or an improved Kalman filter model) is established. The model usually assumes that the target object to be positioned moves at a uniform speed along a straight line in a short period of time. For example, the motion model can be: in, is the predicted state (position and speed) of the target object to be located, is the state transfer matrix, representing the transition from time step arrive The state transition, is the time step The state of the target to be positioned under the current state; based on this model, the future position of the target to be positioned can be predicted. This prediction depends on the current state of the target to be positioned, including position coordinates and speed information; then, the motion of the target to be positioned is predicted by using the prediction step of the Kalman filter. Assuming that the target to be positioned continues to move in the current direction and approaches the indoor entrance area after a certain period of time, the expected position and speed of the target to be positioned outdoors can be inferred through the state transfer matrix. This process generates prediction information for outdoor positioning by calculating the future trajectory of the target to be positioned. Since the RTK signal is stable in the outdoor area, the last known position of the target to be positioned before entering the indoor area will be inferred based on the RTK filtering result, and the prediction information for outdoor positioning will be generated. A preliminary outdoor positioning prediction is formed; in addition, in order to ensure the accuracy of the prediction results, it will also be adjusted based on motion noise and the actual motion trajectory of the target to be located, and the prediction information will be dynamically updated. This information will be used by the system to determine the possible location of the target to be located when it is about to enter the indoor area, and prepare to switch to a more suitable indoor positioning technology (such as UWB) in advance. Among them, motion noise can be reflected by a weighted matrix (covariance matrix), and the covariance matrix describes the credibility of the prediction value; the generated outdoor positioning prediction information not only includes the terminal trajectory prediction of the target to be located before entering the room, but also takes into account the signal attenuation characteristics of the transition area from outdoor to indoor, ensuring that after the indoor positioning system (such as UWB) takes over, it can Seamless docking avoids the decline of positioning accuracy; then, based on the UWB filtering results, the indoor positioning data is corrected in combination with UWB technology. UWB technology is mainly used indoors. The historical UWB positioning data is differentially calculated with the historical RTK positioning data at the last moment before entering the room to obtain multiple positioning errors between the two, and then the average of these errors is calculated to obtain the standard positioning error. The standard positioning error is added to the UWB filtering result to obtain the indoor positioning correction information to ensure high-precision positioning in indoor environments; then, the indoor positioning prediction information is combined with the outdoor positioning correction information for data fusion. The purpose of data fusion is to combine the indoor positioning prediction information with the outdoor positioning correction information. The positive information is combined and added to a data set to form the indoor and outdoor data fusion result, ensuring that the motion trajectory of the target object to be located can cross the regional boundary (such as from indoor to outdoor, or vice versa) without any positioning error; finally, based on the indoor and outdoor data fusion results, the data is synchronously mapped to the transition area. This step ensures that the target object to be located can be accurately tracked when in the transition area (such as from outdoor to indoor, or from indoor to outdoor), and the positioning switch is smooth; based on the data fusion results in the transition area, a positioning switching suggestion is formulated. This suggestion will indicate when and how to switch from one positioning technology to another, ensuring that the target object to be located can seamlessly switch positioning technology and maintain high-precision positioning.

[0046] Furthermore, the present application provides a method for simulating and executing the positioning switching suggestion according to the tracking trajectory information to generate positioning path information of the target object to be positioned, the method comprising:

[0047] The target object to be located is simulated according to the tracking trajectory information to generate multiple simulated motion trajectory information; the positioning switching suggestions are simulated and executed according to the multiple simulated motion trajectory information to generate multiple simulated positioning switching areas; switching evaluation is performed based on the multiple simulated positioning switching areas to generate a joint positioning error value, the tracking trajectory information is corrected according to the joint positioning error value, and the positioning path information of the target object to be located is generated.

[0048] Preferably, based on the obtained tracking trajectory information, simulation is performed in a simulation environment constructed based on a target area identification map, and this simulation environment can be constructed based on MATLAB Robotics System Toolbox, Unity3D, etc.; then, by using the current position, speed and other parameters of the target to be positioned, the simulation environment is used to predict the possible movement path of the target to be positioned in the future time step, and through repeated simulation, multiple simulated motion trajectory information is generated, and these trajectories represent the possible movement path of the target to be positioned in the future; then, according to the generated multiple simulated motion trajectory information, the positioning switching suggestion is simulated and executed, and by analyzing the intersection of the simulated trajectory and the target area identification map, the switching area that the target to be positioned may pass through is determined, and these areas indicate that the target to be positioned may experience the switching of positioning technology (for example, switching from RTK to UWB, or switching from UWB to RTK), and according to the results of the simulation operation, multiple positioning switching areas that the target to be positioned may enter in the simulation trajectory are marked, thereby obtaining multiple simulated positioning switching areas, which represent the position range of the target to be positioned from one positioning technology (such as RTK) to another positioning technology (such as UWB); then, based on the generated multiple simulated positioning switching areas, The evaluation is carried out. The purpose of the evaluation is to determine whether positioning errors will be introduced when the target to be located switches between different areas. During the evaluation process, the error value in each simulated positioning switching area is calculated, that is, the absolute difference between the position of the target to be located obtained by predicting the trajectory and the actual positioning value is used. In order to fully consider the impact after the positioning switch, the errors of all simulated positioning switching areas are averaged to obtain the joint positioning error value; finally, according to the joint positioning error value, the tracking trajectory information of the target to be located is corrected. This correction is performed by adding the product of the correction coefficient and the joint positioning error value to the position coordinates in the tracking trajectory information. If the joint error value is large, the correction coefficient will be increased, and the adjustment correction strength will be changed to reduce the impact of the error; after the correction is completed, the corrected tracking trajectory information is used as the complete positioning path information of the target to be located. This path represents the precise motion trajectory of the target to be located in the entire indoor and outdoor environment, and takes into account the error correction when switching between different positioning technologies to avoid accuracy fluctuations caused by switching of positioning technologies.

[0049] Based on the positioning path information, a positioning determination is performed on the target object to be positioned, the positioning switching suggestion is optimized according to the determination result, a positioning switching strategy is generated, and positioning is performed outdoors and indoors according to the positioning switching strategy.

[0050] In one embodiment, after obtaining the positioning path information, the movement trajectory of the target object to be positioned in different areas is analyzed. These path information reflects the precise position changes of the target object to be positioned in indoor and outdoor environments. The purpose of positioning judgment is to determine whether the target object to be positioned has been correctly positioned to ensure that the positioning accuracy is not significantly affected during the switching process between indoor and outdoor environments. In this process, the positioning path information will be simulated again as tracking trajectory information to determine the joint positioning error value. If the joint positioning error value is less than or equal to the preset error value, it means that the accuracy of the positioning path information meets the requirements, and then it is determined whether the target object to be positioned is correct. Whether the environment currently in place meets the requirements of positioning technology; if there is an abnormality in accuracy or environment, the positioning switching suggestion will be optimized, that is, the positioning technology corresponding to the area will be switched to avoid signal loss or positioning error, to ensure a smooth transition of the target to be positioned when switching between indoor and outdoor, and to maintain a high positioning accuracy; the optimized positioning switching suggestion will be stored as a positioning switching strategy to execute positioning switching for indoor or outdoor. For example, if the target to be positioned is outdoors and the environment is suitable for RTK, continue to use RTK for positioning. When the target to be positioned enters the transition area, start monitoring signal changes and prepare to switch to UWB. In summary, by executing positioning switching according to the generated switching strategy, the positioning technology can be adjusted in real time according to the environmental changes of the target to be positioned, ensuring that the target to be positioned always maintains high-precision positioning in different environments.

[0051] In summary, the embodiments of the present application have at least the following technical effects:

[0052] The embodiment of the present application traverses the target area for three-dimensional analysis to construct a three-dimensional map of the area, performs multi-level identification of the target area according to the three-dimensional map of the area, and generates a target area identification map; locks the target object to be located, traverses the target area identification map to match the target object to be located, and determines the initial environmental information of the target object to be located; activates the first positioning technology according to the initial environmental information, tracks the position of the target object to be located through the first positioning technology, and generates tracking trajectory information; maps the tracking trajectory information to the target area identification map for dynamic analysis, generates a positioning switching instruction, updates the first positioning technology through the positioning switching instruction, and activates the second positioning technology; according to the positioning switching instruction, the first positioning technology and the second positioning technology are data-fused, a positioning switching suggestion is formulated, the positioning switching suggestion is simulated and executed according to the tracking trajectory information, and the positioning path information of the target object to be located is generated; based on the positioning path information, the positioning determination of the target object to be located is performed, the positioning switching suggestion is optimized according to the determination result, a positioning switching strategy is generated, and positioning is performed outdoors and indoors according to the positioning switching strategy. These technical effects jointly solve the technical problems of unstable positioning accuracy and unsmooth switching caused by differences in outdoor and indoor positioning environments, and realize seamless switching and dynamic adjustment of positioning strategies based on RTK and UWB technologies, ensuring efficient and accurate positioning services in different environments.

[0053] Embodiment 2 is based on the same inventive concept as the outdoor and indoor positioning method based on RTK and UWB technology in the above embodiment. Figure 2As shown, the present application provides an outdoor and indoor positioning system based on RTK and UWB technology, the system comprising: a multi-level identification module 11: traverse the target area to perform three-dimensional analysis to construct a regional three-dimensional map, perform multi-level identification on the target area according to the regional three-dimensional map, and generate a target area identification map; an environment matching module 12: lock the target object to be located, traverse the target area identification map to match the target object to be located, and determine the initial environment information of the target object to be located; a position tracking module 13: activate the first positioning technology according to the initial environment information, track the position of the target object to be located through the first positioning technology, and generate tracking trajectory information; a technology updating module 14: map the tracking trajectory information to the target object to be located. The first positioning technology is updated through the positioning switching instruction, and the second positioning technology is activated; the switching suggestion simulation module 15: according to the positioning switching instruction, the first positioning technology and the second positioning technology are data-fused, a positioning switching suggestion is formulated, and the positioning switching suggestion is simulated and executed according to the tracking trajectory information to generate the positioning path information of the target object to be located; the outdoor and indoor positioning module 16: based on the positioning path information, the positioning judgment of the target object to be located is performed, the positioning switching suggestion is optimized according to the judgment result, a positioning switching strategy is generated, and the outdoor and indoor positioning is performed according to the positioning switching strategy.

[0054] Furthermore, the multi-level identification module 11 is also used to execute the following method:

[0055] Based on the target area, multiple common reference benchmarks are determined, and the target area is traversed for scanning to obtain a high-density point cloud data set of the target area; the high-density point cloud data set is aligned according to the multiple common reference benchmarks to construct a three-dimensional map of the area; the three-dimensional map of the area is divided according to geographical types to generate a primary identification, and the primary identification includes an outdoor area identification, an indoor area identification, and a transition area identification; the three-dimensional map of the area is positioned and constrained according to signal characteristics to generate a secondary identification, and the secondary identification includes a signal strength identification; the outdoor area identification, the indoor area identification, and the transition area identification are matched with the signal strength identification to construct the target area identification map.

[0056] Furthermore, the location tracking module 13 is also used to execute the following method:

[0057] Extract the signal strength identifier in the initial environmental information of the target object to be located for analysis, and construct a signal strength matrix; set information classification rules, wherein the information classification rules include a first activation condition and a second activation condition; judge the initial environmental information according to the information classification rules, and generate an activation instruction based on the judgment result and the signal strength matrix; activate the first positioning technology through the activation instruction, and perform real-time solution on the target object to be located through the first positioning technology to determine multiple position coordinates of the target object to be located; continuously track according to the multiple position coordinates to obtain multiple tracking paths, perform continuity analysis on the multiple tracking paths, and construct the tracking trajectory information.

[0058] Furthermore, the location tracking module 13 is also used to execute the following method:

[0059] The initial environmental information is matched with the first activation condition and the second activation condition. When the determination result meets the first activation condition, the target to be located is positioned and analyzed according to the signal strength matrix to obtain a first determination result. According to the first determination result, the RTK technology is used as the first positioning technology to generate a first activation instruction, and the first activation instruction has a unique activation relationship with the first positioning technology. When the determination result meets the second activation condition, the target to be located is positioned and analyzed according to the signal strength matrix to obtain a second determination result. According to the second determination result, the UWB technology is used as the first positioning technology to generate a second activation instruction, and the second activation instruction has a unique activation relationship with the second positioning technology.

[0060] Furthermore, the technology updating module 14 is also used to execute the following method:

[0061] A regional coordinate system of the target area is constructed based on the target area identification map; the multiple tracking paths are synchronously mapped to the target area identification map according to the regional coordinate system to obtain multiple tracking trajectory identification coordinates; trajectory dynamic calculation is performed based on the multiple tracking trajectory identification coordinates, and whether the multiple tracking trajectory identification coordinates have intersections with the boundaries according to the calculation results, if there is an intersection, new area information is extracted: it is determined whether the new area information is consistent with the area information of the previous tracking trajectory identification coordinates, if not, a positioning switching instruction is generated; when the first positioning technology is RTK technology, UWB technology is activated as the second positioning technology according to the positioning switching instruction, and when the first positioning technology is UWB technology, RTK technology is activated as the second positioning technology according to the positioning switching instruction.

[0062] Furthermore, the switching suggestion simulation module 15 is also used to execute the following method:

[0063] Extract the switching value of the positioning switching instruction according to the multiple tracking trajectory identification coordinates; filter the first positioning technology and the second positioning technology according to the switching value to generate a filtering result, and the filtering result includes an RTK filtering result and a UWB filtering result; perform data prediction based on the RTK filtering result in combination with the RTK technology to generate outdoor positioning prediction information; perform data correction based on the UWB filtering result in combination with the UWB technology to generate indoor positioning correction information; fuse the indoor positioning prediction information with the outdoor positioning correction information according to the multiple tracking trajectory identification coordinates to generate indoor and outdoor data fusion results; synchronously map the indoor and outdoor data fusion results to a transition area, and formulate the positioning switching recommendation.

[0064] Furthermore, the switching suggestion simulation module 15 is also used to execute the following method:

[0065] The target object to be located is simulated according to the tracking trajectory information to generate multiple simulated motion trajectory information; the positioning switching suggestions are simulated and executed according to the multiple simulated motion trajectory information to generate multiple simulated positioning switching areas; switching evaluation is performed based on the multiple simulated positioning switching areas to generate a joint positioning error value, the tracking trajectory information is corrected according to the joint positioning error value, and the positioning path information of the target object to be located is generated.

[0066] It should be noted that the above-mentioned sequence of the embodiments of the present application is only for description and does not represent the advantages and disadvantages of the embodiments. And the above-mentioned specific embodiments of this specification are described. The processes depicted in the accompanying drawings do not necessarily require the specific order and continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0067] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

[0068] This specification and the drawings are merely exemplary illustrations of the present application and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the present application and its equivalents, the present application intends to include these modifications and variations.

Claims

1. The outdoor and indoor positioning method based on RTK and UWB technology is characterized by: The method comprises: Traversing the target area to perform three-dimensional analysis and construct a three-dimensional map of the region, and marking the target area in multiple levels according to the three-dimensional map of the region to generate a target area marking map; Locking the target object to be located, traversing the target area identification map to match the target object to be located, and determining the initial environment information of the target object to be located; activating a first positioning technology according to the initial environment information, tracking the position of the target object to be located by using the first positioning technology, and generating tracking trajectory information; Mapping the tracking trajectory information to the target area identification map for dynamic analysis, generating a positioning switching instruction, updating the first positioning technology through the positioning switching instruction, and activating the second positioning technology; According to the positioning switching instruction, the first positioning technology and the second positioning technology are data-fused, a positioning switching suggestion is formulated, and the positioning switching suggestion is simulated and executed according to the tracking trajectory information to generate positioning path information of the target object to be positioned; Performing positioning determination on the target object to be located based on the positioning path information, optimizing the positioning switching suggestion according to the determination result, generating a positioning switching strategy, and performing outdoor and indoor positioning according to the positioning switching strategy; Traversing the target area for three-dimensional analysis to construct a three-dimensional map of the region, marking the target area in multiple levels according to the three-dimensional map of the region, and generating a target area marking map, the method includes: Determine multiple common reference points based on the target area, traverse the target area for scanning, and obtain a high-density point cloud data set of the target area; Registering the high-density point cloud data set according to the multiple common reference points to construct a three-dimensional map of the region; Dividing the three-dimensional map of the region according to geographical types to generate primary identifications, wherein the primary identifications include outdoor area identifications, indoor area identifications, and transition area identifications; Positioning and constraining the three-dimensional map of the region according to the signal characteristics to generate a secondary identifier, wherein the secondary identifier includes a signal strength identifier; Matching the outdoor area identifier, the indoor area identifier, the transition area identifier and the signal strength identifier to construct the target area identifier map; The method includes: activating a first positioning technology according to the initial environment information, tracking the position of the target object to be located by using the first positioning technology, and generating tracking trajectory information. Extracting the signal strength identifier in the initial environment information of the target object to be located for analysis, and constructing a signal strength matrix; Setting an information classification rule, wherein the information classification rule includes a first activation condition and a second activation condition; Determine the initial environment information according to the information classification rule, and generate an activation instruction based on the determination result and the signal strength matrix; activating the first positioning technology through the activation instruction, performing real-time calculation on the target object to be located through the first positioning technology, and determining multiple position coordinates of the target object to be located; Continuously tracking is performed according to the multiple position coordinates to obtain multiple tracking paths, and the multiple tracking paths are analyzed for continuity to construct the tracking trajectory information.

2. The outdoor and indoor positioning method based on RTK and UWB technology as claimed in claim 1, characterized in that: The initial environment information is judged according to the information classification rule, and an activation instruction is generated according to the judgment result combined with the signal strength matrix, the method comprising: Matching the initial environment information with the first activation condition and the second activation condition, and when the determination result meets the first activation condition, performing location analysis on the target object to be located according to the signal strength matrix to obtain a first determination result; According to the first determination result, using the RTK technology as the first positioning technology, generating a first activation instruction, wherein the first activation instruction has a unique activation relationship with the first positioning technology; When the determination result meets the second activation condition, performing positioning analysis on the target object to be located according to the signal strength matrix to obtain a second determination result; According to the second determination result, the UWB technology is used as the first positioning technology to generate a second activation instruction, and the second activation instruction has a unique activation relationship with the second positioning technology.

3. The outdoor and indoor positioning method based on RTK and UWB technology as claimed in claim 1, characterized in that: Mapping the tracking trajectory information to the target area identification map for dynamic analysis, generating a positioning switching instruction, updating the first positioning technology through the positioning switching instruction, and activating the second positioning technology, the method comprising: Constructing a regional coordinate system of the target area based on the target area identification map; Synchronously mapping the multiple tracking paths to the target area identification map according to the area coordinate system to obtain multiple tracking trajectory identification coordinates; Perform trajectory dynamic calculation based on the multiple tracking trajectory identification coordinates, and detect whether the multiple tracking trajectory identification coordinates have intersections with the boundary according to the calculation results. If there is an intersection, extract new area information: Determine whether the new area information is consistent with the area information of the last tracking trajectory identification coordinates, and if not, generate a positioning switching instruction; When the first positioning technology is RTK technology, UWB technology is activated as the second positioning technology according to the positioning switching instruction; when the first positioning technology is UWB technology, RTK technology is activated as the second positioning technology according to the positioning switching instruction.

4. The outdoor and indoor positioning method based on RTK and UWB technology as claimed in claim 3, characterized in that: According to the positioning switching instruction, the first positioning technology and the second positioning technology are data-fused to formulate a positioning switching suggestion, the method comprising: Extracting a switching value of the positioning switching instruction according to the plurality of tracking trajectory identification coordinates; Filter the first positioning technology and the second positioning technology according to the switching value to generate filtering results, where the filtering results include RTK filtering results and UWB filtering results; Based on the RTK filtering result and in combination with RTK technology, data prediction is performed to generate outdoor positioning prediction information; Based on the UWB filtering result and in combination with UWB technology, data correction is performed to generate indoor positioning correction information; Performing data fusion on the outdoor positioning prediction information and the indoor positioning correction information according to the multiple tracking trajectory identification coordinates to generate indoor and outdoor data fusion results; The indoor and outdoor data fusion results are synchronously mapped to the transition area, and the positioning switching suggestion is formulated.

5. The outdoor and indoor positioning method based on RTK and UWB technology as claimed in claim 1, characterized in that: The method includes: simulating and executing the positioning switching suggestion according to the tracking trajectory information to generate positioning path information of the target object to be positioned. Performing a simulated operation on the target object to be located according to the tracking trajectory information to generate a plurality of simulated motion trajectory information; Simulate and execute the positioning switching suggestions according to the multiple simulated motion trajectory information to generate multiple simulated positioning switching areas; A switching evaluation is performed based on the multiple simulated positioning switching areas to generate a joint positioning error value, and the tracking trajectory information is corrected according to the joint positioning error value to generate the positioning path information of the target object to be positioned.

6. The outdoor and indoor positioning system based on RTK and UWB technology is characterized by: The system is used to execute the outdoor and indoor positioning method based on RTK and UWB technology according to any one of claims 1 to 5, comprising: Multi-level identification module: traverses the target area to perform three-dimensional analysis to construct a three-dimensional map of the area, and performs multi-level identification of the target area according to the three-dimensional map of the area to generate a target area identification map; Environmental matching module: locks the target object to be located, traverses the target area identification map to match the target object to be located, and determines the initial environmental information of the target object to be located; Position tracking module: activating the first positioning technology according to the initial environment information, tracking the position of the target object to be located by using the first positioning technology, and generating tracking trajectory information; Technology update module: mapping the tracking trajectory information to the target area identification map for dynamic analysis, generating a positioning switching instruction, updating the first positioning technology through the positioning switching instruction, and activating the second positioning technology; A switching suggestion simulation module: according to the positioning switching instruction, the first positioning technology and the second positioning technology are data-fused, a positioning switching suggestion is formulated, and the positioning switching suggestion is simulated and executed according to the tracking trajectory information to generate positioning path information of the target object to be positioned; Outdoor and indoor positioning module: based on the positioning path information, the target object to be positioned is determined, the positioning switching suggestion is optimized according to the determination result, a positioning switching strategy is generated, and positioning is performed outdoors and indoors according to the positioning switching strategy.

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