Indoor and outdoor combined positioning method and device based on RTK and UWB

Abstract

The present application discloses a method and device for indoor and outdoor combined positioning based on RTK and UWB, the method comprising: receiving satellite data based on the RTK base station and mobile station, and outputting the coordinates of the positioning point; setting the number of UWB base stations and base station coordinates based on the test site; determining the distance between the base station coordinates and the positioning point to synchronize the base station with the positioning point; determining the coordinates of the positioning point using the distances between multiple base stations and the positioning point; converting the RTK coordinate system and the UWB coordinate system into the same coordinate system; fusing the transition zone of the converted RTK and UWB coordinate systems to obtain a universal coordinate system to achieve indoor and outdoor combined positioning. The problem of limited positioning accuracy of RTK technology in special and complex environments in the prior art is solved, and positioning of positioning points in both open-air and non-open-air environments is achieved, thereby improving the universality and reliability of positioning technology.

Description

Technical Field

[0001] The present application relates to the technical field of satellite positioning and data fusion, and in particular to a method and device for indoor and outdoor combined positioning based on RTK and UWB. Background Art

[0002] The construction and commissioning of satellite systems have greatly improved the positioning capabilities of various types of equipment. Among them, RTK is a real-time dynamic differential positioning technology that can obtain centimeter-level positioning accuracy and is widely used in positioning navigation, engineering measurement and other fields. RTK technology requires a base station and a mobile station receiver to simultaneously observe visible satellites. The base station then sends pseudorange and carrier phase correction information to the mobile station through a communication link. The mobile station obtains high-precision position coordinates relative to the base station after differential processing. At present, RTK technology is quite mature, but in some special and complex environments, such as tree occlusion, indoor and outdoor combined positioning, etc., the mobile station observation value has multipath errors or due to poor spatial geometric configuration of visible satellites, insufficient number, etc., it is impossible to obtain a high-precision fixed solution, and can only obtain a low-precision floating point solution, or even unable to locate, which seriously affects the positioning and navigation capabilities of the equipment.

[0003] The UWB (Ultra Wideband) system is a short-distance communication and positioning system that has only been vigorously developed since around 2002. It uses a unique pulse signal and has the advantages of strong signal anti-interference ability, high communication capacity, strong anti-multipath ability, and high time resolution. At present, the signal systems used by the UWB system mainly include time of arrival (TOA), time difference of arrival (TDOA), signal time of flight (TOF), two-way ranging (TWR), etc. However, the UWB system also has its own shortcomings, such as limited ranging range and the need to deploy it on demand. Summary of the invention

[0004] The embodiments of the present application solve the problem of limited positioning accuracy of RTK technology in special and complex environments in the prior art by providing a method and device for indoor and outdoor combined positioning based on RTK and UWB.

[0005] In the first aspect, an embodiment of the present application provides a method for indoor and outdoor combined positioning based on RTK and UWB, including: receiving satellite data based on an RTK base station and a mobile station, and outputting the coordinates of a positioning point; setting the number of UWB base stations and the base station coordinates based on a test site; determining the distance between the base station coordinates and the positioning point to perform time synchronization between the base station and the positioning point; determining the coordinates of the positioning point using the distances between multiple base stations and the positioning point; converting the RTK coordinate system and the UWB coordinate system into the same coordinate system; and fusing the transition zones of the converted RTK and UWB coordinate systems to obtain a universal coordinate system to achieve indoor and outdoor combined positioning.

[0006] In combination with the first aspect, in a possible implementation, the RTK-based base station and mobile station receive satellite data and output the coordinates of the positioning point, including: the base station receives first satellite data from multiple satellites and sends the first satellite data to the mobile station in real time; the mobile station receives second satellite data from multiple satellites and the first satellite data from the base station; the mobile station performs real-time differential calculations and solves based on the first satellite data and the second satellite data to obtain the coordinates of the positioning point.

[0007] In combination with the first aspect, in a possible implementation method, the number of UWB base stations and base station coordinates are set based on the test site, including: the base station is connected to an Ethernet power supply switch via a network cable to provide power and data transmission for the base station; the Ethernet power supply switch is connected to a computer to achieve communication between the base station and the computer; the coordinate origin and the number of base stations are determined in the test site, and the base station coordinates are determined based on the coordinate origin.

[0008] In combination with the first aspect, in a possible implementation method, converting the RTK coordinate system and the UWB coordinate system into the same coordinate system includes: converting the RTK coordinate system into a local coordinate system; converting the UWB coordinate system into a local coordinate system, including: obtaining at least two common points between the UWB coordinate system and the local coordinate system; using the common points to solve positioning parameters; and using the positioning parameters to convert the UWB coordinate system into a local coordinate system.

[0009] In combination with the first aspect, in a possible implementation manner, the positioning parameters are calculated using the common point as follows:

[0010]

[0011] In the formula, (x i ,y i ) and (x i i ,y i ′ ) represent the coordinates of the common points in the UWB coordinate system and the local coordinate system respectively, and i=1,2,…,n represents the number of common points.

[0012] In combination with the first aspect, in a possible implementation manner, the UWB coordinate system is converted into a local coordinate system by using the positioning parameters as follows:

[0013]

[0014] Where (x0, y0, λ, α) represents the positioning parameters, (x i ,y i ) and (x i′ ,y i ′ ) represent the coordinates of the common point in the UWB coordinate system and the local coordinate system respectively.

[0015] In combination with the first aspect, in a possible implementation manner, after determining the coordinates of the positioning point, the method further includes: performing filtering processing on the coordinates of the positioning point to optimize the coordinates of the positioning point.

[0016] In the second aspect, an embodiment of the present application provides a device for indoor and outdoor combined positioning based on RTK and UWB, including: an output module, which is used to receive satellite data based on the RTK base station and mobile station, and output the coordinates of the positioning point; a setting module, which is used to set the number of UWB base stations and the base station coordinates based on the test site; a time synchronization module, which is used to determine the distance between the base station coordinates and the positioning point, so as to perform time synchronization between the base station and the positioning point; a determination module, which is used to determine the coordinates of the positioning point using the distances between multiple base stations and the positioning point; a conversion module, which is used to convert the RTK coordinate system and the UWB coordinate system into the same coordinate system; a fusion module, which is used to fuse the transition zone of the converted coordinate systems of RTK and UWB to obtain a universal coordinate system to achieve indoor and outdoor combined positioning.

[0017] In a third aspect, an embodiment of the present application provides a device, comprising: a processor; a memory for storing processor-executable instructions; when the processor executes the executable instructions, it implements the method described in the first aspect or any possible implementation method of the first aspect.

[0018] In a fourth aspect, an embodiment of the present application provides a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium includes a medium for storing a computer program or instructions, which, when executed, enables the method described in the first aspect or any possible implementation method of the first aspect to be implemented.

[0019] One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:

[0020] The embodiment of the present application converts the RTK coordinate system and the UWB coordinate system into the same coordinate system, which makes it easy to use one coordinate system to determine the coordinates of the positioning point and unify the coordinate output method of the positioning point. The transition zone of the coordinate system after RTK and UWB conversion is merged to prevent positioning errors in the transition zone. It effectively solves the problem of limited positioning accuracy of RTK technology in special and complex environments in the prior art, and thus realizes positioning of positioning points in both open-air and non-open-air environments, improving the universality and reliability of positioning technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 A flowchart of a method for indoor and outdoor combined positioning based on RTK and UWB provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of the structure of a device for indoor and outdoor combined positioning based on RTK and UWB provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram of the RTK technology provided in an embodiment of the present application;

[0025] Figure 4 A schematic diagram of a three-sided positioning algorithm provided in an embodiment of the present application. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0027] The following describes some of the techniques involved in the embodiments of the present application to facilitate understanding, and they should be considered as merely exemplary. Therefore, it should be appreciated by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. Similarly, for the sake of clarity and conciseness, some descriptions of well-known functions and structures are omitted in the following description.

[0028] Figure 1 1 is a flowchart of a method for indoor and outdoor combined positioning based on RTK and UWB provided in an embodiment of the present application, including steps 101 to 106. Figure 1 This is only an execution order shown in the embodiment of the present application, and does not represent the only execution order of the method for indoor and outdoor combined positioning based on RTK and UWB. If the final result can be achieved, Figure 1 The steps shown may be performed in parallel or reversed.

[0029] Step 101: The RTK-based base station and mobile station receive satellite data and output the coordinates of the positioning point. In the embodiment of the present application, the base station receives first satellite data from multiple satellites and sends the first satellite data to the mobile station in real time. The mobile station receives second satellite data from multiple satellites and first satellite data from the base station. The mobile station performs real-time differential calculation and solution based on the first satellite data and the second satellite data to obtain the coordinates of the positioning point.

[0030] Specifically, Figure 3 As shown in Figure 1, RTK technology is a high-precision positioning technology that relies on signals from the Global Positioning System (GPS) or the Global Navigation Satellite System (GNSS). By simultaneously receiving satellite signals from the base station and the mobile station, and using the known coordinate information provided by the base station and the signal difference received by the mobile station, the coordinate data of the positioning point can be calculated in real time, achieving sub-meter or even centimeter-level accuracy.

[0031] Based on RTK technology, the precise position of the base station is known, and the position of the mobile station changes dynamically. It is a receiver for users to perform real-time dynamic positioning. Each base station and mobile station are equipped with satellite receivers that can receive data from different satellites. The base station receives and records the first satellite data sent by multiple satellites in real time, and then sends the first satellite data to the mobile station through a wireless transmission module (radio station, network and other communication methods). The mobile station is placed at the positioning point, and the second satellite data from multiple satellites is received in real time through the satellite receiver of the mobile station, and the first satellite data from the base station is received in real time. The mobile station can calculate the precise position relative to the base station by real-time differential processing of the first satellite data and the second satellite data received, thereby obtaining the coordinates of the positioning point.

[0032] Furthermore, the mobile station performs real-time differential processing on the first satellite data received from the reference station and the second satellite data observed by itself. The core of real-time differential processing is to eliminate the common errors between the reference station and the mobile station (such as satellite orbit error, atmospheric refraction error, etc.). By calculating the difference between the observation data of the reference station and the mobile station (the first satellite data and the second satellite data), more accurate position information can be obtained. The result of real-time differential processing is a high-precision coordinate fixed solution, that is, the WGS-84 coordinates of the positioning point (or other selected coordinate system).

[0033] Among them, the first satellite data and the second satellite data include carrier phase observation values, pseudorange observation values ​​and other data. The position of the positioning point is not fixed, but refers to the position required for positioning in this application. It can be a manually specified position point or a specified position of a movable device. For example, if this application is applied to drone positioning, the positioning point refers to the current position of the drone. If this application is applied to intelligent driving of a car, the positioning point refers to the current position of the car.

[0034] Step 102: Set the number of UWB base stations and base station coordinates based on the test site. In the embodiment of the present application, the base station is connected to an Ethernet power supply switch via a network cable to provide power and data transmission for the base station. The Ethernet power supply switch is connected to a computer to enable communication between the base station and the computer. Determine the coordinate origin and the number of base stations in the test site, and determine the base station coordinates based on the coordinate origin.

[0035] In one embodiment of the present application, what needs to be achieved is the two-dimensional positioning of the positioning point. The two-dimensional positioning requires determining the x and y coordinates of the space. Through more than three base stations, the position of the positioning point in the test site is determined to obtain the two-dimensional coordinates of the positioning point. The test site is exemplarily set to 50m×50m, so four base stations are set at the four corners of the test site. The base station is powered by POE (i.e., Power over Ethernet switch), connected to the POE switch by a network cable, and the POE switch is connected to the computer. Determine the coordinate origin in the test site, measure the coordinates of the four base stations respectively, and fill the coordinate values ​​into the program in the computer.

[0036] Specifically, select a clear coordinate origin (the center point or corner point of the test site) in the test site, determine the axial direction of the coordinate system based on the coordinate origin, that is, the direction of the X-axis, Y-axis (in the case of two dimensions) and Z-axis (in the case of three dimensions), and then set the scale of the coordinate system according to the size of the test site. Finally, use a measuring tool (such as a total station, GPS measuring instrument, etc.) to measure the coordinates of the four base stations respectively. The coordinates of each base station should include its horizontal distance and azimuth relative to the coordinate origin (or directly give the three-dimensional coordinates), and then enter the coordinate origin and the position of the base station into the computer program.

[0037] Step 103: Determine the distance between the base station coordinates and the positioning point to synchronize the time between the base station and the positioning point. In the embodiment of the present application, a bilateral two-way algorithm is used for ranging. The bilateral two-way ranging method (DS-TWR, Double Sided-Two WayRanging) is improved from the single-sided two-way ranging method (SS-TWR, Single Sided-TwoWay Ranging). Through the back-and-forth transmission of signals between the positioning point and the base station, the distance between the positioning point and the base station can be calculated according to the time required for the signal to propagate between the positioning point and each base station. It can also ensure the time synchronization between the positioning point and the base station according to the sending timestamp and receiving timestamp of the positioning point and each base station, and reduce the error.

[0038] Specifically, the coordinates of four base stations (assuming they are A, B, C, and D) are known, and these coordinates are measured relative to a coordinate origin in a test site.

[0039] Two base stations are selected from the four base stations as a pair to perform bilateral two-way ranging. For example, A and B may be selected as the first pair, A and C may be selected as the second pair, and so on.

[0040] Base station A transmits a communication signal to base station B and records the transmission timestamp T1. After receiving the communication signal, base station B immediately returns a response signal containing timestamp T2 to base station A. After receiving the response signal, base station A records the receiving timestamp T3 and forwards the response signal (carrying timestamps T2 and T3) to base station C (or the original base station A, forming a closed loop). After receiving the response signal, base station C (or A) records the receiving timestamp T4 and returns a confirmation signal to base station A. Based on timestamps T1, T2, T3 and T4, the propagation time difference of the signal on different paths is calculated.

[0041] For example, to calculate the one-way propagation time from base station A to base station B:

[0042] T_AB=[T3-T1-(T2-T11)] / 2.

[0043] In the formula, T_AB represents the one-way propagation time from base station A to base station B, T3 represents the reception timestamp of the response signal received by base station A from base station B, T1 represents the transmission timestamp of the communication signal transmitted by base station A to base station B, T2 represents the timestamp of the response signal returned by base station B to base station A after base station B receives the communication signal of base station A, and T11 represents the fixed delay of T1, that is, the time required for base station A to process and send the signal, which can be adjusted according to the specific equipment in actual situation.

[0044] The propagation time between other base station pairs is calculated by the above method, and finally the distance between base stations is calculated using the speed of light (about 3×10^8 m / s in a vacuum) and the propagation time. For example, the distance from base station A to base station B is d_AB=T_AB×speed of light.

[0045] In the implementation of this application, the flight time of the DS-TWR signal is The sum error Error is expressed as follows:

[0046]

[0047] Where, T ro1 and T ro2 Respectively represent the time difference between the base station and the positioning point sending a signal and receiving a response, T re1 and T re2 They represent the time difference from receiving a signal to sending a response, e A and e B Represent the clock deviations of the base station and the positioning point respectively.

[0048] Step 104: Determine the coordinates of the positioning point using the distances between the multiple base stations and the positioning point. In the embodiment of the present application, a three-sided positioning algorithm is used to determine the coordinates of the positioning point.

[0049] Specifically, the trilateration algorithm, also known as triangulation or trilateration, is a positioning technology based on the principle of geometry. In short, the algorithm uses trigonometric principles to calculate the precise position of the positioning point by measuring the distance between the positioning point and three known location points. These three known location points are base stations, and the distance between the positioning point and each base station is determined.

[0050] Furthermore, if Figure 4 As shown in the figure, A, B, and C are the locations of the base stations, and D is the location of the positioning point. The coordinates of A, B, and C are (x1, y1), (x2, y2), and (x3, y3), respectively, and the coordinate of D is (x, y). According to the Pythagorean theorem, the calculation formula for the intersection point, i.e. the positioning point, is as follows:

[0051]

[0052] In actual use, due to various interferences and errors, the coordinates of the three positioning points obtained by the three formulas are not the same. Therefore, this application uses four base stations (the calculation formula between the fourth base station and the positioning point is the same as the above formula). This can greatly increase the accuracy and stability of the calculation of the positioning point coordinates. The coordinates of four groups of positioning points are obtained by four formulas, and then the least squares method is used to find the best mean coordinates for these four groups of coordinates, which are used as the coordinates of the positioning point.

[0053] In addition, in practical applications, the three-sided positioning algorithm not only needs to deal with the measurement error of the signal propagation time, but also needs to consider that the signal may be reflected or refracted due to obstacles, thereby affecting the accuracy. In order to improve the positioning accuracy, this application uses a filtering algorithm (such as Kalman filtering) to optimize the coordinates of the positioning point, reduce the influence of noise, reduce errors and improve stability.

[0054] Step 105: Convert the RTK coordinate system and the UWB coordinate system to the same coordinate system. In an embodiment of the present application, the RTK coordinate system is converted to a local coordinate system. Converting the UWB coordinate system to a local coordinate system includes: obtaining at least two common points between the UWB coordinate system and the local coordinate system. Using the common points to solve the positioning parameters. Using the positioning parameters to convert the UWB coordinate system to a local coordinate system.

[0055] Specifically, the coordinate system of RTK is the WGS-84 coordinate system. After setting the origin, the ENU coordinate system (local coordinate system) is obtained after conversion.

[0056] In the embodiment of the present application, the coordinate system of the UWB is a user-defined coordinate system (see step 102), and at least two common points of the coordinate system of the UWB and the local coordinate system are obtained. The common points are used to solve the positioning parameters. The coordinate system of the UWB is converted into the local coordinate system using the positioning parameters.

[0057] Specifically, the common points are used to solve the positioning parameters as follows:

[0058]

[0059] In the formula, (x i ,y i ) and (x i ′ ,y i ′ ) represent the coordinates of the common points in the UWB coordinate system and the local coordinate system respectively, and i=1,2,…,n represents the number of common points.

[0060] When there are 3 or more common points, it is equivalent to having redundant observations, and it is necessary to establish an error equation and use the least squares principle to adjust and solve the most likely value of the positioning parameters. The error equation is as follows:

[0061]

[0062] or,

[0063]

[0064]

[0065] In the formula, and Represents the error of the nth common point in the x direction and y direction, x ′ n and ′ n Represents the coordinates of the nth common point in the local coordinate system, x n and n represents the coordinates of the nth common point in the UWB coordinate system, V represents the observation residual vector, B represents the design matrix, which contains parameter information related to the observation value and is used to link the parameters to be estimated with the observation value, l represents the coordinates of the common point in the UWB coordinate system, l x represents the x-coordinate of I, l y Represents the y coordinate of I.

[0066] Then, the values ​​of the four positioning parameters are obtained. For example, the values ​​of the four positioning parameters are as follows:

[0067]

[0068] In the formula, Represents the final estimated coordinates.

[0069] The UWB coordinate system is converted to the local coordinate system using the positioning parameters as follows:

[0070]

[0071] In the formula, (x0, y0, λ, α) represents the positioning parameters, x0 represents the translation parameter of the X axis, y0 represents the translation parameter of the Y axis, α represents the rotation angle, λ represents the scaling factor, (x i ,y i ) and (x i ′ ,y i ′ ) represent the coordinates of the common point in the UWB coordinate system and the local coordinate system respectively.

[0072] Step 106: Fuse the transition area of ​​the coordinate systems after RTK and UWB conversion to obtain a universal coordinate system to achieve indoor and outdoor combined positioning. In the embodiment of the present application, the local coordinate system of RTK and the local coordinate system of UWB obtained after the coordinate system conversion are fused, the errors therein are corrected, and the transition area of ​​the two local coordinate systems is smoothed to obtain a universal coordinate system.

[0073] Specifically, when the positioning point is in the transition zone, the final positioning coordinates and direction before entering the transition zone are taken as the initial coordinates and initial direction, the horizontal angle change value of the IMU (Inertial Measurement Unit) data is used as the direction change value, and the acceleration change value of the IMU in the forward direction is taken. After two integrations, the moving distance is obtained, and the real-time position of the positioning point is calculated according to the initial coordinates and initial direction.

[0074] In practical applications, when the positioning point needs to be accurately positioned, when RTK can output positioning coordinates and there is a fixed solution, it is considered that the mobile station is in the open air area, and the RTK coordinates are used as the coordinates of the final positioning point. When RTK has no fixed solution and the UWB coordinates show that the mobile target is in the UWB coverage area, the positioning point is considered to be in the area under the shed, and the UWB coordinates are used as the coordinates of the final positioning point. When RTK has no fixed solution and the UWB coordinates are not in the UWB coverage area, the mobile target is considered to be in the transition area between RTK and UWB. Take the final positioning coordinates and direction before entering the transition area as the initial coordinates and initial direction, use the horizontal angle change value of the IMU data as the change value of the direction, take the acceleration change value of the IMU in the forward direction, and obtain its moving distance after two integrations. Calculate its real-time position based on the initial coordinates and initial direction until the positioning point drives out of the transition area.

[0075] Although the present application provides method operation steps as described in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-creative labor. The order of steps listed in this embodiment is only one way of executing the order of many steps and does not represent the only execution order. When the actual device or client product is executed, it can be executed in sequence or in parallel according to the method shown in this embodiment or the accompanying drawings (for example, in a parallel processor or multi-threaded processing environment).

[0076] like Figure 2 As shown, the embodiment of the present application also provides a device 200 for indoor and outdoor combined positioning based on RTK and UWB. The device includes: an output module 201, a setting module 202, a time synchronization module 203, a determination module 204, a conversion module 205 and a fusion module 206, as follows.

[0077] The output module 201 is used to receive satellite data based on the RTK base station and mobile station and output the coordinates of the positioning point.

[0078] The setting module 202 is used to set the number and coordinates of UWB base stations based on the test site.

[0079] The time synchronization module 203 is used to determine the distance between the base station coordinates and the positioning point, so as to perform time synchronization between the base station and the positioning point.

[0080] The determination module 204 is used to determine the coordinates of the positioning point by using the distances between the multiple base stations and the positioning point.

[0081] The conversion module 205 is used to convert the RTK coordinate system and the UWB coordinate system into the same coordinate system.

[0082] The fusion module 206 is used to fuse the transition area of ​​the coordinate systems after RTK and UWB conversion to obtain a universal coordinate system to achieve indoor and outdoor combined positioning.

[0083] Some modules in the apparatus described in the present application can be described in the general context of computer executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform specific tasks or implement specific abstract data types. The present application can also be practiced in distributed computing environments, in which tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules can be located in local and remote computer storage media including storage devices.

[0084] The devices or modules described in the above application embodiments can be implemented by computer chips or entities, or by products with certain functions. For the convenience of description, the above devices are described in various modules according to their functions. When implementing the embodiments of the present application, the functions of each module can be implemented in the same or multiple software and / or hardware. Of course, the module that implements a certain function can also be implemented by combining multiple sub-modules or sub-units.

[0085] The methods, devices or modules described in this application can be implemented in the form of computer-readable program codes. The controller can be implemented in any appropriate manner. For example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program codes (such as software or firmware) that can be executed by the (micro)processor, logic gates, switches, application-specific integrated circuits (English: Application Specific Integrated Circuit; Abbreviation: ASIC), programmable logic controllers and embedded microcontrollers. Examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in the form of pure computer-readable program codes, the controller can be implemented in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded microcontrollers by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included in it for implementing various functions can also be regarded as structures within the hardware component. Or even, the means for realizing various functions may be regarded as both a software module for realizing the method and a structure within a hardware component.

[0086] An embodiment of the present application further provides a device, comprising: a processor; a memory for storing processor executable instructions; when the processor executes the executable instructions, the method described in the embodiment of the present application is implemented.

[0087] The embodiments of the present application also provide a non-volatile computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, the method described in the embodiments of the present application is implemented.

[0088] In addition, each functional module in each embodiment of the present invention may be integrated into one processing module, or each module may exist independently, or two or more modules may be integrated into one module.

[0089] The above storage media include but are not limited to random access memory (RAM), read-only memory (ROM), cache, hard disk (HDD) or memory card. The memory can be used to store computer program instructions.

[0090] It can be known from the description of the above implementation methods that those skilled in the art can clearly understand that the present application can be implemented by means of software plus necessary hardware. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, or it can be reflected in the implementation process of data migration. The computer software product can be stored in a storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a mobile terminal, a server, or a network device, etc.) to execute the methods described in the various embodiments of the present application or certain parts of the embodiments.

[0091] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. All or part of this application can be used in many general or special computer system environments or configurations. For example: personal computers, server computers, handheld devices or portable devices, tablet devices, mobile communication terminals, multi-processor systems, microprocessor-based systems, programmable electronic devices, network PCs, minicomputers, mainframe computers, distributed computing environments including any of the above systems or devices, etc.

[0092] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit the present application. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the present application.

Claims

1. A method for indoor and outdoor combined positioning based on RTK and UWB, characterized in that: include: The RTK-based base station and mobile station receive satellite data and output the coordinates of the positioning point; Set the number and coordinates of UWB base stations based on the test site; Determine the distance between the base station coordinates and the positioning point to perform time synchronization between the base station and the positioning point; Determine the coordinates of the positioning point by using the distances between a plurality of base stations and the positioning point; Convert the RTK coordinate system and the UWB coordinate system into the same coordinate system; The transition area of ​​the coordinate systems converted by RTK and UWB is fused to obtain a universal coordinate system to achieve indoor and outdoor combined positioning.

2. The method according to claim 1, characterized in that: The RTK-based reference station and mobile station receive satellite data and output the coordinates of the positioning point, including: The base station receives first satellite data from a plurality of satellites, and sends the first satellite data to the mobile station in real time; The mobile station receives the second satellite data from the plurality of satellites and the first satellite data from the reference station; The mobile station performs real-time differential calculation and solution based on the first satellite data and the second satellite data to obtain the coordinates of the positioning point.

3. The method according to claim 1, characterized in that The number of UWB base stations and base station coordinates are set based on the test site, including: The base station is connected to an Ethernet power supply switch via a network cable to provide power and data transmission for the base station; The Ethernet power supply switch is connected to the computer to realize the communication between the base station and the computer; A coordinate origin and the number of base stations are determined in the test site, and base station coordinates are determined based on the coordinate origin.

4. The method according to claim 1, characterized in that The converting of the RTK coordinate system and the UWB coordinate system into the same coordinate system includes: Convert the RTK coordinate system to the local coordinate system; Convert the UWB coordinate system to the local coordinate system, including: Obtain at least two common points between the UWB coordinate system and the local coordinate system; Calculating positioning parameters using the common point; The UWB coordinate system is converted into a local coordinate system using the positioning parameters.

5. The method according to claim 4, characterized in that The positioning parameters are calculated by using the common points as follows: In the formula, (x i ,y i ) and (x i ′ ,y i ′ ) represent the coordinates of the common points in the UWB coordinate system and the local coordinate system respectively, and i=1,2,…,n represents the number of common points.

6. The method according to claim 4, characterized in that The UWB coordinate system is converted into a local coordinate system using the positioning parameters as follows: Where (x0, y0, λ, α) represents the positioning parameters, (x i ,y i ) and (x i ′ ,y i ′ ) represent the coordinates of the common point in the UWB coordinate system and the local coordinate system respectively.

7. The method according to claim 1, characterized in that After determining the coordinates of the positioning point, the method further includes: The coordinates of the positioning points are filtered to optimize the coordinates of the positioning points.

8. A device for indoor and outdoor combined positioning based on RTK and UWB, characterized in that: include: Output module, used for receiving satellite data based on RTK base station and mobile station, and outputting the coordinates of positioning points; A setting module is used to set the number and coordinates of UWB base stations based on the test site; A time synchronization module, used to determine the distance between the base station coordinates and the positioning point, so as to perform time synchronization between the base station and the positioning point; A determination module, configured to determine the coordinates of the positioning point by using the distances between a plurality of base stations and the positioning point; A conversion module, used to convert the RTK coordinate system and the UWB coordinate system into the same coordinate system; The fusion module is used to fuse the transition area of ​​the coordinate systems converted by RTK and UWB to obtain a universal coordinate system to achieve indoor and outdoor combined positioning.

9. A device for performing a method for indoor and outdoor combined positioning based on RTK and UWB, characterized in that: include: processor; a memory for storing processor-executable instructions; When the processor executes the executable instructions, the method according to any one of claims 1 to 7 is implemented.

10. A non-volatile computer-readable storage medium, characterized in that: The device comprises a computer program or an instruction for storing the computer program or the instruction, which, when executed, enables the method according to any one of claims 1 to 7 to be implemented.

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