Indoor and outdoor fusion heterogeneous positioning method and device

Abstract

The present application provides a heterogeneous positioning method and device for indoor and outdoor integration. The server receives satellite signal data and wireless signal data from the receiver. The satellite signal data includes satellite coordinates, satellite pseudorange, and satellite clock error; the wireless signal data includes base station coordinates, base station pseudorange, and base station clock error; a comprehensive pseudorange observation equation is constructed based on the satellite signal data and the wireless signal data; and the position coordinates of the receiver are calculated based on the comprehensive pseudorange observation equation. Therefore, in the present application, by combining the satellite positioning system and the wireless communication positioning system to construct a comprehensive observation equation, the position coordinates of the receiver can be accurately calculated, avoiding the time delay of switching a single positioning mode and the error and position jump caused by the inertial navigation link, and realizing the real-time, continuous, and accurate output of positioning information for the entire scene.

Description

Technical Field

[0001] The present application relates to the field of wireless communications, and in particular to a heterogeneous positioning method and device for indoor and outdoor fusion. Background Art

[0002] Among the existing positioning technologies, any independent navigation system cannot guarantee to meet the user's positioning needs at any time and under any circumstances. In complex environments with obstructions such as urban canyons, port containers, hospitals and amusement parks, the Beidou positioning system will experience a series of conditions such as reduced observable satellite redundancy, signal blocking, and deterioration of geometric configuration. At this time, a single Beidou positioning system cannot meet the user's positioning needs; indoor positioning technology can make up for the problem of positioning mobile targets in obstructed environments, but when switching between outdoor and indoor positioning technologies, there may be a loss of positioning information or a jump in positioning information. Summary of the invention

[0003] The present application provides a heterogeneous positioning method and device for indoor and outdoor fusion. By constructing a comprehensive observation equation by combining a satellite positioning system and a wireless communication positioning system, the position coordinates of the receiver can be accurately calculated, avoiding the error and position jump caused by the time delay of switching a single positioning mode and the inertial navigation link, and realizing real-time, continuous and accurate output of positioning information in all scenarios.

[0004] In the first aspect, the present application provides a heterogeneous positioning method for indoor and outdoor fusion, which is applied to a server of an indoor and outdoor fusion positioning system, wherein the fusion positioning system includes the server, a receiver, a satellite positioning system and a wireless communication positioning system, and the method includes: receiving satellite signal data and wireless signal data from the receiver, the satellite signal data including the satellite coordinates of at least one satellite, the satellite pseudorange between each satellite in the at least one satellite and the receiver, and the satellite clock difference of each satellite; the wireless signal data including the base station coordinates of at least one wireless communication base station, the base station pseudorange between each wireless communication base station in the at least one wireless communication base station and the receiver, and the base station clock difference of each wireless communication base station; constructing a comprehensive pseudorange observation equation based on the satellite signal data and the wireless signal data; and calculating the position coordinates of the receiver based on the comprehensive pseudorange observation equation.

[0005] In some embodiments, the processing unit 502 constructs a comprehensive pseudorange observation equation based on the satellite signal data and the wireless signal data, including: constructing a first pseudorange observation equation from the receiver to each satellite based on the satellite signal data and other satellite observation errors; and determining a first pseudorange correction equation from the receiver to each satellite based on the first pseudorange observation equation; constructing a second pseudorange observation equation from the receiver to each wireless communication base station based on the wireless signal data and other base station observation errors; and determining a second pseudorange correction equation from the receiver to each wireless communication base station based on the second pseudorange observation equation; and combining the first pseudorange correction equation of at least one satellite and the second pseudorange correction equation of at least one wireless communication base station to obtain the comprehensive pseudorange observation equation.

[0006] In some embodiments, the first pseudorange observation equation is:

[0007]

[0008] Among them, ρ n represents the satellite pseudorange of the nth satellite received by the receiver, r n is the geometric distance between the signal transmitted from satellite n to the receiver at the speed of light c in vacuum, δt m is the clock error of the mth receiver, δt n represents the clock error of satellite n, I n represents the error caused by the ionosphere to the pseudorange measurement, T n represents the error caused by the troposphere to the pseudorange measurement, ε n Represents the measurement noise and other noise of the receiver measuring the satellite signal; (x m ,y m .z m ) is the position coordinate of the receiver, (x n ,y n .z n ) is the position coordinate of satellite n; the other satellite observation errors include I n , T n , ε n ;

[0009] The second pseudorange observation equation is:

[0010]

[0011] Among them, ρ q represents the base station pseudorange of the qth wireless communication base station received by the receiver, r q is the geometric distance between the signal transmitted from the wireless communication base station q to the receiver at the speed of light c in vacuum, δt m is the clock error of the mth receiver, δtq represents the clock error of wireless communication base station q, ε q Represents the measurement noise and other noise of the receiver measuring the wireless signal; (x q ,y q .z q ) is the position coordinate of the wireless communication base station q; the other base station observation errors include ε q .

[0012] In some embodiments, the first pseudorange correction equation is:

[0013]

[0014] Among them, ρ n is the corrected satellite pseudorange;

[0015] The second pseudorange correction equation is:

[0016]

[0017] Among them, ρ' q is the corrected base station pseudorange.

[0018] In some embodiments, the comprehensive pseudorange observation equation is:

[0019]

[0020] In some embodiments, after receiving the satellite signal data and the wireless signal data from the receiver, the method further includes: detecting that the number of the at least one satellite is greater than or equal to 4, and calculating the position coordinates of the receiver based on the satellite signal data; or, detecting that the number of the at least one wireless communication base station is greater than or equal to 4, and calculating the position coordinates of the receiver based on the wireless signal data; or, detecting that the number of the at least one satellite and the number of the at least one wireless communication base station are both less than 4, and that the sum of the number of the at least one satellite and the number of the at least one wireless communication base station is greater than or equal to 4, and continuing to execute the step of "constructing a comprehensive pseudorange observation equation based on the satellite signal data and the wireless signal data".

[0021] In some embodiments, the satellite positioning system includes a Beidou satellite system and a low-orbit satellite, and the wireless communication positioning system includes at least one ultra-wideband UWB base station.

[0022] In the second aspect, an indoor and outdoor fusion positioning system includes: a satellite positioning system for sending satellite signal data to a ground receiver; a wireless communication positioning system for sending wireless signal data to the receiver; the receiver is used to receive the satellite signal data and the wireless signal data, and send the satellite signal data and the wireless signal data to a server; the server is used to execute the step instructions in the method as described in any one of claims 1-7.

[0023] In a third aspect, a heterogeneous positioning device for indoor and outdoor fusion is applied to a server of an indoor and outdoor fusion positioning system, wherein the fusion positioning system includes the server, a receiver, a satellite positioning system and a wireless communication positioning system, and the device includes: a receiving unit, used to receive satellite signal data and wireless signal data from the receiver, the satellite signal data including satellite coordinates of at least one satellite, satellite pseudorange between each satellite in the at least one satellite and the receiver, and satellite clock difference of each satellite; the wireless signal data including base station coordinates of at least one wireless communication base station, base station pseudorange between each wireless communication base station in the at least one wireless communication base station and the receiver, and base station clock difference of each wireless communication base station; a processing unit, used to construct a comprehensive pseudorange observation equation based on the satellite signal data and the wireless signal data; and, calculate the position coordinates of the receiver based on the comprehensive pseudorange observation equation.

[0024] In a fourth aspect, a computer-readable storage medium is provided, characterized in that the computer-readable storage medium stores a computer program or instructions, and when the computer program or instructions are executed by a processor, the steps of the method as described in any one of claims 1 to 7 are implemented.

[0025] It can be seen that in the embodiment of the present application, the server receives satellite signal data and wireless signal data from the receiver, the satellite signal data includes the satellite coordinates of at least one satellite, the satellite pseudorange between each satellite in at least one satellite and the receiver, and the satellite clock difference of each satellite; the wireless signal data includes the base station coordinates of at least one wireless communication base station, the base station pseudorange between each wireless communication base station in at least one wireless communication base station and the receiver, and the base station clock difference of each wireless communication base station; a comprehensive pseudorange observation equation is constructed based on the satellite signal data and the wireless signal data; and the position coordinates of the receiver are calculated based on the comprehensive pseudorange observation equation. Therefore, in the present application, by constructing a comprehensive observation equation by combining the satellite positioning system and the wireless communication positioning system, the position coordinates of the receiver can be accurately calculated, avoiding the time delay of switching a single positioning mode and the error and position jump caused by the inertial navigation link, and realizing the real-time, continuous and accurate output of positioning information in all scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 A schematic diagram of a scenario of an indoor and outdoor fusion positioning system provided in an embodiment of the present application;

[0028] Figure 2 A schematic diagram of the structure of a receiver provided in an embodiment of the present application;

[0029] Figure 3 A schematic diagram of the structure of a server provided in an embodiment of the present application;

[0030] Figure 4 A schematic diagram of a flow chart of a heterogeneous positioning method for indoor and outdoor fusion provided in an embodiment of the present application;

[0031] Figure 5 A heterogeneous positioning device that integrates indoor and outdoor functions is provided in an embodiment of the present application. DETAILED DESCRIPTION

[0032] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0033] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0034] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0035] In the embodiments of the present application, "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist at the same time; B exists alone. Among them, A and B can be singular or plural.

[0036] In the embodiment of the present application, the symbol " / " can indicate that the objects associated with each other are in an "or" relationship. In addition, the symbol " / " can also indicate a division sign, that is, performing a division operation. For example, A / B can indicate A divided by B.

[0037] In the embodiments of the present application, "at least one item" or similar expressions refer to any combination of these items, including any combination of single items or plural items, and refer to one or more, and multiple refers to two or more. For example, at least one item of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0038] In the embodiments of the present application, "equal to" can be used in conjunction with greater than, and is applicable to the technical solution adopted when greater than, and can also be used in conjunction with less than, and is applicable to the technical solution adopted when less than. When equal to is used in conjunction with greater than, it is not used in conjunction with less than; when equal to is used in conjunction with less than, it is not used in conjunction with greater than.

[0039] The Beidou positioning system requires multiple satellites to jointly locate, but there are blind spots in areas with obstructions such as buildings and docks, and the Beidou positioning system cannot achieve accurate positioning. Indoor positioning technology makes up for the problem of positioning mobile targets in obstructed environments, so the indoor and outdoor joint positioning system is the mainstream direction of future applications.

[0040] At present, in the direction of indoor and outdoor joint positioning, the more popular joint positioning method abroad is GPS+UWB fusion positioning, which also adds the variance information of the UWB system ranging data when directly combining the GPS positioning results and the UWB positioning results. In China, the translational GPS pseudo-range differential positioning technology is basically replaced by the Beidou system, combined with the UWB indoor positioning technology to achieve adaptive switching from indoor to outdoor seamless positioning. However, the algorithm does not establish a set of comprehensive positioning solution mathematical models from the perspective of geometric precision factor, resulting in insufficient observation equations for one positioning mode when switching positioning modes, while the other positioning mode is still in the process of being established, and the positioning information is lost. When the new positioning method completes the positioning lock, the positioning information will jump.

[0041] In order to solve the above problems, the present application provides a heterogeneous positioning method and device for indoor and outdoor fusion. By constructing a comprehensive observation equation by combining a satellite positioning system and a wireless communication positioning system, the position coordinates of the receiver can be accurately calculated, avoiding the error and position jump caused by the time delay of switching a single positioning mode and the inertial navigation link, and realizing real-time, continuous and accurate output of positioning information in all scenarios.

[0042] The technical solution of the present application and how the technical solution of the present application solves the above-mentioned technical problems are described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0043] See also Figure 1 , Figure 1 A schematic diagram of a scene of an indoor and outdoor fusion positioning system provided in an embodiment of the present application, such as Figure 1 As shown, the indoor and outdoor fusion positioning system 1 includes a satellite positioning system 10 , a wireless communication positioning system 20 , a receiver 30 and a server 40 .

[0044] Among them, the satellite positioning system 10 includes the Beidou Satellite Navigation System (BDS) and low-orbit satellites (LEO). In the case of obstruction, the Beidou positioning system cannot achieve high-precision positioning. The low-orbit satellites can broadcast low-orbit enhancement information, which can carry a higher information rate. As a broadcast channel for satellite navigation basic messages and differential correction messages, it can shorten the convergence time of the receiver 30.

[0045] The wireless communication positioning system 20 includes a plurality of wireless communication base stations, and the wireless communication base stations send wireless signals to the receiver 30 to achieve indoor positioning.

[0046] Optionally, the type of the wireless signal includes but is not limited to one or more of an ultra-wideband (UWB) signal, a WiFi signal, an RFID signal, an ultrasonic signal, and the like.

[0047] The receiver 30 is used to receive satellite signal data from the satellite positioning system 10 and wireless signal data from the wireless communication positioning system 20, and send the satellite signal data and wireless signal data to the server 40 for data processing to obtain the precise position coordinates of the receiver 30. Figure 2 , the receiver 30 includes a satellite signal receiving module 302 and a wireless signal receiving module 301, and receives satellite signal data through the satellite signal receiving module 302 and transmits the satellite signal data to the server 40, and at the same time, receives wireless signal data through the wireless signal receiving module 301 and transmits the wireless signal data to the server 40. In this way, the server 40 simultaneously receives the positioning data from the satellite positioning system 10 and the wireless communication positioning system 20. The server 40 calculates the position coordinates of the receiver 30 according to the steps in the following method embodiment.

[0048] Among them, see Figure 3 , Figure 3 A schematic diagram of the structure of the server provided in the embodiment of the present application, such as Figure 3 As shown, the server 40 includes a processor 401, a memory 403, a communication interface 402, and one or more programs 4031. Among them, the one or more programs 4031 are stored in the memory 403 and are configured to be executed by the processor 401, and the one or more programs 4031 include instructions for executing any step in the following method embodiment.

[0049] See also Figure 4 , Figure 4 A schematic diagram of a flow chart of a heterogeneous positioning method for indoor and outdoor fusion provided in an embodiment of the present application, Figure 4 The method shown is Figure 1 and Figure 3 The server 40 shown is executed, and the method includes:

[0050] Step S401: The server receives satellite signal data and wireless signal data from the receiver.

[0051] The satellite signal data includes satellite coordinates of at least one satellite, a satellite pseudorange between each satellite in the at least one satellite and the receiver, and a satellite clock error of each satellite.

[0052] The wireless signal data includes the base station coordinates of at least one wireless communication base station, the base station pseudo-range between each wireless communication base station in the at least one wireless communication base station and the receiver, and the base station clock difference of each wireless communication base station.

[0053] After receiving the satellite signal data and the wireless signal data, the server determines the specific positioning mode according to the number of satellites receiving the signal and the number of wireless communication base stations. The positioning modes include:

[0054] Mode 1: Use wireless signal positioning alone in indoor areas where satellite signals cannot be received.

[0055] Mode 2: Positioning is performed at the junction of indoor and outdoor areas through a combination of satellite signals and wireless signals.

[0056] Mode 3: Use satellite signals alone for positioning outdoors.

[0057] In specific implementation, in some embodiments, after receiving the satellite signal data and the wireless signal data from the receiver, the server determines the specific steps of determining the positioning mode include: detecting that the number of the at least one satellite is greater than or equal to 4, and calculating the position coordinates of the receiver according to the satellite signal data; at this time, the server determines that the positioning mode is mode three; or,

[0058] It is detected that the number of the at least one wireless communication base station is greater than or equal to 4, and the position coordinates of the receiver are calculated according to the wireless signal data; at this time, the server determines that the positioning mode is mode 1; or,

[0059] If it is detected that the number of the at least one satellite and the number of the at least one wireless communication base station are both less than 4, and the sum of the number of the at least one satellite and the number of the at least one wireless communication base station is greater than or equal to 4, continue to execute the step of "constructing a comprehensive pseudorange observation equation based on the satellite signal data and the wireless signal data"; at this time, the server determines that the positioning mode is mode two.

[0060] It can be seen that in this embodiment, through the coordinated use of the satellite positioning system and the wireless communication positioning system, the positioning modes of indoor, outdoor, and indoor and outdoor combinations can be fully covered, and adaptive switching of indoor and outdoor seamless positioning modes can be achieved according to the actual application scenario requirements.

[0061] When the server detects that the number of at least one satellite and the number of at least one wireless communication base station are both less than 4, and the number of at least one satellite and the number of at least one wireless communication base station are greater than or equal to 4, step S402 is continued:

[0062] Step S402: The server constructs a comprehensive pseudo-range observation equation according to the satellite signal data and the wireless signal data.

[0063] In some embodiments, the server constructs a comprehensive pseudorange observation equation according to the satellite signal data and the wireless signal data, specifically including steps a to c:

[0064] In step a, the server constructs a first pseudorange observation equation from the receiver to each satellite based on the satellite signal data and other satellite observation errors; and determines a first pseudorange correction equation from the receiver to each satellite based on the first pseudorange observation equation.

[0065] The server constructs an observation model of the satellite positioning system based on satellite signal data of at least one satellite and other satellite observation errors. The first pseudorange observation equation of the satellite positioning system can be expressed as:

[0066]

[0067] Among them, ρ n represents the satellite pseudorange of the nth satellite received by the receiver, r n is the geometric distance between the signal transmitted from satellite n to the receiver at the speed of light c in vacuum, δt m is the clock error of the mth receiver, δt n represents the clock error of satellite n, I n represents the error caused by the ionosphere to the pseudorange measurement, T n represents the error caused by the troposphere to the pseudorange measurement, ε n Represents the measurement noise and other noise of the receiver measuring the satellite signal; (x m ,y m .z m ) is the position coordinate of the receiver, is the unknown coordinate, (x n ,y n .z n ) is the position coordinate of satellite n, which is a known coordinate; the other satellite observation errors include I n , T n , ε n .

[0068] Among them, some data in the first pseudorange observation equation, such as the ionospheric error I n , Tropospheric error T n It can be calculated by building a model or other methods. Therefore, in the first pseudo-range observation equation, the unknown variables include the position coordinates of the receiver (x m ,y m .z m ), measurement noise ε n and the current receiver clock error δt m , the known variables include the ionospheric error I n , Tropospheric error T n, satellite coordinates and satellite pseudorange ρ n .

[0069] According to the above known variables and unknown variables, the first pseudorange correction equation after the satellite positioning system is corrected is obtained. The first pseudorange correction equation is:

[0070]

[0071] Assume that the satellite signal data of satellite S1, satellite S2, satellite S3, and satellite S4 are received, and the satellite pseudoranges ρ of the four satellites are n 、Satellite coordinates (x n ,y n .z n ) and the satellite clock error δt n Substitute into the above first pseudorange correction equation. In the first pseudorange correction equation, due to ε n is an error that can no longer be compensated. This error will always be carried in the correction equation. We can omit it from the correction equation to obtain the following system of equations:

[0072]

[0073] In equation (1), the unknown variables include the position coordinates of the receiver (x m ,y m .z m ), and the current receiver clock error δt m There are four unknown variables, and the rest of the variables are known values. The above four unknown variables can be calculated through the four formulas in the equation group. This example also reflects the specific method of determining the unknown coordinates of the receiver when the positioning mode is mode three. When the number of satellites exceeds 4, there are the same number of formulas in the equation group (1). The more satellites there are, the more satellite positioning data from multiple satellites can be used to verify the position coordinates of the receiver, thereby improving the positioning accuracy.

[0074] When the satellite signal is shielded and the positioning observation quantity is insufficient, the satellite positioning system alone cannot meet the user's positioning needs. The positioning principle of the wireless communication positioning system and the satellite positioning system have many similarities, so the observation quantity of the wireless signal can be used to supplement the positioning observation quantity lacking in the satellite signal. The satellite positioning system + wireless communication positioning system is combined by tightly coupling the satellite pseudorange and wireless signal ranging information, and then a comprehensive pseudorange observation equation is established to solve the positioning coordinates.

[0075] The following steps need to be completed when using a wireless communication positioning system to assist and enhance the positioning of a satellite positioning system:

[0076] (1) According to the geometric distribution of satellites, appropriate wireless communication base station locations are selected, and the local coordinates of the wireless communication positioning system are converted into absolute coordinates to unify them with the coordinates of the satellite positioning system. Both of them adopt the Chinese standard geodetic coordinate system (CGCS2000), that is, spatial synchronization in the combined positioning system.

[0077] (2) The clock of the wireless communication base station is corrected through the corresponding clock error correction technology so that it is synchronized with the satellite positioning system time, thereby achieving time synchronization between the satellite positioning system and the wireless communication positioning system.

[0078] (3) Establish the positioning observation equation of the wireless communication positioning system based on TOA and other positioning methods.

[0079] Step b: the server constructs a second pseudorange observation equation from the receiver to each wireless communication base station based on the wireless signal data and other base station observation errors; and determines a second pseudorange correction equation from the receiver to each wireless communication base station based on the second pseudorange observation equation.

[0080] The server constructs an observation model of the wireless communication positioning system according to at least one wireless signal data and other base station observation errors. The second pseudorange observation equation of the wireless communication positioning system can be expressed as:

[0081]

[0082] Among them, ρ q represents the base station pseudorange of the qth wireless communication base station received by the receiver, r q is the geometric distance between the signal transmitted from the wireless communication base station q to the receiver at the speed of light c in vacuum, δt m is the clock error of the mth receiver, δt q represents the clock error of wireless communication base station q, ε q Represents the measurement noise and other noise of the receiver measuring the wireless signal; (x m ,y m .z m ) is the position coordinate of the receiver, is the unknown coordinate, (x q ,y q .z q ) is the position coordinate of the wireless communication base station q, which is a known coordinate; the other base station observation errors include ε q .

[0083] Among them, wireless communication base stations are usually deployed above the user or inside the environment where positioning is required, so the wireless signal will not have the problem of ionospheric delay and tropospheric delay. Therefore, in the second pseudorange observation equation, the unknown variables include the position coordinates of the receiver (x m,y m .z m ), measurement noise ε q and the current receiver clock error δt m , the known variables include base station pseudorange ρ q , the location coordinates of the wireless communication base station q (x q ,y q .z q ), the clock difference δt of the wireless communication base station q q .

[0084] According to the above known variables and position variables, the second pseudorange correction equation after correction by the wireless communication positioning system is obtained. The second pseudorange correction equation is:

[0085]

[0086] Assume that the wireless signal data of four wireless communication base stations, base station U1, base station U2, base station U3, and base station U4, are received, and the base station pseudoranges ρ of the four wireless communication base stations are q , the location coordinates of the wireless communication base station q (x q ,y q .z q ) and the clock error δt of the wireless communication base station q q Substitute into the above second pseudorange correction equation. In the second pseudorange correction equation, due to ε q is an error that can no longer be compensated. This error will always be carried in the correction equation. We can omit it from the correction equation to obtain the following system of equations:

[0087]

[0088] In equation (2), the unknown variables include the position coordinates of the receiver (x m ,y m .z m ), and the current receiver clock error δt m There are four unknown variables, and the rest of the variables are known values. The above four unknown variables can be calculated through the four formulas in the equation group. This example also reflects the specific method of determining the unknown coordinates of the receiver when the positioning mode is mode 1. When the number of base stations exceeds 4, there are the same number of formulas in the equation group (2). The more base stations there are, the more the wireless positioning data of multiple wireless communication base stations can be used to verify the position coordinates of the receiver, thereby improving the positioning accuracy.

[0089] Step c: the server combines the first pseudorange correction equation of the at least one satellite and the second pseudorange correction equation of the at least one wireless communication base station to obtain the comprehensive pseudorange observation equation.

[0090] When the server detects that the number of at least one satellite and the number of at least one wireless communication base station are both less than 4, and the number of at least one satellite and the number of at least one wireless communication base station are greater than or equal to 4, a comprehensive pseudorange observation equation is constructed through the first pseudorange correction equation of the satellite positioning system and the second pseudorange correction equation of the wireless communication positioning system. Its essence is that when the number of satellite observations or the number of wireless signal observations is not enough to calculate 4 unknown variables, compensatory positioning is performed through another positioning method.

[0091] The comprehensive pseudorange observation equation is:

[0092]

[0093] Step S403: The server calculates the position coordinates of the receiver according to the comprehensive pseudorange observation equation.

[0094] It can be seen that in the embodiment of the present application, the server receives satellite signal data and wireless signal data from the receiver, the satellite signal data includes the satellite coordinates of at least one satellite, the satellite pseudorange between each satellite in at least one satellite and the receiver, and the satellite clock difference of each satellite; the wireless signal data includes the base station coordinates of at least one wireless communication base station, the base station pseudorange between each wireless communication base station in at least one wireless communication base station and the receiver, and the base station clock difference of each wireless communication base station; a comprehensive pseudorange observation equation is constructed based on the satellite signal data and the wireless signal data; and the position coordinates of the receiver are calculated based on the comprehensive pseudorange observation equation. Therefore, in the present application, by constructing a comprehensive observation equation by combining the satellite positioning system and the wireless communication positioning system, the position coordinates of the receiver can be accurately calculated, avoiding the time delay of switching a single positioning mode and the error and position jump caused by the inertial navigation link, and realizing the real-time, continuous and accurate output of positioning information in all scenarios.

[0095] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that, in order to realize the above functions, the server includes a hardware structure and / or software module corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0096] The embodiment of the present application can divide the server into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated unit can be implemented in the form of hardware or in the form of a software program module. It should be noted that the division of units in the embodiment of the present application is schematic, which is only a logical function division, and there may be other division methods in actual implementation.

[0097] In the case of integrated units, see Figure 5 , Figure 5 An indoor and outdoor fusion heterogeneous positioning device provided in an embodiment of the present application is applied to a server of an indoor and outdoor fusion positioning system. The fusion positioning system includes the server, a receiver, a satellite positioning system and a wireless communication positioning system. The heterogeneous positioning device 5 includes:

[0098] The receiving unit 501 is configured to receive satellite signal data and wireless signal data from the receiver, wherein the satellite signal data includes satellite coordinates of at least one satellite, a satellite pseudorange between each satellite in the at least one satellite and the receiver, and a satellite clock difference of each satellite; the wireless signal data includes base station coordinates of at least one wireless communication base station, a base station pseudorange between each wireless communication base station in the at least one wireless communication base station and the receiver, and a base station clock difference of each wireless communication base station;

[0099] The processing unit 502 is used to construct a comprehensive pseudo-range observation equation according to the satellite signal data and the wireless signal data; and calculate the position coordinates of the receiver according to the comprehensive pseudo-range observation equation.

[0100] It can be seen that in the embodiment of the present application, the server receives satellite signal data and wireless signal data from the receiver, the satellite signal data includes the satellite coordinates of at least one satellite, the satellite pseudorange between each satellite in at least one satellite and the receiver, and the satellite clock difference of each satellite; the wireless signal data includes the base station coordinates of at least one wireless communication base station, the base station pseudorange between each wireless communication base station in at least one wireless communication base station and the receiver, and the base station clock difference of each wireless communication base station; a comprehensive pseudorange observation equation is constructed based on the satellite signal data and the wireless signal data; and the position coordinates of the receiver are calculated based on the comprehensive pseudorange observation equation. Therefore, in the present application, by constructing a comprehensive observation equation by combining the satellite positioning system and the wireless communication positioning system, the position coordinates of the receiver can be accurately calculated, avoiding the time delay of switching a single positioning mode and the error and position jump caused by the inertial navigation link, and realizing the real-time, continuous and accurate output of positioning information in all scenarios.

[0101] In some embodiments, the processing unit 502 constructs a comprehensive pseudorange observation equation based on the satellite signal data and the wireless signal data, including: constructing a first pseudorange observation equation from the receiver to each satellite based on the satellite signal data and other satellite observation errors; and determining a first pseudorange correction equation from the receiver to each satellite based on the first pseudorange observation equation; constructing a second pseudorange observation equation from the receiver to each wireless communication base station based on the wireless signal data and other base station observation errors; and determining a second pseudorange correction equation from the receiver to each wireless communication base station based on the second pseudorange observation equation; and combining the first pseudorange correction equation of at least one satellite and the second pseudorange correction equation of at least one wireless communication base station to obtain the comprehensive pseudorange observation equation.

[0102] In some embodiments, the first pseudorange observation equation is:

[0103]

[0104] Among them, ρ n represents the satellite pseudorange of the nth satellite received by the receiver, r n is the geometric distance between the signal transmitted from satellite n to the receiver at the speed of light c in vacuum, δt m is the clock error of the mth receiver, δt n represents the clock error of satellite n, I n represents the error caused by the ionosphere to the pseudorange measurement, T n represents the error caused by the troposphere to the pseudorange measurement, ε n Represents the measurement noise and other noise of the receiver measuring the satellite signal; (x m ,y m .z m ) is the position coordinate of the receiver, (x n ,y n .z n ) is the position coordinate of satellite n; the other satellite observation errors include I n , T n , ε n ;

[0105] The second pseudorange observation equation is:

[0106]

[0107] Among them, ρ q represents the base station pseudorange of the qth wireless communication base station received by the receiver, r q is the geometric distance between the signal transmitted from the wireless communication base station q to the receiver at the speed of light c in vacuum, δt m is the clock error of the mth receiver, δtq represents the clock error of wireless communication base station q, ε q Represents the measurement noise and other noise of the receiver measuring the wireless signal; (x q ,y q .z q ) is the position coordinate of the wireless communication base station q; the other base station observation errors include ε q .

[0108] In some embodiments, the first pseudorange correction equation is:

[0109]

[0110] Among them, ρ' n is the corrected satellite pseudorange;

[0111] The second pseudorange correction equation is:

[0112]

[0113] Among them, ρ' q is the corrected base station pseudorange.

[0114] In some embodiments, the comprehensive pseudorange observation equation is:

[0115]

[0116] In some embodiments, after receiving the satellite signal data and the wireless signal data from the receiver, the method further includes: detecting that the number of the at least one satellite is greater than or equal to 4, and calculating the position coordinates of the receiver based on the satellite signal data; or, detecting that the number of the at least one wireless communication base station is greater than or equal to 4, and calculating the position coordinates of the receiver based on the wireless signal data; or, detecting that the number of the at least one satellite and the number of the at least one wireless communication base station are both less than 4, and that the sum of the number of the at least one satellite and the number of the at least one wireless communication base station is greater than or equal to 4, and continuing to execute the step of "constructing a comprehensive pseudorange observation equation based on the satellite signal data and the wireless signal data".

[0117] In some embodiments, the satellite positioning system includes a Beidou satellite system and a low-orbit satellite, and the wireless communication positioning system includes at least one ultra-wideband UWB base station.

[0118] An embodiment of the present application provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the method described in any possible embodiment are implemented.

[0119] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0120] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0121] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0122] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0123] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0124] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or CD-ROM and other media that can store program codes.

[0125] A person skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (English: Read-Only Memory, abbreviated as: ROM), a random access memory (English: Random Access Memory, abbreviated as: RAM), a magnetic disk or an optical disk, etc.

[0126] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A heterogeneous positioning method integrating indoor and outdoor positioning, characterized in that: A server applied to an indoor and outdoor fusion positioning system, wherein the fusion positioning system comprises the server, a receiver, a satellite positioning system and a wireless communication positioning system, and the method comprises: receiving satellite signal data and wireless signal data from the receiver, the satellite signal data including satellite coordinates of at least one satellite, satellite pseudorange between each satellite in the at least one satellite and the receiver, and satellite clock difference of each satellite; the wireless signal data including base station coordinates of at least one wireless communication base station, base station pseudorange between each wireless communication base station in the at least one wireless communication base station and the receiver, and base station clock difference of each wireless communication base station; Constructing a comprehensive pseudorange observation equation according to the satellite signal data and the wireless signal data; The position coordinates of the receiver are calculated according to the comprehensive pseudorange observation equation.

2. The method according to claim 1, characterized in that The constructing of a comprehensive pseudorange observation equation according to the satellite signal data and the wireless signal data comprises: Constructing a first pseudorange observation equation from the receiver to each satellite according to the satellite signal data and other satellite observation errors; and determining a first pseudorange correction equation from the receiver to each satellite according to the first pseudorange observation equation; Constructing a second pseudorange observation equation from the receiver to each wireless communication base station according to the wireless signal data and other base station observation errors; and determining a second pseudorange correction equation from the receiver to each wireless communication base station according to the second pseudorange observation equation; The integrated pseudorange observation equation is obtained by combining the first pseudorange correction equation of the at least one satellite and the second pseudorange correction equation of the at least one wireless communication base station.

3. The method according to claim 2, characterized in that The first pseudorange observation equation is: Among them, ρ n represents the satellite pseudorange of the nth satellite received by the receiver, r n is the geometric distance between the signal transmitted from satellite n to the receiver at the speed of light c in vacuum, δt m is the clock error of the mth receiver, δt n represents the clock error of satellite n, I n represents the error caused by the ionosphere to the pseudorange measurement, T n represents the error caused by the troposphere to the pseudorange measurement, ε n Represents the measurement noise and other noise of the receiver measuring the satellite signal; (x m ,y m .z m ) is the position coordinate of the receiver, (x n ,y n .z n ) is the position coordinate of satellite n; the other satellite observation errors include I n , T n , ε n ; The second pseudorange observation equation is: Among them, ρ q represents the base station pseudorange of the qth wireless communication base station received by the receiver, r q is the geometric distance between the signal transmitted from the wireless communication base station q to the receiver at the speed of light c in vacuum, δt m is the clock error of the mth receiver, δt q represents the clock error of wireless communication base station q, ε q Represents the measurement noise and other noise of the receiver measuring the wireless signal; (x q ,y q .z q ) is the position coordinate of the wireless communication base station q; the other base station observation errors include ε q .

4. The method according to claim 3, characterized in that The first pseudorange correction equation is: Among them, ρ' n is the corrected satellite pseudorange; The second pseudorange correction equation is: Among them, ρ' q is the corrected base station pseudorange.

5. The method according to claim 4, characterized in that The comprehensive pseudorange observation equation is:

6. The method according to claim 1, characterized in that After receiving the satellite signal data and the wireless signal data from the receiver, the method further comprises: The number of the at least one satellite detected is greater than or equal to 4, and the position coordinates of the receiver are calculated according to the satellite signal data; or, detecting that the number of the at least one wireless communication base station is greater than or equal to 4, and calculating the position coordinates of the receiver according to the wireless signal data; or, If it is detected that the number of the at least one satellite and the number of the at least one wireless communication base station are both less than 4, and the sum of the number of the at least one satellite and the number of the at least one wireless communication base station is greater than or equal to 4, the step of "constructing a comprehensive pseudorange observation equation based on the satellite signal data and the wireless signal data" is continued.

7. The method according to claim 1, characterized in that The satellite positioning system includes a Beidou satellite system and a low-orbit satellite, and the wireless communication positioning system includes at least one ultra-wideband UWB base station.

8. An indoor and outdoor fusion positioning system, characterized in that: include: Satellite positioning system, used to send satellite signal data to receivers on the ground; A wireless communication positioning system, used for sending wireless signal data to the receiver; The receiver is used to receive the satellite signal data and the wireless signal data, and send the satellite signal data and the wireless signal data to a server; The server is used to execute the step instructions in the method as described in any one of claims 1-7.

9. A heterogeneous positioning device integrating indoor and outdoor functions, characterized in that: A server applied to an indoor and outdoor fusion positioning system, the fusion positioning system comprising the server, a receiver, a satellite positioning system and a wireless communication positioning system, the device comprising: A receiving unit, configured to receive satellite signal data and wireless signal data from the receiver, wherein the satellite signal data includes satellite coordinates of at least one satellite, a satellite pseudorange between each of the at least one satellite and the receiver, and a satellite clock difference of each satellite; the wireless signal data includes base station coordinates of at least one wireless communication base station, a base station pseudorange between each of the at least one wireless communication base station and the receiver, and a base station clock difference of each wireless communication base station; A processing unit is used to construct a comprehensive pseudo-range observation equation based on the satellite signal data and the wireless signal data; and calculate the position coordinates of the receiver based on the comprehensive pseudo-range observation equation.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program or instructions, and when the computer program or instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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