Beidou satellite high-precision positioning method and system in urban complex environment

Abstract

The invention relates to the technical field of positioning systems, in particular to a Beidou satellite high-precision positioning method and system in an urban complex environment. Comprising a Beidou positioning module and a reference station module, and further comprises a map construction module, a floor information judgment module and a fusion module, the Beidou positioning module is connected with the reference station module, the reference station module is connected with the fusion module, the map construction module is connected with the fusion module, and the floor information judgment module is connected with the fusion module. The actual floor position of the building where the user is located can be determined by collecting and analyzing the floor position information in the building designated by the user, and then high-precision positioning under the urban complex environment is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of positioning systems, and in particular to a Beidou satellite high-precision positioning method and system in a complex urban environment. Background Art

[0002] Beidou Satellite Positioning System, the full name is Beidou Navigation Satellite System (BDS); The BeiDou satellite positioning system is mainly composed of three parts: the space segment, the ground segment and the user segment. The space segment consists of several geostationary orbit satellites (GEO), inclined geosynchronous orbit satellites (IGSO) and medium earth orbit satellites (MEO), which together constitute the space foundation of the BeiDou system. The ground segment includes several ground stations such as the master control station, time synchronization / injection station and monitoring station, as well as inter-satellite link operation management facilities, which are responsible for monitoring satellite status, sending control commands, receiving and processing satellite data, etc. The user segment includes basic products such as chips, modules, antennas, etc. that are compatible with other satellite navigation systems, as well as terminal products, application systems and application services. Users can receive satellite signals through these devices to achieve positioning, navigation and timing functions. The existing Beidou satellite positioning system is usually combined with maps to provide users with more accurate and rich navigation and positioning services. However, in today's complex urban environment, especially in some high-rise business districts, the user's exact floor and the corresponding floor position cannot be accurately displayed through simple plane coordinates, resulting in the inability to provide real-time and accurate guidance to users during positioning and navigation. Summary of the invention

[0003] The purpose of the present invention is to provide a Beidou satellite high-precision positioning method and system in a complex urban environment, which can determine the actual floor position of the user's building based on the collection and analysis of floor position information in the user's specified building, thereby achieving high-precision positioning in a complex urban environment.

[0004] To achieve the above-mentioned purpose, the present invention adopts a Beidou satellite high-precision positioning method and system in a complex urban environment, including a Beidou positioning module and a reference station module, and also includes a map construction module, a floor information judgment module and a fusion module, wherein the Beidou positioning module is connected to the reference station module, the reference station module is connected to the fusion module, the map construction module is connected to the fusion module, and the floor information judgment module is connected to the fusion module; The Beidou positioning module is used to use signals transmitted by multiple satellites, receive these signals through a receiver and calculate their arrival time difference, so as to determine the position of the receiver; The reference station module is used to conduct long-term continuous observation of satellite navigation signals and transmit the observation data to the ground fixed observation station of the data center in real time or at a fixed time through communication facilities, thereby improving the positioning accuracy; The map construction module is used to create a three-dimensional map including building location information and corresponding building internal floor information; The floor information determination module is used to determine and analyze the floor location information where the user is actually located; The fusion module displays the building floor location where the user is actually located.

[0005] The map construction module includes a regional plate establishment submodule and a building information construction submodule, wherein the regional plate establishment submodule is connected to the building information construction submodule; and the building information construction submodule is connected to the fusion module; The regional plate establishment submodule is used to establish a corresponding regional plate containing a transportation network in combination with the road construction situation in the region; The building information construction submodule is used to generate a three-dimensional map of the corresponding area by combining the location information of each building in the area and the internal floor information of the building on the established area plate.

[0006] Wherein, the floor information judgment module includes an information output submodule and an information analysis submodule, the information output submodule is connected to the information analysis submodule; the information analysis submodule is connected to the fusion module; The information output submodule is used to output a positioning signal with floor information; The information analysis submodule is used to analyze the actual floor position of the user based on the sent positioning signal.

[0007] The fusion module includes a location information extraction submodule, a map information extraction submodule and a positioning data combination submodule. The location information extraction submodule is connected to the reference station module and to the positioning data combination submodule; the map information extraction submodule is connected to the map construction module and to the positioning data combination submodule; the positioning data combination submodule is connected to the floor information judgment module; The location information extraction submodule is used to obtain the detected location information; The map information extraction submodule is used to obtain the generated three-dimensional map information; The positioning data combining submodule displays the actual building floor position of the user based on the acquired position information and the three-dimensional map information.

[0008] Wherein, the building information construction submodule includes a floor substrate establishment unit and a floor map establishment unit, the floor substrate establishment unit is connected to the floor map establishment unit; the floor map establishment unit is connected to the fusion module; The floor substrate establishment unit is used to generate a universal floor substrate of the corresponding building according to the actual construction area of ​​the corresponding building; The floor map establishment unit is used to collect store location information and corresponding resident location information on each floor substrate according to the actual floor conditions of the building, and then generate a designated floor plan in combination with the established general floor substrate.

[0009] Wherein, the information output submodule includes a signal sending unit and a signal marking unit, and the signal sending unit is connected to the signal marking unit; The signal sending unit is used to send a positioning signal of a specified type through a corresponding signal sending device; The signal marking unit performs position marking on the emitted positioning signal based on the actual placement position of the signal emitting device.

[0010] The information analysis submodule includes a signal receiving unit, a received data comparison unit and a floor determination result output unit, wherein the signal receiving unit is connected to the signal marking unit; the received data comparison unit is connected to the signal receiving unit; the floor determination result output unit is connected to the received data comparison unit and is connected to the fusion module; The signal receiving unit is used to receive a signal with a position mark; The received data comparison unit selects the signal emitting device with the best adaptability to the user terminal based on the signal strengths of the received multiple signal emitting devices and the corresponding signal sending and receiving time information; The floor determination result output unit determines the actual floor position of the user based on the screened signal emitting devices and the actual installation positions of the corresponding signal emitting devices.

[0011] Wherein, the positioning data combining submodule comprises a building position confirmation unit, a floor information confirmation unit and an actual positioning display unit, the building position confirmation unit is connected to the position information extraction submodule; the floor information confirmation unit is connected to the map information extraction submodule; the actual positioning display unit is connected to the building position confirmation unit and to the floor information confirmation unit; The building location confirmation unit is used to determine the building that matches the user's actual location by combining the acquired location information and the building location information in the three-dimensional map information; The floor information confirmation unit determines the actual floor information of the user based on the floor information determination module arranged inside the building; The actual positioning display unit determines the floor where the user is located and the actual position in the corresponding floor based on the acquired actual floor information combined with the designated floor plan of the building in the three-dimensional map.

[0012] The Beidou satellite high-precision positioning method and system in a complex urban environment of the present invention determines the actual location information of the user through the Beidou positioning module in cooperation with the reference station module, establishes a three-dimensional map including multiple elements such as building location information and corresponding internal floor information of the building through the map construction module, judges and analyzes the actual floor position of the building where the user is located based on the actual location information of the user through the floor information judgment module, and displays the actual building floor where the user is located and the specific position on the corresponding floor through the three-dimensional map of the fusion module combined with the map construction module components. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the embodiments of the present invention 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 invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0014] Figure 1 It is a structural schematic diagram of the Beidou satellite high-precision positioning method and system in a complex urban environment of the present invention.

[0015] Figure 2 It is a structural schematic diagram of the map construction module of the present invention.

[0016] Figure 3 It is a structural diagram of the floor information judgment module of the present invention.

[0017] Figure 4 It is a structural schematic diagram of the fusion module of the present invention.

[0018] Figure 5 It is a structural schematic diagram of the building information construction submodule of the present invention.

[0019] Figure 6 It is a structural schematic diagram of the information output submodule and the information analysis submodule of the present invention.

[0020] Figure 7 It is a structural schematic diagram of the positioning data combining submodule of the present invention.

[0021] Figure 8It is a flow chart of the Beidou satellite high-precision positioning method in a complex urban environment of the present invention.

[0022] In the figure: 1- Beidou positioning module, 2- reference station module, 3- map construction module, 4- floor information judgment module, 5- fusion module, 31- regional plate establishment submodule, 32- building information construction submodule, 41- information output submodule, 42- information analysis submodule, 51- position information extraction submodule, 52- map information extraction submodule, 53- positioning data combination submodule, 321- floor base plate establishment unit, 322- floor map establishment unit, 411- signal sending unit, 412- signal marking unit, 421- signal receiving unit, 422- received data comparison unit, 423- floor judgment result output unit, 531- building position confirmation unit, 532- floor information confirmation unit, 533- actual positioning display unit. DETAILED DESCRIPTION

[0023] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0024] In the description of the present invention, it should be understood that “plurality” means two or more than two, unless otherwise clearly and specifically defined.

[0025] See also Figures 1 to 7 The present invention provides a Beidou satellite high-precision positioning method and system in a complex urban environment, including a Beidou positioning module 1 and a reference station module 2, and also including a map construction module 3, a floor information judgment module 4 and a fusion module 5. The Beidou positioning module 1 is connected to the reference station module 2, the reference station module 2 is connected to the fusion module 5, the map construction module 3 is connected to the fusion module 5, and the floor information judgment module 4 is connected to the fusion module 5; The Beidou positioning module 1 uses signals transmitted by multiple satellites, receives these signals through a receiver and calculates their arrival time difference, thereby determining the position of the receiver; The reference station module 2 performs long-term continuous observation of satellite navigation signals and transmits the observation data to the ground fixed observation station of the data center in real time or at a fixed time through communication facilities, thereby improving the positioning accuracy; The map construction module 3 is used to establish a three-dimensional map including building location information and corresponding building internal floor information; The floor information determination module 4 is used to determine and analyze the floor location information where the user is actually located; The fusion module 5 is used to display the building floor location where the user is actually located.

[0026] Specifically, the reference station module 2 can select two types of fixed reference stations and mobile reference stations according to actual conditions. Fixed reference stations, such as continuously operating reference stations (CORS), continuously operating tracking stations or Beidou ground-based augmentation system base stations, are ground-based fixed observation stations that conduct long-term continuous observation of satellite navigation signals. These stations receive signals from Beidou satellites through receiving antennas and process and transmit data through servers; Mobile reference stations mainly refer to reference stations that are in motion or temporarily set up. They can also receive signals from Beidou satellites and perform data processing. The reference station module 2 set up can be used as a reference point for differential positioning, and the positioning accuracy can be improved by sending differential correction information to the user equipment; The map construction module 3 and the floor information judgment module 4 are mainly used to establish a three-dimensional map model, and then the established three-dimensional map model is combined with the positioning information obtained by the Beidou positioning module 1 and the reference station module 2 through the fusion module 5 to complete the final user's actual positioning display. The entire three-dimensional map model is similar to the existing navigation map, except that a map model inside the building is added. The map model inside the building is graded according to the floors of the building, and the corresponding stores or residences on each floor can be displayed, so that when the floor where the user is located is determined, the positioning information is combined with the map model of the specified floor, thereby more accurately realizing the user's positioning navigation.

[0027] For further information, see Figure 2 The map construction module 3 includes a regional plate establishment submodule 31 and a building information construction submodule 32, wherein the regional plate establishment submodule 31 is connected to the building information construction submodule 32; and the building information construction submodule 32 is connected to the fusion module 5; The regional plate establishment submodule 31 is used to establish a corresponding regional plate containing a traffic network in combination with the road construction situation in the region; The building information construction submodule 32 is used to generate a three-dimensional map of the corresponding area by combining the location information of each building in the area and the internal floor information of the building on the established area plate.

[0028] For further information, see Figure 5 The building information construction submodule 32 includes a floor substrate establishment unit 321 and a floor map establishment unit 322, wherein the floor substrate establishment unit 321 is connected to the floor map establishment unit 322; the floor map establishment unit 322 is connected to the fusion module 5; The floor substrate establishing unit 321 is used to generate a universal floor substrate of the corresponding building according to the actual construction area of ​​the corresponding building; The floor map establishment unit 322 is used to collect the store location information and the corresponding resident location information on each floor substrate according to the actual floor conditions of the building, and then generate a designated floor plan in combination with the established general floor substrate.

[0029] In this embodiment, the regional plate establishment submodule 31 can generate a plane map similar to the existing map, and the corresponding road network and building locations are marked on the drawn plane map. Based on the generated plane map, the building information construction submodule 32 can be used to complete the construction of a three-dimensional model of the internal structure of the specified building; The floor substrate establishment unit 321 will generate floor substrates that are compatible with corresponding buildings according to different types of buildings, and then generate a floor plan map corresponding to the floor based on the collected information of each floor substrate. The drawing method of the floor plan map is consistent with the drawing method of the existing floor map, except that the corresponding building and the label of the designated floor of the corresponding building are required before the entire map data, so as to facilitate further judgment and analysis of the actual location of the user.

[0030] For further information, see Figure 3 , the floor information judgment module 4 includes an information output submodule 41 and an information analysis submodule 42, the information output submodule 41 is connected to the information analysis submodule 42; the information analysis submodule 42 is connected to the fusion module 5; The information output submodule 41 is used to output a positioning signal with floor information; The information analysis submodule 42 analyzes the actual floor position of the user based on the sent positioning signal.

[0031] For further information, see Figure 6 , the information output submodule 41 includes a signal issuing unit 411 and a signal marking unit 412, and the signal issuing unit 411 is connected to the signal marking unit 412; The signal sending unit 411 is used to send a positioning signal of a specified type through a corresponding signal sending device; The signal marking unit 412 performs position marking on the emitted positioning signal based on the actual placement position of the signal emitting device.

[0032] For further information, see Figure 6The information analysis submodule 42 includes a signal receiving unit 421, a received data comparison unit 422 and a floor determination result output unit 423, wherein the signal receiving unit 421 is connected to the signal marking unit 412; the received data comparison unit 422 is connected to the signal receiving unit 421; the floor determination result output unit 423 is connected to the received data comparison unit 422 and is connected to the fusion module 5; The signal receiving unit 421 is used to receive a signal with a position mark; The received data comparison unit 422 selects the signal emitting device with the best adaptability to the user terminal based on the signal strengths of the received multiple signal emitting devices and the corresponding signal sending and receiving time information; The floor determination result output unit 423 determines the actual floor position of the user based on the screened signal emitting devices and the actual installation positions of the corresponding signal emitting devices.

[0033] In this embodiment, the signal marking unit 412 can be set in the same device as the signal sending unit 411 according to actual conditions, and the signal sending unit 411 can also select different types of signal sending devices according to actual conditions. It should be noted that in the building where floor navigation is required, a corresponding signal sending device will be set on each floor. For the building where floor navigation is required, it can also be judged according to actual conditions, such as some high-floor business districts or multi-floor buildings with a large area. As for the corresponding signal sending device, a Wi-Fi signal sending device or a Bluetooth signal sending device can also be selected according to actual conditions. It should be noted that when the corresponding type of positioning signal is sent through the selected Wi-Fi signal sending device or Bluetooth signal sending device, the corresponding floor attribute needs to be set through the set signal marking unit 412. The signal receiving unit 421 is set on the user terminal. The signal receiving unit 421 can receive the positioning signals sent by multiple signal sending devices in the corresponding building. The received data comparison unit 422 can judge the signal sending device on the same floor as the receiving point based on the multiple received positioning signals based on the signal sending time and receiving time and the signal strength level; Since there may be hollow spaces in the floors within the business district, it is necessary to ensure that the signal emitting devices on each floor are located on a median vertical line when setting the signal emitting devices. When the terminal device used by the user receives the positioning signal, the signal strength emitted by the signal emitting device on the same floor will be the strongest, and the receiving speed will also be the fastest. In this way, the corresponding floor where the user is located can be directly analyzed and determined, and then the determined floor result can be transmitted to the fusion module 5 through the floor determination result output unit 423.

[0034] For further information, see Figure 4 The fusion module 5 includes a position information extraction submodule 51, a map information extraction submodule 52 and a positioning data combination submodule 53. The position information extraction submodule 51 is connected to the reference station module 2 and is connected to the positioning data combination submodule 53; the map information extraction submodule 52 is connected to the map construction module 3 and is connected to the positioning data combination submodule 53; the positioning data combination submodule 53 is connected to the floor information judgment module 4; The position information extraction submodule 51 is used to obtain the detected position information; The map information extraction submodule 52 is used to obtain the generated three-dimensional map information; The positioning data combining submodule 53 displays the actual building floor position of the user based on the acquired position information and the three-dimensional map information.

[0035] For further information, see Figure 7 The positioning data combining submodule 53 includes a building position confirmation unit 531, a floor information confirmation unit 532 and an actual positioning display unit 533. The building position confirmation unit 531 is connected to the position information extraction submodule 51; the floor information confirmation unit 532 is connected to the map information extraction submodule 52; the actual positioning display unit 533 is connected to the building position confirmation unit 531 and to the floor information confirmation unit 532; The building position confirmation unit 531 is used to determine the building matching the actual position of the user by combining the acquired position information and the building position information in the three-dimensional map information; The floor information confirmation unit 532 determines the actual floor information of the user based on the floor information determination module 4 set inside the building; The actual positioning display unit 533 determines the floor where the user is located and the actual position in the corresponding floor based on the acquired actual floor information combined with the designated floor plan of the building in the three-dimensional map; In this embodiment, the location information extraction submodule 51 and the map information extraction submodule 52 can extract the acquired location information and the generated three-dimensional map data, and then determine the building location of the user according to the acquired location information through the building location confirmation unit 531. When making the judgment, it is necessary to make a preliminary comparison between the user location and the building information to analyze whether the user is located in the building. If it is shown that the user is located inside the building and a corresponding internal map is established for the corresponding building, then the floor information confirmation unit 532 will further extract the map information inside the designated building. On the contrary, when it is analyzed that the user is not located inside the building but is only located on the road outside the building, there is no need to perform further positioning analysis through the floor information confirmation unit 532. After the floor information confirmation unit 532 further extracts the floor map set up inside the building, it can call out the designated floor map relative to the corresponding floor according to the floor information of the user determined by the layer determination result output unit, and then analyze the floor where the user is located and the position corresponding to the floor according to the actual location information, so as to achieve high-precision positioning. When displaying the interface, a folding screen can be used, and based on the established multi-floor map, the user can also view the map information of the remaining floors, so as to better plan the itinerary, and at the same time, the location navigation of the store on the designated floor can be accurately completed when navigating.

[0036] See also Figure 8 A Beidou satellite high-precision positioning method, using the Beidou satellite high-precision positioning system, comprises the following steps: S1: Determine the user's actual location information through the Beidou positioning module 1 in conjunction with the reference station module 2; S2: Creating a three-dimensional map including building location information and corresponding internal floor information of the building through the map construction module 3; S3: judging and analyzing the actual floor position of the building where the user is located through the floor information judgment module 4 according to the actual location information of the user; S4: The fusion module 5 combines the three-dimensional map constructed by the map construction module 3 to display the building floor where the user is actually located and the specific location in the corresponding floor.

[0037] Specifically, after the three-dimensional map model is established, the map construction module 3 and the floor information judgment module 4 combine the established three-dimensional map model through the fusion module 5, and then combine the positioning information obtained by the Beidou positioning module 1 and the reference station module 2 to complete the final user's actual positioning display. The entire three-dimensional map model is similar to the existing navigation map, except that a map model inside the building is added. The map model inside the building is graded according to the floors of the building, and the corresponding stores or residences on each floor can be displayed, so that when the floor where the user is located is determined, the positioning information is combined with the map model of the specified floor, thereby realizing the user's positioning navigation more accurately; What is disclosed above is only a preferred embodiment of the present invention, and it certainly cannot be used to limit the scope of rights of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiment and equivalent changes made according to the claims of the present invention still fall within the scope of the invention.

Claims

1. A Beidou satellite high-precision positioning system in a complex urban environment, comprising a Beidou positioning module and a reference station module, characterized in that: It also includes a map construction module, a floor information judgment module and a fusion module, the Beidou positioning module is connected to the reference station module, the reference station module is connected to the fusion module, the map construction module is connected to the fusion module, and the floor information judgment module is connected to the fusion module; The Beidou positioning module is used to use signals transmitted by multiple satellites, receive these signals through a receiver and calculate their arrival time difference, so as to determine the position of the receiver; The reference station module is used to conduct long-term continuous observation of satellite navigation signals and transmit the observation data to the ground fixed observation station of the data center in real time or at a fixed time through communication facilities, thereby improving the positioning accuracy; The map construction module is used to create a three-dimensional map including building location information and corresponding building internal floor information; The floor information determination module is used to determine and analyze the floor location information where the user is actually located; The fusion module is used to display the building floor location where the user is actually located.

2. The Beidou satellite high-precision positioning system in a complex urban environment as claimed in claim 1, characterized in that: The map construction module includes a regional plate establishment submodule and a building information construction submodule, wherein the regional plate establishment submodule is connected to the building information construction submodule; and the building information construction submodule is connected to the fusion module; The regional plate establishment submodule is used to establish a corresponding regional plate containing a transportation network in combination with the road construction situation in the region; The building information construction submodule is used to generate a three-dimensional map of the corresponding area by combining the location information of each building in the area and the internal floor information of the building on the established area plate.

3. The Beidou satellite high-precision positioning system in a complex urban environment as claimed in claim 2, characterized in that: The floor information judgment module includes an information output submodule and an information analysis submodule, wherein the information output submodule is connected to the information analysis submodule; the information analysis submodule is connected to the fusion module; The information output submodule is used to output a positioning signal with floor information; The information analysis submodule analyzes the actual floor position of the user based on the sent positioning signal.

4. The Beidou satellite high-precision positioning system in a complex urban environment as claimed in claim 3, characterized in that: The fusion module includes a position information extraction submodule, a map information extraction submodule and a positioning data combination submodule. The position information extraction submodule is connected to the reference station module and to the positioning data combination submodule; the map information extraction submodule is connected to the map construction module and to the positioning data combination submodule; the positioning data combination submodule is connected to the floor information judgment module; The location information extraction submodule is used to obtain the detected location information; The map information extraction submodule is used to obtain the generated three-dimensional map information; The positioning data combining submodule displays the actual building floor position of the user based on the acquired position information and the three-dimensional map information.

5. The Beidou satellite high-precision positioning system in a complex urban environment as claimed in claim 4, characterized in that: The building information construction submodule includes a floor substrate establishment unit and a floor map establishment unit, wherein the floor substrate establishment unit is connected to the floor map establishment unit; the floor map establishment unit is connected to the fusion module; The floor substrate establishment unit is used to generate a universal floor substrate of the corresponding building according to the actual construction area of ​​the corresponding building; The floor map establishment unit is used to collect store location information and corresponding resident location information on each floor substrate according to the actual floor conditions of the building, and then generate a designated floor plan in combination with the established general floor substrate.

6. The Beidou satellite high-precision positioning system in a complex urban environment as claimed in claim 5, characterized in that: The information output submodule includes a signal sending unit and a signal marking unit, and the signal sending unit is connected to the signal marking unit; The signal sending unit is used to send a positioning signal of a specified type through a corresponding signal sending device; The signal marking unit performs position marking on the emitted positioning signal based on the actual placement position of the signal emitting device.

7. The Beidou satellite high-precision positioning system in a complex urban environment as claimed in claim 6, characterized in that: The information analysis submodule includes a signal receiving unit, a received data comparison unit and a floor determination result output unit, wherein the signal receiving unit is connected to the signal marking unit; the received data comparison unit is connected to the signal receiving unit; the floor determination result output unit is connected to the received data comparison unit and is also connected to the fusion module; The signal receiving unit is used to receive a signal with a position mark; The received data comparison unit selects the signal emitting device with the best adaptability to the user terminal based on the signal strengths of the received multiple signal emitting devices and the corresponding signal sending and receiving time information; The floor determination result output unit determines the actual floor position of the user based on the screened signal emitting devices and the actual installation positions of the corresponding signal emitting devices.

8. The Beidou satellite high-precision positioning system in a complex urban environment as claimed in claim 7, characterized in that: The positioning data combining submodule includes a building position confirmation unit, a floor information confirmation unit and an actual positioning display unit, wherein the building position confirmation unit is connected to the position information extraction submodule; the floor information confirmation unit is connected to the map information extraction submodule; the actual positioning display unit is connected to the building position confirmation unit and to the floor information confirmation unit; The building location confirmation unit is used to determine the building that matches the user's actual location by combining the acquired location information and the building location information in the three-dimensional map information; The floor information confirmation unit determines the actual floor information of the user based on the floor information determination module arranged inside the building; The actual positioning display unit determines the floor where the user is located and the actual position in the corresponding floor based on the acquired actual floor information combined with the designated floor plan of the building in the three-dimensional map.

9. A Beidou satellite high-precision positioning method, using the Beidou satellite high-precision positioning system as claimed in claim 1, characterized in that: The following steps are included: The user's actual location information is determined through the Beidou positioning module in conjunction with the reference station module. A three-dimensional map including building location information and corresponding internal floor information of the building is established through a map construction module; According to the user's actual location information, the floor information determination module determines and analyzes the actual floor location of the building where the user is located; The three-dimensional map formed by combining the fusion module with the map construction module components displays the actual building floor where the user is located and the specific location in the corresponding floor.

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