Indoor and outdoor fusion positioning method, system and device based on 5G technology and medium

Abstract

The invention provides an indoor and outdoor fusion positioning method, system and device based on the 5G technology and a medium, the method is applied to a positioning engine server of a fusion positioning system, and the method comprises the following steps: receiving positioning data from a positioning terminal through a 5G intranet base station; wherein the positioning terminal is used for collecting positioning data from a time service satellite and / or a UWB beacon and / or a Bluetooth beacon; screening the positioning data according to a preset signal strength threshold to obtain screened positioning data; determining a corresponding target positioning data analysis strategy according to the positioning type of the screened positioning data; analyzing the screened positioning data according to a target positioning data analysis strategy to obtain corresponding target position information; and correspondingly loading the target position information into a pre-constructed map model. According to the embodiment of the invention, indoor and outdoor fusion positioning can be realized, the indoor and outdoor fusion positioning precision and positioning efficiency are improved, and the indoor and outdoor fusion positioning requirement in a complex environment is met.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular, to an indoor and outdoor fusion positioning method, system, device and medium based on 5G technology. Background Art

[0002] At present, positioning technologies are divided into outdoor positioning and indoor positioning. Outdoor positioning technologies mainly use Beidou positioning technology to achieve. When Beidou positioning technology is applied indoors, due to factors such as signal attenuation, poor penetration ability, and multipath effect, the positioning accuracy and reliability are greatly limited. Indoor positioning technologies mainly use radio frequency identification positioning technology, Bluetooth positioning technology, WIFI positioning technology, UWB (Ultra-Wideband) positioning technology, and ultrasonic positioning technology to achieve. In indoor positioning, UWB positioning technology is widely used. UWB positioning technology has the advantages of high precision, high reliability, and strong anti-interference ability, but its positioning range is limited and it is only applicable to indoor environments.

[0003] In the prior art, indoor positioning and outdoor positioning are realized by different systems. Even if the terminal has both an outdoor positioning module and an indoor positioning module at the same time, due to the different coding formats of the positioning information, it is impossible to achieve indoor and outdoor positioning fusion and synchronization, and it is impossible to obtain accurate positioning information and the entire moving trajectory, resulting in low positioning efficiency. Moreover, the above-mentioned positioning technologies are mostly used in simple environments, and when facing complex environments such as nuclear power plants, the positioning accuracy and usability are greatly limited.

[0004] Therefore, the existing indoor and outdoor positioning methods have the problem of low positioning efficiency. Summary of the Invention

[0005] Embodiments of the present invention provide an indoor and outdoor fusion positioning method, device and equipment based on 5G technology, aiming to solve the problem of low positioning efficiency existing in the existing indoor and outdoor positioning methods.

[0006] In a first aspect, embodiments of the present invention provide an indoor and outdoor fusion positioning method based on 5G technology. The method is applied to a positioning engine server of a fusion positioning system, and the method includes:

[0007] Receiving positioning data from a positioning terminal through a 5G internal network base station; wherein, the positioning terminal is used to collect positioning data from a timing satellite and / or a UWB beacon and / or a Bluetooth beacon;

[0008] Screening the positioning data according to a preset signal strength threshold to obtain screened positioning data;

[0009] Determining a corresponding target positioning data analysis strategy according to the positioning type of the screened positioning data;

[0010] Analyze the filtered positioning data according to the target positioning data analysis strategy to obtain the corresponding target location information;

[0011] Load the target location information correspondingly into the pre-constructed map model.

[0012] In a second aspect, an embodiment of the present invention further provides an indoor and outdoor integrated positioning device based on 5G technology. The device is configured in the positioning engine server of the integrated positioning system, and the device includes:

[0013] A receiving unit, configured to receive positioning data from a positioning terminal through a 5G intranet base station; wherein, the positioning terminal is used to collect positioning data from a timing satellite and / or a UWB beacon and / or a Bluetooth beacon;

[0014] A filtering unit, configured to filter the positioning data according to a preset signal strength threshold to obtain filtered positioning data;

[0015] A determining unit, configured to determine a corresponding target positioning data analysis strategy according to the positioning type of the filtered positioning data;

[0016] An analyzing unit, configured to analyze the filtered positioning data according to the target positioning data analysis strategy to obtain the corresponding target location information;

[0017] A loading unit, configured to load the target location information correspondingly into the pre-constructed map model.

[0018] In a third aspect, an embodiment of the present invention further provides an electronic device, which includes a memory and a processor. A computer program is stored on the memory, and when the processor executes the computer program, the method described in the first aspect above is implemented.

[0019] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium. The storage medium stores a computer program, and the computer program includes program instructions. When the program instructions are executed by a processor, the method described in the first aspect above can be implemented.

[0020] The present invention provides an indoor-outdoor integrated positioning method, system, device and medium based on 5G technology. The method is applied to a positioning engine server of an integrated positioning system, and the method includes: receiving positioning data from a positioning terminal through a 5G internal network base station; wherein, the positioning terminal is used to collect positioning data from time service satellites and / or UWB beacons and / or Bluetooth beacons; screening the positioning data according to a preset signal strength threshold to obtain screened positioning data; determining a corresponding target positioning data analysis strategy according to the positioning type of the screened positioning data; analyzing the screened positioning data according to the target positioning data analysis strategy to obtain corresponding target position information; and correspondingly loading the target position information in a pre-constructed map model. Embodiments of the present invention integrate 5G communication technology, UWB positioning technology, Bluetooth positioning technology and satellite positioning technology. Personnel and vehicles can meet the positioning requirements of all areas by carrying a positioning terminal. Among them, high-precision positioning is realized through satellite positioning technology in outdoor areas, sub-meter-level positioning is realized by deploying UWB beacons in indoor high-precision positioning areas, and room-level positioning is realized by using Bluetooth beacons in indoor low-precision positioning areas. Embodiments of the present invention can achieve indoor-outdoor integrated positioning, improve the accuracy and efficiency of indoor-outdoor integrated positioning, and can be applied to complex environments such as nuclear power plants to meet the requirements of indoor-outdoor integrated positioning in complex environments. Description of the Drawings

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0022] Figure 1 It is a schematic flowchart of the indoor-outdoor integrated positioning method provided by the embodiment of the present invention;

[0023] Figure 2 It is a schematic block diagram of the indoor-outdoor integrated positioning device provided by the embodiment of the present invention;

[0024] Figure 3 It is a schematic block diagram of the electronic device provided by the embodiment of the present invention;

[0025] Figure 4 It is a schematic diagram of the application scenario of the indoor-outdoor integrated positioning method provided by the embodiment of the present invention;

[0026] Among them, the reference numerals in the figures are as follows:

[0027] 10. Integrated positioning system; 11. Positioning terminal; 12. RTK differential base station; 13. 5G internal network base station; 14. Positioning engine server; 700. Indoor and outdoor integrated positioning device; 701. Receiving unit; 702. Screening unit; 703. Determining unit; 704. Analyzing unit; 705. Loading unit; 800. Electronic device; 801. System bus; 802. Processor; 803. Non-volatile storage medium; 8031. Operating system; 8032. Computer program; 804. Internal memory; 805. Network interface. Detailed implementation manners

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0029] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprise" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0030] It should also be understood that the terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0031] It should be further understood that the term " / and" as used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations. The embodiments of the present invention provide an indoor and outdoor integrated positioning method, device, and equipment based on 5G technology. For the indoor and outdoor integrated positioning method based on 5G technology, please refer to Figure 4 , Figure 4Schematic diagram of the application scenario of the indoor-outdoor fusion positioning method provided by the embodiments of the present invention. This method is applied to the positioning engine server 14 of the fusion positioning system 10. The fusion positioning system 10 includes a plurality of UWB beacons, a plurality of Bluetooth beacons, an RTK differential base station 12, and a 5G internal network base station 13. The positioning engine server 14 establishes a 5G communication connection with each positioning terminal 11 through the 5G internal network base station 13, and the positioning engine server 14 can receive positioning data from the positioning terminal 11 through the 5G internal network base station 13. Among them, the positioning terminal 11 is used to collect positioning data from timing satellites and / or UWB beacons and / or Bluetooth beacons. The positioning terminal 11 can be a positioning card, and personnel can achieve high-precision indoor-outdoor positioning by carrying the positioning card. In addition, after the positioning terminal 11 is equipped with an independent vehicle-mounted installation kit, it can be used as a vehicle-mounted positioning terminal for vehicle positioning. A communication connection is established between the positioning terminal 11 and the UWB beacon and the Bluetooth beacon. When the person carrying the positioning terminal 11 enters the coverage range of the UWB beacon and / or Bluetooth beacon, the positioning terminal 11 receives positioning data from the UWB beacon and / or Bluetooth beacon and sends the positioning data to the positioning engine server 14. The positioning engine server 14 performs calculations on the received positioning data to achieve precise positioning in the indoor area. Among them, the UWB beacon is deployed in the indoor high-precision positioning area to achieve sub-meter positioning, and the Bluetooth beacon is deployed in the indoor low-precision positioning area to achieve room-level positioning. A remote communication connection based on a satellite communication link is established between the positioning terminal 11 and the timing satellite. The RTK differential base station 12 is used to generate corresponding RTK differential data according to the satellite signal from the timing satellite and transmit the RTK differential data to the positioning terminal 11 through the 5G internal network. The positioning terminal 11 sends the satellite signal from the timing satellite and the RTK differential data from the RTK differential base station 12 to the positioning engine server 14. The positioning engine server 14 performs calculations on the received satellite signal and the corresponding RTK differential data to achieve precise positioning outdoors.

[0032] Figure 1 Schematic diagram of the flow of the indoor-outdoor fusion positioning method provided by the embodiments of the present invention. As Figure 1 shown, this method includes the following steps S110-S150.

[0033] S110. Receive positioning data from the positioning terminal through the 5G internal network base station; among them, the positioning terminal is used to collect positioning data from timing satellites and / or UWB beacons and / or Bluetooth beacons.

[0034] In this embodiment, the 5G private network base station receives positioning data from the positioning terminal; wherein, the positioning terminal is used to collect positioning data from time service satellites and / or UWB beacons and / or Bluetooth beacons; the time service satellite is the Beidou satellite navigation system; the embodiment of the present invention integrates 5G communication technology, UWB positioning technology, Bluetooth positioning technology and satellite positioning technology. Personnel and vehicles can meet the positioning requirements of all areas by carrying the positioning terminal; among them, high-precision positioning is achieved through satellite positioning technology in outdoor areas, sub-meter positioning is achieved by deploying UWB beacons in indoor high-precision positioning areas, and room-level positioning is achieved using Bluetooth beacons in indoor low-precision positioning areas.

[0035] Specifically, in outdoor areas, the positioning terminal sends satellite signals from time service satellites and RTK differential data from RTK differential base stations to the positioning engine server. The positioning engine server performs calculations on the received satellite signals and corresponding RTK differential data to achieve precise outdoor positioning, with a positioning accuracy of about 5m. In indoor high-precision positioning areas, the UWB beacon sends pulse signals and carries its coordinate information to the ground or the air. When the positioning terminal enters the coverage range of the UWB beacon, it will receive its pulse signals and coordinate information. The positioning terminal sends the received pulse signals and coordinate information to the positioning engine server. The positioning engine server can perform calculations on the received pulse signals and coordinate information to achieve sub-meter positioning. In indoor low-precision positioning areas, the Bluetooth beacon broadcasts Bluetooth signals and their coordinate information. When the positioning terminal enters the coverage range of the Bluetooth beacon, it will receive its Bluetooth signals and coordinate information. The positioning terminal sends the received Bluetooth signals and coordinate information to the positioning engine server. The positioning engine server can achieve room-level positioning through the received Bluetooth signals and coordinate information.

[0036] When personnel and vehicles carrying the positioning terminal enter the target area, the positioning engine server can continuously receive positioning data through the positioning terminal. The positioning data and the positioning terminal have a one-to-one correspondence relationship. The positioning engine server can perform calculations on each positioning data to obtain the detailed positions and information of each person and vehicle in the area.

[0037] Furthermore, the positioning terminal has a battery detection function; specifically, the positioning terminal regularly detects its own battery information. If the battery information is lower than the preset battery threshold, the positioning terminal will give a battery warning reminder in the form of voice or vibration.

[0038] S120. Screen the positioning data according to a preset signal strength threshold to obtain the screened positioning data.

[0039] In this embodiment, the positioning terminal collects positioning data from time-synchronization satellites and / or UWB beacons and / or Bluetooth beacons, and sends the collected positioning data to the positioning engine server through a 5G private network base station. The positioning data includes at least one sub-positioning data, and the sub-positioning data comes from a time-synchronization satellite or a UWB beacon or a Bluetooth beacon. Therefore, it is necessary to screen the positioning data to improve the positioning accuracy. Specifically, the positioning data can be screened according to a preset signal strength threshold to obtain the screened positioning data; wherein, the signal strength threshold can be set according to actual applications.

[0040] In one embodiment, step S120 includes: screening the positioning data according to the signal strength threshold to obtain the initially screened positioning data; judging whether the initially screened positioning data is data with a single type of feature to obtain a data judgment result; if the data judgment result is yes, then using the initially screened positioning data as the screened positioning data.

[0041] In this embodiment, the positioning data is screened according to the signal strength threshold to obtain the initially screened positioning data; judging whether the initially screened positioning data is data with a single type of feature, that is, judging whether the initially screened positioning data is data only from a time-synchronization satellite or a UWB beacon or a Bluetooth beacon to obtain a data judgment result; if the data judgment result is yes, that is, the initially screened positioning data only comes from a time-synchronization satellite or a UWB beacon or a Bluetooth beacon, then using the initially screened positioning data as the screened positioning data; if the data judgment result is no, then continue to screen the initially screened positioning data.

[0042] In one embodiment, after judging whether the initially screened positioning data is data with a single type of feature to obtain a data judgment result, it further includes: if the data judgment result is no, then selecting the type of positioning data with the highest positioning priority from the initially screened positioning data as the initially screened positioning data.

[0043] In this embodiment, if the data judgment result is no, then selecting the type of positioning data with the highest positioning priority from the initially screened positioning data as the initially screened positioning data; in an outdoor area, the priority of the first positioning data is greater than the priorities of the second positioning data and the third positioning data; wherein, the first positioning data is data from a time-synchronization satellite, the second positioning data is data from a UWB beacon, and the third positioning data is data from a Bluetooth beacon; in an indoor area, the priorities of the second positioning data and the third positioning data are both greater than the priority of the first positioning data, and among them, the priority of the second positioning data is greater than the priority of the third positioning data.

[0044] Preferably, Bluetooth beacons can be deployed at the entrances and exits of indoor areas to perform presence positioning on personnel and determine whether they are in outdoor areas or indoor areas.

[0045] S130. Determine the corresponding target positioning data analysis strategy according to the positioning type of the filtered positioning data.

[0046] In this embodiment, the positioning type can be satellite positioning, UWB positioning or Bluetooth positioning. Different positioning types correspond to different positioning data analysis strategies. Among them, the BDS positioning data analysis strategy corresponds to satellite positioning, the UWB positioning data analysis strategy corresponds to UWB positioning, and the Bluetooth positioning data analysis strategy corresponds to Bluetooth positioning.

[0047] S140. Analyze the filtered positioning data according to the target positioning data analysis strategy to obtain the corresponding target position information.

[0048] In this embodiment, if the target positioning data analysis strategy is the BDS positioning data analysis strategy, the filtered positioning data is analyzed according to the differential positioning algorithm in the BDS positioning data analysis strategy to obtain the corresponding target position information, so as to accurately position personnel and vehicles according to the target positioning information.

[0049] If the target positioning data analysis strategy is the UWB positioning data analysis strategy, the filtered positioning data is analyzed according to the TOF (Time of flight) positioning algorithm and / or TOA (Time of Arrival) positioning algorithm in the UWB positioning data analysis strategy to obtain the corresponding target position information, so as to perform sub-meter positioning on personnel according to the target positioning information.

[0050] If the target positioning data analysis strategy is the Bluetooth positioning data analysis strategy, the filtered positioning data is analyzed according to the RSSI (Received Signal Strength Indication) positioning algorithm in the Bluetooth positioning data analysis strategy to obtain the corresponding target position information, so as to perform presence positioning on the corresponding positioning terminal according to the target positioning information.

[0051] In one embodiment, step S140 includes: if the target positioning data analysis strategy is a UWB positioning data analysis strategy, determining a corresponding target UWB positioning mode according to the filtered positioning data; judging whether the filtered positioning data meets the corresponding UWB positioning conditions according to the target UWB positioning mode to obtain a UWB positioning condition judgment result; if the UWB positioning condition judgment result is yes, analyzing the filtered positioning data according to the UWB positioning data analysis strategy and the target UWB positioning mode to obtain corresponding target position information.

[0052] In this embodiment, determining the corresponding target UWB positioning mode according to the UWB positioning mode information in the filtered positioning data; the UWB positioning mode includes a zero-dimensional positioning mode, a one-dimensional positioning mode, and a two-dimensional positioning mode. The zero-dimensional positioning mode is used to judge whether a person enters the sensing area. The one-dimensional positioning mode is used in long and narrow corridors, channels or tunnels. The two-dimensional positioning mode is applicable to large-area and open indoor areas; different UWB positioning modes correspond to different UWB positioning conditions; when the target UWB positioning mode is the zero-dimensional positioning mode, the corresponding UWB positioning condition is that the filtered positioning data includes at least one sub-filtered positioning data, and the sub-filtered positioning data comes from a UWB beacon (that is, the positioning terminal is within the coverage of at least one UWB beacon); when the target UWB positioning mode is the one-dimensional positioning mode, the corresponding UWB positioning condition is that the filtered positioning data includes at least two sub-filtered positioning data, and the sub-filtered positioning data comes from a UWB beacon (that is, the positioning terminal is within the coverage of at least two UWB beacons); when the target UWB positioning mode is the two-dimensional positioning mode, the corresponding UWB positioning condition is that the filtered positioning data includes at least three sub-filtered positioning data, and the sub-filtered positioning data comes from a UWB beacon (that is, the positioning terminal is within the coverage of at least three UWB beacons).

[0053] In one embodiment, after judging whether the filtered positioning data meets the corresponding UWB positioning conditions according to the target UWB positioning mode to obtain a UWB positioning condition judgment result, it further includes: if the UWB positioning condition judgment result is no, generating a corresponding abnormal reminder message and sending it to a designated staff member through a 5G intranet base station.

[0054] In this embodiment, in order to ensure the indoor-outdoor fusion positioning accuracy and positioning efficiency, it is necessary to configure an RTK differential base station in the outdoor area and ensure that personnel and vehicles in the outdoor area are always within its coverage. The UWB beacons are deployed in the indoor high-precision positioning area to achieve sub-meter positioning, and the Bluetooth beacons are deployed in the indoor low-precision positioning area to achieve room-level positioning. For example, when the positioning area is a large and open indoor area with high-precision positioning requirements, at least three UWB beacons need to be deployed in this area so that the personnel entering this area are always within the coverage of at least three UWB beacons. If the filtered positioning data shows that the personnel are not within the coverage of at least three UWB beacons, it indicates that one of the UWB beacons in this area is abnormal. At this time, the corresponding abnormal reminder information can be generated according to the filtered positioning data and sent to the designated staff through the 5G intranet base station. The abnormal reminder information can be "The UWB beacon in area X is abnormal, please repair it in time", etc.

[0055] Furthermore, when the positioning area is a high-precision positioning area and a complex area with dense metal pipelines, severe industrial equipment interference and occlusion, the UWB fingerprint positioning technology (UWB positioning technology + fingerprint positioning algorithm) can be used to achieve sub-meter positioning of personnel in the complex area. Specifically, 1. Analyze the performance impact of the main noise generated during the UWB beacon reception and channel transmission on signal extraction, establish a noise cancellation model, extract feature fingerprints from the ranging data of the UWB signal (i.e., the pulse signal sent by the UWB beacon to the ground or the air) through a deep neural network, and use a time series prediction network to achieve multi-scale dynamic positioning with spatio-temporal constraints; 2. Adaptive maintenance and update of UWB signal features, visualization of fingerprint health assessment: Rely on the accurate 3D model included in the indoor GIS (Geographic Information System), according to the positioning accuracy and spatial relationship of the positioning sources in different occlusion degree areas in the 3D model, combined with PDR (Pedestrian Dead Reckoning), geomagnetic positioning and GIS semantic enhancement model, calculate the spatial coverage of the positioning accuracy, and design a cost-optimized UWB beacon deployment plan that meets the availability, reliability and positioning accuracy indicators; 3. Analyze the error laws and complementary characteristics of the UWB signal / geomagnetic field intensity distribution, IMU (Inertial Measurement Unit) and motion constraints in the indoor environment, and through the fusion of UWB (Ultra Wide Band) deep feature fingerprint matching non-line-of-sight positioning, precise pedestrian trajectory estimation based on deep learning, and magnetic field fingerprint contour matching technology, through a multi-source complementary fusion positioning method based on graph optimization, design a sliding window optimization method to control the computational amount, construct a measurement evaluation system based on refined analysis of noise and signals, break through the UWB high-precision ranging and angle measurement and deep feature fingerprint matching technology, and organically integrate model-driven UWB precise ranging, UWB deep feature fingerprint matching non-line-of-sight positioning, precise pedestrian trajectory based on deep learning, and magnetic field fingerprint contour matching technology to achieve all-region continuous stable high-precision positioning with multi-feature complementarity in the case of short-term absence of a single positioning source in a complex environment.

[0056] In one embodiment, analyzing the filtered positioning data according to the UWB positioning data analysis strategy and the target UWB positioning mode to obtain corresponding target position information, including: if the target UWB positioning mode is a two-dimensional positioning mode, obtaining the UWB coordinate information of at least three of the UWB beacons and the UWB distance between each UWB beacon and the positioning terminal according to the filtered positioning data and the TOF positioning algorithm and / or TOA positioning algorithm in the UWB positioning data analysis strategy; drawing at least three circles with the UWB beacons as the centers and the UWB distances from each UWB beacon to the positioning terminal as the radii, and obtaining the intersection points by intersecting all the circles; taking the coordinates of the intersection points as the target position information.

[0057] In this embodiment, if the target UWB positioning mode is a two-dimensional positioning mode, obtaining the UWB coordinate information of at least three of the UWB beacons and the UWB distance between each UWB beacon and the positioning terminal according to the filtered positioning data and the TOF positioning algorithm and / or TOA positioning algorithm in the UWB positioning data analysis strategy; drawing at least three circles with the UWB beacons as the centers and the UWB distances from each UWB beacon to the positioning terminal as the radii, and obtaining the intersection points by intersecting all the circles; taking the coordinates of the intersection points as the target position information.

[0058] If the target UWB positioning mode is a one-dimensional positioning mode, obtaining the UWB coordinate information of at least two of the UWB beacons and the UWB distance between each UWB beacon and the positioning terminal according to the filtered positioning data and the TOF positioning algorithm and / or TOA positioning algorithm in the UWB positioning data analysis strategy; determining the position of the person in the corridor, passage or tunnel (i.e., the target position information) according to the at least two UWB coordinate information and the corresponding UWB distances.

[0059] If the target UWB positioning mode is a zero-dimensional positioning mode, obtaining the UWB coordinate information of one of the UWB beacons and the UWB distance between the UWB beacon and the positioning terminal according to the filtered positioning data and the TOF positioning algorithm and / or TOA positioning algorithm in the UWB positioning data analysis strategy; judging whether the person enters the sensing area according to the UWB coordinate information and the corresponding UWB distance. At this time, the coordinates of the sensing area can be taken as the target position information.

[0060] In one embodiment, step S140 includes: if the target positioning data analysis strategy is a Bluetooth positioning data analysis strategy, analyzing the filtered positioning data according to the RSSI positioning algorithm in the Bluetooth positioning data analysis strategy to obtain corresponding target position information for performing presence positioning on the corresponding positioning terminal according to the target positioning information.

[0061] In this embodiment, when the positioning terminal enters the coverage area of the Bluetooth beacon, it will receive the Bluetooth signal and coordinate information broadcast by the beacon. The positioning terminal sends the received Bluetooth signal and coordinate information to the positioning engine server. The positioning engine server measures the Bluetooth distance from the Bluetooth beacon to the positioning terminal according to the RSSI positioning algorithm and the signal strength value of the received Bluetooth signal, obtains the target position information based on the Bluetooth distance and the coordinate information, and performs existence positioning on the corresponding positioning terminal according to the target positioning information.

[0062] Further, analyze the filtered positioning data according to the triangulation algorithm in the Bluetooth positioning data analysis strategy to obtain the corresponding target position information, including: obtaining the Bluetooth coordinate information of at least three Bluetooth beacons and the Bluetooth distance between each Bluetooth beacon and the positioning terminal according to the filtered positioning data; specifically, when the positioning terminal enters the coverage area of the Bluetooth beacon, it will receive the Bluetooth signal and coordinate information broadcast by the beacon. The positioning terminal sends the received Bluetooth signal and coordinate information to the positioning engine server. The positioning engine server measures the Bluetooth distance from each Bluetooth beacon to the positioning terminal according to the received Bluetooth signal and coordinate information; draw at least three circles with the Bluetooth beacon as the center and the Bluetooth distance from each Bluetooth beacon to the positioning terminal as the radius, and obtain the intersection points by intersecting all the circles; use the coordinates of the intersection points as the target position information.

[0063] S150. Corresponding load the target position information into a pre-constructed map model.

[0064] In this embodiment, the target position information is correspondingly loaded into a pre-constructed map model; wherein, the map model is a 3D model, and the display ability of the positioning function can be realized through the 3D model; the positioning engine server reserves an interface for extended applications to provide map and application services.

[0065] The fusion positioning system further includes a background server, a communication connection is established between the background server and the positioning engine server, and users can view the detailed positions and information of each person and vehicle in the area on the display interface of the background server.

[0066] In summary, the embodiments of the present invention integrate 5G communication technology, UWB positioning technology, Bluetooth positioning technology, and satellite positioning technology. Personnel and vehicles can meet the positioning requirements of all areas by carrying positioning terminals. Among them, high-precision positioning is achieved through satellite positioning technology in outdoor areas, sub-meter positioning is achieved by deploying UWB beacons in indoor high-precision positioning areas, and room-level positioning is achieved by using Bluetooth beacons in indoor low-precision positioning areas. The embodiments of the present invention can achieve indoor-outdoor integrated positioning, improve the accuracy and efficiency of indoor-outdoor integrated positioning, and can be applied to complex environments such as nuclear power plants to meet the requirements of indoor-outdoor integrated positioning in complex environments.

[0067] Figure 2 FIG. is a schematic block diagram of an indoor-outdoor integrated positioning device based on 5G technology provided by an embodiment of the present invention. As Figure 2 shown, corresponding to the above indoor-outdoor integrated positioning method based on 5G technology, the present invention also provides an indoor-outdoor integrated positioning device based on 5G technology, and this device is configured in the positioning engine server of the integrated positioning system. Specifically, please refer to Figure 2 , the indoor-outdoor integrated positioning device 700 based on 5G technology includes:

[0068] A receiving unit 701, configured to receive positioning data from a positioning terminal through a 5G internal network base station; wherein, the positioning terminal is used to collect positioning data from time service satellites and / or UWB beacons and / or Bluetooth beacons;

[0069] A screening unit 702, configured to screen the positioning data according to a preset signal strength threshold to obtain screened positioning data;

[0070] A determining unit 703, configured to determine a corresponding target positioning data analysis strategy according to the positioning type of the screened positioning data;

[0071] An analyzing unit 704, configured to analyze the screened positioning data according to the target positioning data analysis strategy to obtain corresponding target position information;

[0072] A loading unit 705, configured to correspondingly load the target position information in a pre-constructed map model.

[0073] In some embodiments, when the screening unit 702 executes the step of screening the positioning data according to a preset signal strength threshold to obtain screened positioning data, it is specifically configured to:

[0074] Filter the positioning data according to the signal strength threshold to obtain the initially filtered positioning data; determine whether the initially filtered positioning data is data of a single type of feature to obtain a data determination result; if the data determination result is yes, use the initially filtered positioning data as the filtered positioning data.

[0075] In some embodiments, after the filtering unit 702 executes the step of determining whether the initially filtered positioning data is data of a single type of feature to obtain a data determination result, it is further configured to:

[0076] If the data determination result is no, select a type of positioning data with the highest positioning priority from the initially filtered positioning data according to the preset positioning priority information as the initially filtered positioning data.

[0077] In some embodiments, when the analysis unit 704 executes the step of analyzing the filtered positioning data according to the target positioning data analysis strategy to obtain the corresponding target position information, it is specifically configured to:

[0078] If the target positioning data analysis strategy is a UWB positioning data analysis strategy, determine the corresponding target UWB positioning mode according to the filtered positioning data; judge whether the filtered positioning data meets the corresponding UWB positioning conditions according to the target UWB positioning mode to obtain a UWB positioning condition judgment result; if the UWB positioning condition judgment result is yes, analyze the filtered positioning data according to the UWB positioning data analysis strategy and the target UWB positioning mode to obtain the corresponding target position information.

[0079] In some embodiments, after the analysis unit 704 executes the step of judging whether the filtered positioning data meets the corresponding UWB positioning conditions according to the target UWB positioning mode to obtain a UWB positioning condition judgment result, it is further configured to:

[0080] If the UWB positioning condition judgment result is no, generate a corresponding abnormal reminder message and send it to the designated staff through the 5G intranet base station.

[0081] In some embodiments, when the analysis unit 704 executes the step of analyzing the filtered positioning data according to the UWB positioning data analysis strategy and the target UWB positioning mode to obtain the corresponding target position information, it is specifically configured to:

[0082] If the target UWB positioning mode is a two-dimensional positioning mode, at least three pieces of UWB coordinate information of the UWB beacons and the UWB distance between each UWB beacon and the positioning terminal are obtained according to the filtered positioning data and the TOF positioning algorithm and / or the TOA positioning algorithm in the UWB positioning data analysis strategy; at least three circles are drawn with the UWB beacons as the centers and the UWB distances from each UWB beacon to the positioning terminal as the radii, and the intersections are obtained by intersecting all the circles; the coordinates of the intersections are used as the target position information.

[0083] In some embodiments, when the analysis unit 704 executes the step of analyzing the filtered positioning data according to the target positioning data analysis strategy to obtain the corresponding target position information, it is specifically configured to:

[0084] If the target positioning data analysis strategy is a Bluetooth positioning data analysis strategy, the filtered positioning data is analyzed according to the RSSI positioning algorithm in the Bluetooth positioning data analysis strategy to obtain the corresponding target position information, so as to perform presence positioning on the corresponding positioning terminal according to the target positioning information.

[0085] It should be noted that those skilled in the art can clearly understand that the specific implementation processes of the above indoor and outdoor fusion positioning device based on 5G technology and each unit can refer to the corresponding descriptions in the foregoing method embodiments. For the sake of convenience and brevity of description, they will not be elaborated here.

[0086] The above indoor and outdoor fusion positioning device based on 5G technology can be implemented in the form of a computer program, and the computer program can run on an electronic device as shown in Figure 3 shown.

[0087] Please refer to Figure 3 , Figure 3 which is a schematic block diagram of an electronic device provided by an embodiment of the present invention. The electronic device 800 is a positioning terminal. The positioning terminal can be a positioning card, and a person can achieve high-precision indoor and outdoor positioning by carrying the positioning card. In addition, after the positioning terminal is equipped with an independent vehicle-mounted installation kit, it can be used as a vehicle-mounted positioning terminal for vehicle positioning.

[0088] Refer to Figure 3 , the electronic device 800 includes a processor 802, a memory, and a network interface 805 connected through a system bus 801. Among them, the memory can include a non-volatile storage medium 803 and an internal memory 804.

[0089] The non-volatile storage medium 803 can store an operating system 8031 and a computer program 8032. The computer program 8032 includes program instructions that, when executed, enable the processor 802 to execute an indoor-outdoor fusion positioning method based on 5G technology.

[0090] The processor 802 is used to provide computing and control capabilities to support the operation of the entire electronic device 800.

[0091] The internal memory 804 provides an environment for the operation of the computer program 8032 in the non-volatile storage medium 803. When the computer program 8032 is executed by the processor 802, it enables the processor 802 to execute an indoor-outdoor fusion positioning method based on 5G technology.

[0092] The network interface 805 is used for network communication with other devices. Those skilled in the art can understand that Figure 3 the structure shown in is only a block diagram of some structures related to the solution of the present invention, and does not constitute a limitation on the electronic device 800 to which the solution of the present invention is applied. The specific electronic device 800 may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0093] Wherein, the processor 802 is used to run the computer program 8032 stored in the memory to implement the following steps:

[0094] Receive positioning data from a positioning terminal through a 5G private network base station; wherein, the positioning terminal is used to collect positioning data from a timing satellite and / or a UWB beacon and / or a Bluetooth beacon; screen the positioning data according to a preset signal strength threshold to obtain screened positioning data; determine a corresponding target positioning data analysis strategy according to the positioning type of the screened positioning data; analyze the screened positioning data according to the target positioning data analysis strategy to obtain corresponding target position information; and load the target position information correspondingly into a pre-constructed map model.

[0095] In some embodiments, when the processor 802 implements the step of screening the positioning data according to a preset signal strength threshold to obtain screened positioning data, the following steps are specifically implemented:

[0096] Screen the positioning data according to the signal strength threshold to obtain initially screened positioning data; judge whether the initially screened positioning data is data of a single type feature to obtain a data judgment result; if the data judgment result is yes, then use the initially screened positioning data as the screened positioning data.

[0097] In some embodiments, after the processor 802 implements the step of determining whether the initially filtered and located data is data of a single type feature and obtaining a data determination result, the following steps are further implemented:

[0098] If the data determination result is negative, then according to the preset positioning priority information, select the type of located data with the highest positioning priority from the initially filtered and located data as the initially filtered and located data.

[0099] In some embodiments, when the processor 802 implements the step of analyzing the filtered and located data according to the target positioning data analysis strategy to obtain the corresponding target position information, the following steps are specifically implemented:

[0100] If the target positioning data analysis strategy is a UWB positioning data analysis strategy, then determine the corresponding target UWB positioning mode according to the filtered and located data; judge whether the filtered and located data meets the corresponding UWB positioning conditions according to the target UWB positioning mode to obtain a UWB positioning condition judgment result; if the UWB positioning condition judgment result is positive, then analyze the filtered and located data according to the UWB positioning data analysis strategy and the target UWB positioning mode to obtain the corresponding target position information.

[0101] In some embodiments, after the processor 802 implements the step of judging whether the filtered and located data meets the corresponding UWB positioning conditions according to the target UWB positioning mode and obtaining a UWB positioning condition judgment result, the following steps are further implemented:

[0102] If the UWB positioning condition judgment result is negative, then generate a corresponding exception reminder message and send it to the designated staff through the 5G intranet base station.

[0103] In some embodiments, when the processor 802 implements the step of analyzing the filtered and located data according to the UWB positioning data analysis strategy and the target UWB positioning mode to obtain the corresponding target position information, the following steps are specifically implemented:

[0104] If the target UWB positioning mode is a two-dimensional positioning mode, then obtain the UWB coordinate information of at least three of the UWB beacons and the UWB distance between each UWB beacon and the positioning terminal according to the filtered and located data and the TOF positioning algorithm and / or the TOA positioning algorithm in the UWB positioning data analysis strategy; draw at least three circles with the UWB beacons as the centers and the UWB distances from each UWB beacon to the positioning terminal as the radii, and intersect all the circles to obtain the intersection points; use the coordinates of the intersection points as the target position information.

[0105] In some embodiments, when the processor 802 implements the step of analyzing the filtered positioning data according to the target positioning data analysis strategy to obtain the corresponding target position information, the specific implementation is as follows:

[0106] If the target positioning data analysis strategy is a Bluetooth positioning data analysis strategy, then analyze the filtered positioning data according to the RSSI positioning algorithm in the Bluetooth positioning data analysis strategy to obtain the corresponding target position information, and perform presence positioning on the corresponding positioning terminal according to the target position information.

[0107] It should be understood that in the embodiments of the present invention, the processor 802 may be a central processing unit (CPU), and this processor 802 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among them, the general-purpose processor may be a microprocessor or this processor may also be any conventional processor, etc.

[0108] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. This computer program includes program instructions, and the computer program can be stored in a storage medium, and this storage medium is a computer-readable storage medium. These program instructions are executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0109] Therefore, the present invention also provides a storage medium. This storage medium may be a computer-readable storage medium. This storage medium stores a computer program, where the computer program includes program instructions. When these program instructions are executed by a processor, the processor is caused to execute the following steps:

[0110] If the target positioning data analysis strategy is a Bluetooth positioning data analysis strategy, then analyze the filtered positioning data according to the RSSI positioning algorithm in the Bluetooth positioning data analysis strategy to obtain the corresponding target position information, and perform presence positioning on the corresponding positioning terminal according to the target position information.

[0111] In one embodiment, when the processor executes the program instructions to implement the step of screening the positioning data according to a preset signal strength threshold to obtain the screened positioning data, the specific implementation is as follows:

[0112] Screen the positioning data according to the signal strength threshold to obtain the initially screened positioning data; determine whether the initially screened positioning data is data of a single type of feature to obtain a data determination result; if the data determination result is yes, use the initially screened positioning data as the screened positioning data.

[0113] In one embodiment, after the processor executes the program instructions to implement the step of determining whether the initially screened positioning data is data of a single type of feature to obtain a data determination result, the following steps are further implemented:

[0114] If the data determination result is no, select the type of positioning data with the highest positioning priority from the initially screened positioning data as the initially screened positioning data according to the preset positioning priority information.

[0115] In one embodiment, when the processor executes the program instructions to implement the step of analyzing the screened positioning data according to the target positioning data analysis strategy to obtain the corresponding target position information, the specific implementation is as follows:

[0116] If the target positioning data analysis strategy is the UWB positioning data analysis strategy, determine the corresponding target UWB positioning mode according to the screened positioning data; determine whether the screened positioning data meets the corresponding UWB positioning conditions according to the target UWB positioning mode to obtain a UWB positioning condition determination result; if the UWB positioning condition determination result is yes, analyze the screened positioning data according to the UWB positioning data analysis strategy and the target UWB positioning mode to obtain the corresponding target position information.

[0117] In one embodiment, after the processor executes the program instructions to implement the step of determining whether the screened positioning data meets the corresponding UWB positioning conditions according to the target UWB positioning mode to obtain a UWB positioning condition determination result, the following steps are further implemented:

[0118] If the UWB positioning condition determination result is no, generate a corresponding exception reminder message and send it to the designated staff through the 5G intranet base station.

[0119] In one embodiment, when the processor executes the program instructions to implement the step of analyzing the filtered positioning data according to the UWB positioning data analysis strategy and the target UWB positioning mode to obtain the corresponding target position information, the specific implementation is as follows:

[0120] If the target UWB positioning mode is a two-dimensional positioning mode, obtain the UWB coordinate information of at least three UWB beacons and the UWB distance between each UWB beacon and the positioning terminal according to the filtered positioning data and the TOF positioning algorithm and / or TOA positioning algorithm in the UWB positioning data analysis strategy; draw at least three circles with the UWB beacons as the centers and the UWB distances from each UWB beacon to the positioning terminal as the radii, and obtain the intersection points by intersecting all the circles; use the coordinates of the intersection points as the target position information.

[0121] In one embodiment, when the processor executes the program instructions to implement the step of analyzing the filtered positioning data according to the target positioning data analysis strategy to obtain the corresponding target position information, the specific implementation is as follows:

[0122] If the target positioning data analysis strategy is a Bluetooth positioning data analysis strategy, analyze the filtered positioning data according to the RSSI positioning algorithm in the Bluetooth positioning data analysis strategy to obtain the corresponding target position information for performing presence positioning on the corresponding positioning terminal according to the target position information.

[0123] The storage medium can be various computer-readable storage media such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a magnetic disk, or an optical disc that can store program codes.

[0124] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been generally described according to their functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present invention.

[0125] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of each unit is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0126] The steps in the method embodiments of the present invention can be adjusted, combined, and deleted according to actual needs. The units in the device embodiments of the present invention can be combined, divided, and deleted according to actual needs. In addition, the functional units in each embodiment of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit.

[0127] If the 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 storage medium. Based on such an understanding, the technical solution of the present invention, in essence, 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. The computer software product is stored in a storage medium and includes several instructions for causing an electronic device (which can be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present invention.

[0128] As described above, the above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A 5G-based indoor and outdoor fusion positioning method, characterized in that: The method is applied to a positioning engine server of a fusion positioning system, and the method comprises: Receiving positioning data from a positioning terminal through a 5G intranet base station; wherein the positioning terminal is used to collect positioning data from a timing satellite and / or a UWB beacon and / or a Bluetooth beacon; Filtering the positioning data according to a preset signal strength threshold to obtain filtered positioning data; Determine a corresponding target positioning data analysis strategy according to the positioning type of the filtered positioning data; Analyze the filtered positioning data according to the target positioning data analysis strategy to obtain corresponding target location information; The target location information is correspondingly loaded into the pre-built map model.

2. The indoor and outdoor fusion positioning method based on 5G technology according to claim 1 is characterized in that: The filtering of the positioning data according to a preset signal strength threshold to obtain filtered positioning data includes: Filtering the positioning data according to the signal strength threshold to obtain positioning data after initial filtering; Determine whether the initially screened positioning data is data of a single type of feature, and obtain a data determination result; If the data judgment result is yes, the initial post-screening positioning data is used as the post-screening positioning data.

3. The indoor and outdoor fusion positioning method based on 5G technology according to claim 2 is characterized in that: After determining whether the initially screened positioning data is data of a single type of feature and obtaining the data determination result, the method further includes: If the data judgment result is no, then a type of positioning data with the highest positioning priority is selected from the positioning data after the initial screening according to the preset positioning priority information as the positioning data after the initial screening.

4. The indoor and outdoor fusion positioning method based on 5G technology according to claim 1 is characterized in that: The step of analyzing the filtered positioning data according to the target positioning data analysis strategy to obtain corresponding target location information includes: If the target positioning data analysis strategy is a UWB positioning data analysis strategy, determining a corresponding target UWB positioning mode according to the filtered positioning data; Determine whether the filtered positioning data meets the corresponding UWB positioning condition according to the target UWB positioning mode, and obtain a UWB positioning condition judgment result; If the UWB positioning condition judgment result is yes, the filtered positioning data is analyzed according to the UWB positioning data analysis strategy and the target UWB positioning mode to obtain corresponding target position information.

5. The indoor and outdoor fusion positioning method based on 5G technology according to claim 4 is characterized in that: After determining whether the filtered positioning data meets the corresponding UWB positioning condition according to the target UWB positioning mode and obtaining the UWB positioning condition determination result, the method further includes: If the UWB positioning condition judgment result is no, the corresponding abnormal reminder information is generated and sent to the designated staff through the 5G intranet base station.

6. The indoor and outdoor fusion positioning method based on 5G technology according to claim 4 is characterized in that: The analyzing the filtered positioning data according to the UWB positioning data analysis strategy and the target UWB positioning mode to obtain corresponding target location information includes: If the target UWB positioning mode is a two-dimensional positioning mode, obtaining UWB coordinate information of at least three of the UWB beacons and the UWB distance between each of the UWB beacons and the positioning terminal according to the TOF positioning algorithm and / or TOA positioning algorithm in the filtered positioning data and the UWB positioning data analysis strategy; Draw at least three circles with the UWB beacon as the center and the UWB distance from each of the UWB beacons to the positioning terminal as the radius, and intersect all the circles to obtain intersection points; The coordinates of the intersection point are used as the target position information.

7. The indoor and outdoor fusion positioning method based on 5G technology according to claim 1 is characterized in that: The step of analyzing the filtered positioning data according to the target positioning data analysis strategy to obtain corresponding target location information includes: If the target positioning data analysis strategy is a Bluetooth positioning data analysis strategy, the filtered positioning data is analyzed according to the RSSI positioning algorithm in the Bluetooth positioning data analysis strategy to obtain the corresponding target location information so as to perform existence positioning on the corresponding positioning terminal according to the target positioning information.

8. An indoor and outdoor fusion positioning device based on 5G technology, characterized in that: The device is configured on a positioning engine server of a fusion positioning system, and the device includes: A receiving unit, used to receive positioning data from a positioning terminal through a 5G intranet base station; wherein the positioning terminal is used to collect positioning data from a timing satellite and / or a UWB beacon and / or a Bluetooth beacon; A screening unit, used to screen the positioning data according to a preset signal strength threshold to obtain screened positioning data; A determination unit, configured to determine a corresponding target positioning data analysis strategy according to the positioning type of the filtered positioning data; An analysis unit, configured to analyze the filtered positioning data according to the target positioning data analysis strategy to obtain corresponding target location information; The loading unit is used to load the target location information into the pre-built map model.

9. An electronic device, characterized in that: The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the method according to any one of claims 1 to 7 when executing the computer program.

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

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