A base station positioning dynamic correction method based on base points

Abstract

The application discloses a base station positioning dynamic correction method based on base points, relates to the technical field of terminal positioning, and solves the problem that terminal equipment is dependent on fixed base station signals, cannot effectively cope with dynamic changes and interference, lacks effective automatic correction and real-time adaptation capability, and is difficult to provide high-reliability positioning results in a rapidly changing environment. The dynamic correction method comprises the following steps: acquiring and processing the longitude and latitude data transmitted by a terminal device to serve as a current positioning point of the terminal device; measuring and correcting the distance deviation between the current positioning point and a previous positioning point; judging the distance deviation according to a preset distance threshold, and selecting an effective positioning point in combination with a preset positioning point selection mechanism; performing correction calculation on the effective positioning point according to a time variable correction mechanism to obtain a final positioning point; and updating and optimizing the base points in combination with a base point updating mechanism according to the final positioning point. Through dynamic updating of the base points and introduction of a time-distance coupling correction mechanism, the positioning precision is optimized, and the error rate is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of terminal positioning, and in particular to a base station positioning dynamic correction method based on base points. BACKGROUND

[0002] With the popularity of the Internet of Things, smart cities and location-based services (LBS), traditional base station positioning technology has significant defects due to environmental interference, signal attenuation and other problems. For example, in a complex urban environment, multi-path effects, non-line-of-sight propagation (NLOS) and uneven distribution of base stations can result in positioning errors of up to hundreds of meters, making it difficult to meet the needs of high-precision scenarios such as emergency rescue and autonomous driving. In addition, static base station positioning models cannot adapt to dynamic environmental changes such as sudden weather changes, temporary obstacles or base station failures, further exacerbating the problem of positioning drift.

[0003] Early base station positioning relied on a single parameter such as signal strength (RSSI) or time difference of arrival (TDOA), lacking a dynamic feedback mechanism for real-time environmental parameters. With the deployment of 5G networks and the improvement of edge computing capabilities, multi-source data fusion (such as base station signals, inertial sensors and map information) has become possible, providing a technical foundation for dynamic correction. At the same time, industry requirements for positioning accuracy have shifted from "meter-level" to "sub-meter-level", for example, logistics tracking requires centimeter-level positioning to optimize route planning, which is difficult to achieve with traditional methods.

[0004] Regulatory requirements for emergency call positioning accuracy in the public safety field have driven the development of correction techniques. In addition, commercial scenarios such as indoor navigation and shared economy device management also require low-cost, high-robustness positioning solutions. Dynamic correction methods based on base points introduce a reference base point network, combined with real-time environmental modeling and adaptive algorithms, effectively balancing accuracy and computational cost, and becoming a key path to solving the above contradictions.

[0005] Patent No. CN202410584991.6 discloses a method for LBS positioning correction, comprising the following steps: S1, obtaining the WGS84 latitude and longitude positioning coordinates of the LBS positioning terminal, and obtaining n (n≥3) consecutive positioning coordinates; S2, calculating the spherical distance between each adjacent two positioning coordinate points in the n consecutive positioning coordinates obtained in step S1, and placing it in set D; S3, dividing set D into sets and, and determining the bias value in set D; S4, calculating the average value of set ; S5, calculating the correction angle of the bias value, and obtaining the new coordinates after correction according to the correction angle; S6, deleting the corrected bias value from set, and repeating step S5 to traverse each bias value in set until the set is empty; S7, updating the coordinates in set as the final positioning coordinates of the LBS positioning terminal. The above invention adopts a pure algorithm verification scheme independent of traditional positioning devices, which can effectively identify and correct abnormal coordinate points that deviate significantly from the normal distribution range.

[0006] Patent No. CN202311523555.X discloses a location correction method and device based on base station communication heterogeneous data, according to the time sequence of the communication data of the identification code to be corrected, the base station data associated before and after the time sequence is extracted; read the communication data of the identification code to be corrected, and save the communication data in time sequence; read the base station data associated in time sequence, and retain the base station coupling data meeting the specific condition, mine the base station coupling relationship, and form a base station coupling library; based on the time and space attributes of the identification code communication data, the communication data is divided using DBSCAN algorithm, and the initial position of the identification code to be corrected is calculated; combined with the base station coupling data and the base station list and connection time length connected with the initial position of the identification code to be corrected, the base station coupling correction algorithm is used to further correct the initial position of the identification code to be corrected, and the corrected position of the identification code to be corrected is generated. Compared with the original stay position calculated by using the weighted average of the base station position, the accuracy is significantly improved.

[0007] Although the above patent can complete the positioning correction of the terminal device, the terminal device depends on the fixed base station signal, cannot effectively cope with dynamic changes and interference, lacks effective automatic correction and real-time adaptation ability, and it is difficult to provide high-reliability positioning results in a rapidly changing environment. SUMMARY

[0008] The purpose of the present application is to provide a base station positioning dynamic correction method based on base points, which can optimize positioning accuracy, reduce error rate and has strong adaptability by dynamically updating base points and introducing time variable correction mechanism.

[0009] The present application utilizes the following technical solutions:

[0010] A base station positioning dynamic correction method based on base points, comprising the following steps in sequence:

[0011] S1: acquiring and processing the latitude and longitude data transmitted by the terminal device, and taking it as the current positioning point of the terminal device;

[0012] S2: measuring and correcting the distance deviation between the current positioning point and the last positioning point;

[0013] S3: judging the distance deviation according to the preset distance threshold, and selecting the effective positioning point in combination with the preset positioning point selection mechanism;

[0014] S4: correcting the effective positioning point according to the time variable correction mechanism to obtain the final positioning point;

[0015] S5: updating and optimizing the base point according to the final positioning point in combination with the base point updating mechanism.

[0016] Preferably, step S1 comprises the following steps:

[0017] S11: The terminal device transmits terminal raw data using HTTP / HTTPS protocol or MQTT protocol;

[0018] S12: The terminal raw data is converted to a standard GPS coordinate system to obtain initial longitude and latitude data;

[0019] S13: The initial longitude and latitude data are detected and verified using a sliding window;

[0020] S14: If the longitude and latitude in the initial longitude and latitude data are not within a preset range, it is determined that the current initial longitude and latitude data is illegal abnormal data, and the illegal abnormal data is temporarily removed and marked using a Bloom filter; if the longitude and latitude in the initial longitude and latitude data are within the preset range, it is determined that the current initial longitude and latitude data is normal qualified data, and the normal qualified data is real-time cached;

[0021] S15: A time stamp and a device serial code are added to the normal qualified data, which are used as the current positioning point of the terminal device.

[0022] Preferably, step S2 comprises the following steps:

[0023] S21: Based on the earth curvature radius, a subtangent function or an ellipsoid model function is used to calculate a distance difference between the current positioning point and the last positioning point;

[0024] S22: An error weight coefficient is added to the distance difference according to the terminal type to obtain a weighted distance difference;

[0025] S23: The weighted distance difference is corrected using a signal reflection attenuation model according to the terminal use scenario to obtain a distance deviation.

[0026] Preferably, step S3 comprises the following steps:

[0027] S31: A distance threshold is automatically generated according to the theoretical accuracy of the terminal device;

[0028] S32: The distance threshold and the distance deviation are compared and judged;

[0029] S33: If the distance deviation is less than or equal to the distance threshold, the current positioning point is marked as a valid positioning point in combination with a positioning point selection mechanism;

[0030] If the distance deviation is greater than the distance threshold, the current positioning point is marked as a suspected drift point in combination with the positioning point selection mechanism, and is stored in a device log, and the motion trend of the previous N valid positioning points is detected;

[0031] S34: If the motion trend is continuous deviation, it is determined that the current positioning point is valid movement and is marked as a valid positioning point; if the motion trend is jump deviation, the last positioning point is marked as a valid positioning point.

[0032] Preferably, step S4 comprises the following steps:

[0033] S41: According to the terminal device state, a dynamic sliding window is used to statistically judge the movement distance cumulative value of the valid positioning point;

[0034] S42: If the movement distance cumulative value is greater than or equal to a physical threshold value, it is determined that the movement distance cumulative value is invalid data; if the movement distance cumulative value is less than the physical threshold value, it is determined that the movement distance cumulative value is valid data, and the valid positioning point is calculated for correction;

[0035] S43: A Kalman filter algorithm combined with a particle filter algorithm is used to denoise the valid positioning point to obtain a noise-free positioning point;

[0036] S44: According to a time variable correction mechanism, the noise-free positioning point is exponentially weighted and averaged to obtain a final positioning point.

[0037] Preferably, step S5 comprises the following steps:

[0038] S51: The validity and motion trend of the last M final positioning points are judged;

[0039] S52: If they are all valid positioning points and the motion trends are consistent, it is determined that the current final positioning point is a base point; if they are all valid positioning points but the motion trends are opposite, the base point is kept unchanged and is recorded to a time sequence database;

[0040] S53: The physical threshold value is adaptively optimized in combination with the correction calculation times of the valid positioning points;

[0041] S54: If the correction calculation times are greater than or equal to a set value, the terminal device automatically switches the positioning source and automatically marks a positioning error point; if the correction calculation times are less than the set value, the terminal device keeps the positioning source unchanged.

[0042] The present application judges the distance deviation between two points and introduces a time correction mechanism, so that the positioning result is more stable and the accumulation of errors is reduced; it can dynamically adapt in a complex environment and avoid frequent failure or large deviation of the traditional positioning system; through intelligent screening and correction of the positioning data, the system calculation amount is reduced, the processing efficiency is improved, and the reliability of the system in a high-speed moving or variable environment is ensured; through a dynamic adjustment mechanism, the positioning system can be continuously optimized in a changing environment, meeting the requirements of accuracy and real-time performance. BRIEF DESCRIPTION OF DRAWINGS

[0043] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0044] Fig. 1 A block diagram illustrating the principle of a dynamic positioning correction method for base stations;

[0045] Fig. 2 This is a flowchart of the dynamic correction method. Detailed Implementation

[0046] The present invention will now be described in detail with reference to the accompanying drawings and embodiments:

[0047] like Figs. 1-2 As shown, the base station positioning dynamic correction method based on a reference point according to the present invention includes the following steps in sequence;

[0048] S1: Acquire and process the latitude and longitude data transmitted by the terminal device, and use it as the current location point of the terminal device;

[0049] S2: Calculate and correct the distance deviation between the current positioning point and the previous positioning point;

[0050] S3: Determine the distance deviation based on the preset distance threshold and select a valid positioning point in conjunction with the preset positioning point selection mechanism;

[0051] S4: Perform correction calculations on the effective positioning points according to the time variable correction mechanism to obtain the final positioning points;

[0052] S5: Update and optimize the base point based on the final positioning point and the base point update mechanism.

[0053] In this invention, step S1 includes the following steps:

[0054] S11: Terminal devices use HTTP / HTTPS or MQTT protocols to transmit raw terminal data;

[0055] In this embodiment, the terminal devices include mobile phones, in-vehicle devices, and IoT sensors, etc.

[0056] S12: Convert the terminal's raw data to the standard GPS coordinate system to obtain initial latitude and longitude data;

[0057] In this embodiment, the standard GPS coordinate system is the WGS-84 coordinate system;

[0058] S13: Use a sliding window to detect and verify the initial latitude and longitude data;

[0059] S14: If the longitude and latitude in the initial longitude and latitude data are not in the preset range, it is determined that the current initial longitude and latitude data is illegal abnormal data, and the illegal abnormal data is temporarily removed and marked by using the Bloom filter; if the longitude and latitude in the initial longitude and latitude data are in the preset range, it is determined that the current initial longitude and latitude data is normal qualified data, and the normal qualified data is cached in real time;

[0060] S15: A time stamp and a device serial code are added to the normal qualified data, and the normal qualified data is used as the current positioning point of the terminal device.

[0061] In the application, step S2 comprises the following steps:

[0062] S21: Based on the earth curvature radius, the distance difference between the current positioning point and the last positioning point is calculated by using the secant function or the ellipsoid model function;

[0063] S22: The error weight coefficient is added to the distance difference according to the terminal type, and a weighted distance difference is obtained;

[0064] S23: The weighted distance difference is corrected by using the signal reflection attenuation model according to the terminal use scene, and a distance deviation is obtained.

[0065] In the embodiment, the terminal use scene comprises a city canyon and an indoor scene.

[0066] In the application, step S3 comprises the following steps:

[0067] S31: The distance threshold is automatically generated according to the theoretical accuracy of the terminal device;

[0068] S32: The distance threshold and the distance deviation are compared and judged;

[0069] S33: If the distance deviation is less than or equal to the distance threshold, the current positioning point is marked as an effective positioning point in combination with the positioning point selection mechanism;

[0070] If the distance deviation is greater than the distance threshold, the current positioning point is marked as a suspected drift point in combination with the positioning point selection mechanism, and is stored to the device log, and the motion trend of the previous N effective positioning points is detected;

[0071] S34: If the motion trend is continuous deviation, it is determined that the current positioning point is an effective movement, and is marked as an effective positioning point; if the motion trend is jump deviation, the last positioning point is marked as an effective positioning point.

[0072] In the application, step S4 comprises the following steps:

[0073] S41: According to the terminal device state, a dynamic sliding window is used to statistically judge the moving distance cumulative value of the effective positioning point;

[0074] In this embodiment, the terminal device state includes network disconnection, movement and static;

[0075] S42: If the moving distance cumulative value is greater than or equal to the physical threshold value, the moving distance cumulative value is determined to be invalid data; if the moving distance cumulative value is less than the physical threshold value, the moving distance cumulative value is determined to be valid data, and the effective positioning point is subjected to a correction calculation;

[0076] S43: The Kalman filtering algorithm is combined with the particle filtering algorithm to denoise the effective positioning point, thereby obtaining a noiseless positioning point;

[0077] S44: According to the time variable correction mechanism, the noiseless positioning point is subjected to an exponential weighted average, thereby obtaining a final positioning point.

[0078] In the present application, step S5 comprises the following steps:

[0079] Step S5 comprises the following steps:

[0080] S51: The effectiveness and motion trend of the continuous M final positioning points are judged;

[0081] S52: If all are effective positioning points and the motion trend is consistent, the current final positioning point is determined to be a base point; if all are effective positioning points but the motion trend is opposite, the base point is kept unchanged and recorded to a time sequence database;

[0082] S53: The physical threshold value is adaptively optimized in combination with the correction calculation times of the effective positioning point;

[0083] S54: If the correction calculation times are greater than or equal to a set value, the terminal device automatically switches the positioning source and automatically marks a positioning error point; if the correction calculation times are less than the set value, the terminal device keeps the positioning source unchanged.

[0084] Embodiment 1:

[0085] The mobile phone, vehicle-mounted device, IoT sensor, etc. transmits terminal raw data by using HTTP / HTTPS protocol or MQTT protocol, converts the terminal raw data to standard GPS coordinate system, obtains initial longitude and latitude data, detects and checks the initial longitude and latitude data by using a sliding window, determines that the current initial longitude and latitude data is illegal abnormal data if the longitude and latitude in the initial longitude and latitude data are not in a preset range, and temporarily removes and marks the illegal abnormal data by using a Bloom filter; determines that the current initial longitude and latitude data is normal qualified data if the longitude and latitude in the initial longitude and latitude data are in the preset range, and buffers the normal qualified data in real time; adds a time stamp and a device serial code to the normal qualified data, and further uses the normal qualified data as a current positioning point of the terminal device.

[0086] Based on the earth curvature radius, a distance difference between the current positioning point and a last positioning point is calculated by using a secant function or an ellipsoid model function, an error weight coefficient is added to the distance difference according to a terminal type to obtain a weighted distance difference, and the weighted distance difference is corrected by using a signal reflection attenuation model according to a terminal use scenario to obtain a distance deviation.

[0087] A distance threshold is automatically generated according to a theoretical accuracy of the terminal device, and the distance threshold is compared with the distance deviation to determine that the current positioning point is marked as an effective positioning point by combining a positioning point selection mechanism if the distance deviation is less than or equal to the distance threshold.

[0088] The current positioning point is marked as a suspected drift point by combining the positioning point selection mechanism if the distance deviation is greater than the distance threshold, and is stored in a device log, and a motion trend of the previous N effective positioning points is detected to determine that the current positioning point is an effective movement and is marked as an effective positioning point if the motion trend is continuous deviation, and to determine that the last positioning point is an effective positioning point if the motion trend is jump deviation.

[0089] A moving distance cumulative value of the effective positioning point is statistically judged by using a dynamic sliding window according to a terminal device state, the moving distance cumulative value is determined as invalid data if the moving distance cumulative value is greater than or equal to a physical threshold, and the moving distance cumulative value is determined as valid data if the moving distance cumulative value is less than the physical threshold, and a correction calculation is performed on the effective positioning point, the effective positioning point is denoised by using a Kalman filtering algorithm combined with a particle filtering algorithm to obtain a noiseless positioning point, and an exponential weighted average is performed on the noiseless positioning point according to a time variable correction mechanism to obtain a final positioning point.

[0090] The effectiveness and motion trend of the last M final positioning points are judged: if they are all valid positioning points and the motion trends are consistent, the current final positioning point is determined as the base point; if they are all valid positioning points but the motion trends are opposite, the base point is kept unchanged and recorded to the time sequence database; the physical threshold is adaptively optimized in combination with the correction calculation times of the valid positioning points; if the correction calculation times are greater than or equal to a set value, the terminal device automatically switches the positioning source and automatically marks the positioning error point; if the correction calculation times are less than the set value, the terminal device keeps the positioning source unchanged.

[0091] Embodiment 2

[0092] The latitude and longitude data uploaded by the terminal is received; the distance deviation between the current positioning point and the last positioning point is calculated; whether the distance exceeds the threshold value is judged and the positioning point is selected, if the calculated distance deviation between the two points exceeds the predetermined threshold value, the system will select the last valid positioning point as the current position. If the distance deviation is within an acceptable range, the current positioning point is considered valid, and the current positioning point is selected as the position.

[0093] A time variable is introduced for correction calculation, in order to further improve the positioning accuracy, the system introduces a time variable for correction calculation. By comparing the time interval and position difference between the positioning points, if the distance between the positioning points exceeds the preset value within the specified time window, the current positioning point is considered invalid, and the last valid positioning point is continued to be used.

[0094] If the current positioning point is considered valid, the system will update the positioning data and use it as the new base point. Then, the system will continue to receive new positioning data and repeat the above steps for subsequent processing, ensuring continuous optimization of positioning accuracy.

[0095] Firstly, by introducing dynamic base point updating and distance deviation judgment, the errors caused by signal fluctuations and environmental interference are effectively avoided, and the positioning accuracy is improved. In traditional base station positioning, signal attenuation and reflection can cause unstable accuracy, while the present application judges the distance deviation between two points and introduces a time correction mechanism, making the positioning result more stable and reducing the accumulation of errors. Secondly, the present application can dynamically adapt in complex environments, avoiding the problem of frequent failure or large deviation of traditional positioning systems. By intelligently selecting and correcting positioning data, the system calculation amount is reduced, the processing efficiency is improved, and the reliability of the system in high-speed movement or variable environment is ensured. In addition, the dynamic adjustment mechanism of the present application enables the positioning system to continuously optimize in a changing environment, meeting the requirements of accuracy and real-time performance.

Claims

1. A base station positioning dynamic correction method based on base points, characterized in that: Comprise the following steps in sequence; S1: Obtain and process the latitude and longitude data transmitted by the terminal device, and take it as the current positioning point of the terminal device; S2: Calculate and correct the distance deviation between the current positioning point and the last positioning point; S3: According to the preset distance threshold, the distance deviation is judged, and the effective positioning point is selected combined with the preset positioning point selection mechanism; Wherein, step S3 comprises the following steps: S31: According to the theoretical accuracy of the terminal device, the distance threshold is automatically generated; S32: Compare and judge the distance threshold with the distance deviation; S33: If the distance deviation is less than or equal to the distance threshold, the current positioning point is marked as an effective positioning point combined with the positioning point selection mechanism; If the distance deviation is greater than the distance threshold, the current positioning point is marked as a suspected drift point combined with the positioning point selection mechanism, and stored in the device log, and the motion trend of the first N effective positioning points is detected; S34: If the motion trend is continuous deviation, it is determined that the current positioning point is effective movement, and is marked as an effective positioning point; If the motion trend is jump deviation, the last positioning point is marked as an effective positioning point; S4: According to the time variable correction mechanism, the effective positioning point is corrected to obtain the final positioning point as the base point; The step S4 comprises the following steps: S41: According to the terminal device state, the dynamic sliding time window is used to statistically judge the moving distance cumulative value of the effective positioning point; S42: If the moving distance cumulative value is greater than or equal to the physical threshold, it is determined that the moving distance cumulative value is invalid data, and the last positioning point is marked as an effective positioning point; If the moving distance cumulative value is less than the physical threshold, it is determined that the moving distance cumulative value is valid data, and the effective positioning point is corrected; S43: Using Kalman filtering algorithm combined with particle filtering algorithm, the effective positioning point is de-noised to obtain the noise-free positioning point; S44: According to the time variable correction mechanism, the noise-free positioning point is exponentially weighted to obtain the final positioning point; S5: According to the final positioning point, the base point is updated and optimized combined with the base point update mechanism; The step S5 comprises the following steps: S51: The effectiveness and motion trend of the last M final positioning points are judged; S52: If they are all effective positioning points and the motion trend is consistent, it is determined that the current final positioning point is the base point; If they are all effective positioning points but the motion trend is opposite, the base point remains unchanged and is recorded to the time sequence database; S53: According to the correction calculation times of the effective positioning point, the physical threshold is adaptively optimized; S54: If the correction calculation times are greater than or equal to the set value, the terminal device automatically switches the positioning source and automatically marks the positioning error point; If the correction calculation times are less than the set value, the terminal device keeps the positioning source unchanged; The step S2 comprises the following steps: S21: Based on the earth curvature radius, the distance difference between the current positioning point and the last positioning point is calculated by using the secant function or the ellipsoid model function; S22: According to the terminal type, error weight coefficient is added to the distance difference to obtain the weighted distance difference; S23: According to the terminal use scene, the weighted distance difference is corrected by using the signal reflection attenuation model to obtain the distance deviation.

2. The base-point based base station positioning dynamic correction method according to claim 1, characterized in that: The step S1 comprises the following steps: S11: The terminal device transmits terminal raw data by using an HTTP / HTTPS protocol or an MQTT protocol; S12: The terminal raw data is converted to a standard GPS coordinate system to obtain initial longitude and latitude data; S13: The initial longitude and latitude data are detected and verified by using a sliding window; S14: If the longitude and latitude in the initial longitude and latitude data are not within a preset range, it is determined that the current initial longitude and latitude data is illegal abnormal data, and the illegal abnormal data is temporarily removed and marked by using a Bloom filter; if the longitude and latitude in the initial longitude and latitude data are within the preset range, it is determined that the current initial longitude and latitude data is normal qualified data, and the normal qualified data is real-time cached; S15: A time stamp and a device serial code are added to the normal qualified data, which are used as a current positioning point of the terminal device.

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