Beidou + uwb indoor and outdoor fusion continuous positioning vehicle-mounted terminal

Abstract

The invention relates to the technical field of vehicle positioning, and particularly discloses a Beidou + uwb indoor and outdoor fusion continuous positioning vehicle-mounted terminal, which comprises a vehicle-mounted power supply and a positioning terminal, the vehicle-mounted power supply provides stable power supply for an automobile, the positioning terminal is electrically connected with the vehicle-mounted power supply, and the positioning terminal comprises a Beidou positioning terminal, a UWB positioning terminal and a vehicle-mounted terminal; the Beidou positioning and the UWB positioning are subjected to position switching fusion, a position judgment rule is set, and switching is carried out between the Beidou positioning and the UWB positioning according to whether the position of a user is indoor or outdoor; by integrating Beidou positioning with UWB positioning, the Beidou positioning system can provide meter-level and even centimeter-level positioning precision in an open outdoor area, but the precision can be influenced in a complex environment. The UWB positioning technology has extremely strong anti-interference capability and ultrahigh positioning precision in indoor and short-distance ranges, and after the UWB positioning technology and the UWB positioning technology are fused, high-precision positioning in outdoor and indoor environments can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle positioning, and particularly to a Beidou + UWB indoor and outdoor integrated continuous positioning vehicle-mounted terminal. Background Art

[0002] A vehicle-mounted terminal is an electronic device installed on vehicles such as cars and has various functions; a satellite positioning receiver installed on a car receives signals from multiple satellites, calculates the distance between the car and the satellites by measuring the signal propagation time, and then determines the three-dimensional position of the car using the triangulation principle.

[0003] Currently, the positioning accuracy inside a vehicle in a city is limited. For example, in areas such as urban canyons with high-rise buildings, tunnels, underground parking lots, and dense forests, satellite signals are easily blocked, resulting in a decrease in positioning accuracy or even signal loss; moreover, as the roads in the city are continuously renovated with the construction and development, traditional map data has a certain lag, which may lead to inaccurate routes recommended by the vehicle-mounted positioning system and even guide the vehicle into a wrong road or a non-existent section. Summary of the Invention

[0004] The purpose of this part is to outline some aspects of the embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this part, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this part, the abstract, and the title. However, such simplifications or omissions shall not be used to limit the scope of the present invention.

[0005] The present invention provides a Beidou + UWB indoor and outdoor integrated continuous positioning vehicle-mounted terminal, which can solve the problems of satellite signal occlusion and insufficient accuracy. The specific solutions are as follows.

[0006] A Beidou + UWB indoor and outdoor integrated continuous positioning vehicle-mounted terminal includes.

[0007] A vehicle-mounted power supply, which provides stable power supply for the car and enables the car to have intelligent working processing.

[0008] A positioning terminal, which is electrically connected to the vehicle-mounted power supply. The positioning terminal includes Beidou positioning, UWB positioning, and a vehicle-mounted terminal.

[0009] The Beidou positioning and UWB positioning perform position switching and fusion, setting position judgment rules. According to whether the user's location is indoor or outdoor, the system switches between Beidou positioning and UWB positioning; when it is detected that the user enters the indoor from the outdoor, the positioning system automatically switches from Beidou positioning to UWB positioning; conversely, it switches from UWB positioning to Beidou positioning.

[0010] The in-vehicle terminal includes a positioning module, and the positioning module includes an information processing module, a data acquisition module, and a communication module.

[0011] The information processing module, the data acquisition module, and the communication module are electrically connected to each other, and the data acquisition module is connected in series with the position switching fusion. The communication module uploads the received or sent information to the base station information, and the base station information is fed back to the positioning terminal.

[0012] Preferably, the UWB positioning includes the following operation steps.

[0013] S1. Install the UWB base station. According to the planned layout, fix the UWB base station in the positioning area, connect the base station to the power supply and the network to ensure normal power supply and data transmission.

[0014] S2. Install the UWB tag. Install the UWB tag on the target to be positioned, and paste the vehicle at a prominent position on the vehicle body where the signal is not interfered.

[0015] S3. Equipment debugging and calibration: Use the debugging tool software provided by the manufacturer to configure and calibrate the parameters of the UWB base station and the tag, set the base station network parameters, working frequency band, transmission power, etc., calibrate the tag emission frequency and signal strength, and ensure normal communication and stable signal transmission between devices through debugging.

[0016] Preferably, the Beidou positioning includes the following operation steps.

[0017] S1. Through the device supporting software or operation interface, set the positioning-related parameters, set the positioning frequency. For vehicle monitoring, it is 1 - 10 seconds per time, and for surveying and mapping, it may be several seconds to several minutes once; select the positioning mode, including single-point positioning and differential positioning.

[0018] S2. Communication setting: To transmit the positioning data to other devices or platforms, it is necessary to set the communication method and parameters. The in-vehicle positioning terminal uses a 4G network for transmission, and it is necessary to insert a SIM card and configure the APN; for Bluetooth transmission, it is necessary to pair with the receiving device.

[0019] S3. Satellite signal reception: The Beidou positioning device receives signals from multiple Beidou satellites through the antenna. These signals contain information such as satellite position and signal emission time. At least 4 satellite signals need to be received to accurately calculate the three-dimensional position. If only two-dimensional position (longitude, latitude) is required, at least 3 satellite signals are sufficient.

[0020] S4. The built-in processor of the device calculates the position of the receiver according to the pseudorange measurement value and satellite orbit parameters. In this process, error factors such as satellite clock error, receiver clock error, and atmospheric delay need to be considered and corrected through models.

[0021] After the positioning device calculates the position, it outputs the positioning result in a specific format. The positioning result can be displayed on the device's built-in display screen, or transmitted to other devices or platforms for display and further processing.

[0022] Preferably, the integration of Beidou positioning and UWB positioning includes the following steps.

[0023] S1. Coordinate system unification: Since Beidou positioning uses the geodetic coordinate system and UWB positioning is usually based on the indoor local coordinate system, it is necessary to convert the local coordinates of UWB positioning data to the geodetic coordinate system consistent with Beidou positioning for subsequent fusion processing. The conversion relationship between the local coordinate system and the geodetic coordinate system can be established by measuring the geodetic coordinates of specific points indoors.

[0024] S2. Data filtering and noise reduction for Beidou positioning and UWB positioning.

[0025] S3. Fusion processing of Beidou positioning and UWB positioning based on position switching.

[0026] S4. Fusion processing of Beidou positioning and UWB positioning based on Kalman filtering.

[0027] Preferably, in S2, the Beidou positioning data is affected by atmospheric refraction, multipath effects, etc., and there are noise and errors. Kalman filtering and weighted average filtering methods are used to remove outliers and smooth the data to improve the positioning accuracy; for UWB positioning data, which is easily interfered by the indoor environment and generates noise, median filtering, Gaussian filtering and other algorithms are used to filter the distance or angle data measured by UWB to reduce errors.

[0028] Preferably, in S3, through sensors or network signals, it is judged in real time whether the carrier is indoors or outdoors. When it is judged that the carrier is outdoors, the Beidou positioning data is directly used; after entering the indoor environment, the UWB positioning data is switched to.

[0029] Preferably, in S4, a system state equation is established to describe the motion state of the carrier, and the observation equation correlates the Beidou and UWB positioning data with the system state. Using the Kalman filtering algorithm, combining the previous moment's state estimate value with the current moment's Beidou and UWB positioning observation values, the current state estimate value is predicted and updated. Through continuous iteration, the influence of noise and errors is gradually reduced to obtain a more accurate positioning result.

[0030] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects.

[0031] By integrating Beidou positioning with UWB positioning, the Beidou positioning system can provide positioning accuracy at the meter level or even centimeter level in open outdoor areas, but its accuracy will be affected in complex environments. The UWB positioning technology has extremely strong anti-interference ability and ultra-high positioning accuracy in indoor and short-distance ranges. After the two are integrated, high-precision positioning in outdoor and indoor environments can be achieved.

[0032] For indoor environments or areas with severe satellite signal blockage, the Beidou positioning signal may be weak or lost. The UWB technology can play its high-precision positioning advantage to make up for the deficiencies of Beidou positioning, ensuring accurate position information can also be obtained indoors and in complex environments.

[0033] The Beidou positioning system adopts a variety of anti-interference technologies, such as signal encryption and anti-interference antennas, which can resist the influence of external interference signals to a certain extent. The UWB technology uses ultra-wideband narrow pulse signals for communication and positioning, and has strong anti-multipath fading and anti-interference capabilities, and can maintain stable positioning performance in complex electromagnetic environments. After the two are integrated, the anti-interference ability of the system is further enhanced; in autonomous driving vehicles, the integration of Beidou positioning and UWB positioning can provide accurate vehicle position information, helping the vehicle to drive accurately on the road, identify intersections and traffic signs, etc., and at the same time, precise parking guidance and management can also be realized in indoor environments such as parking lots.

[0034] Other features and advantages of the present invention will be described in the following specification, and part of them will be obvious from the specification or understood by implementing the present invention. The objectives and other advantages of the present invention can be realized and obtained through the structures specifically pointed out in the written specification and the drawings. Brief Description of the Drawings

[0035] 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 following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts. Among them.

[0036] Figure 1 It is a schematic structural flow diagram of the present invention. Detailed Embodiments

[0037] The preferred embodiments of the present invention will be specifically described below with reference to the drawings, where the drawings form a part of the present invention and are used together with the embodiments of the present invention to explain the principles of the present invention.

[0038] Refer to Figure 1 , the present invention provides a Beidou + UWB indoor and outdoor integrated continuous positioning vehicle-mounted terminal, including.

[0039] Vehicle power supply, which provides stable power supply for the vehicle and enables the vehicle to have intelligent working processing.

[0040] Positioning terminal, which is electrically connected to the vehicle power supply. The positioning terminal includes Beidou positioning, UWB positioning and vehicle terminal.

[0041] The Beidou positioning and UWB positioning perform position switching and fusion, set position judgment rules, and switch between Beidou positioning and UWB positioning according to whether the user's location is indoors or outdoors; when it is detected that the user enters the room from outdoors, the positioning system automatically switches from Beidou positioning to UWB positioning; otherwise, it switches from UWB positioning to Beidou positioning.

[0042] The vehicle terminal includes a positioning module, and the positioning module includes an information processing module, a data acquisition module and a communication module.

[0043] The information processing module, the data acquisition module and the communication module are electrically connected to each other, and the data acquisition module is connected in series with the position switching and fusion. The communication module uploads the received or sent information to the base station information, and the base station information is fed back to the positioning terminal.

[0044] The UWB positioning includes the following operation steps.

[0045] S1. Install the UWB base station. According to the planned layout, fix the UWB base station in the positioning area, connect the base station to the power supply and network to ensure normal power supply and data transmission.

[0046] S2. Install the UWB tag. Install the UWB tag on the target to be positioned, and paste the vehicle on a conspicuous place on the vehicle body where the signal is not interfered.

[0047] S3. Equipment debugging and calibration: Use the debugging tool software provided by the manufacturer to configure and calibrate the parameters of the UWB base station and the tag, set the base station network parameters, working frequency band, transmission power, etc., calibrate the tag emission frequency and signal strength, and ensure normal communication between devices and stable signal transmission through debugging.

[0048] The Beidou positioning includes the following operation steps.

[0049] S1. Through the device supporting software or operation interface, set the positioning related parameters, set the positioning frequency, 1 - 10 seconds / time for vehicle monitoring, and it may be several seconds to several minutes once for surveying and mapping; select the positioning mode, there are single point positioning and differential positioning.

[0050] S2. Communication settings: To transmit positioning data to other devices or platforms, communication methods and parameters need to be set. For vehicle-mounted positioning terminals that use 4G networks for transmission, a SIM card needs to be inserted and the APN configured; for Bluetooth transmission, pairing with the receiving device is required.

[0051] S3. Satellite signal reception: The Beidou positioning device receives signals from multiple Beidou satellites through an antenna. These signals contain information such as satellite positions and signal emission times. At least 4 satellite signals need to be received to accurately calculate the three-dimensional position. If only two-dimensional positions (longitude and latitude) are required, at least 3 satellite signals are sufficient.

[0052] S4. The built-in processor of the device calculates the position of the receiver based on the pseudorange measurement values and satellite orbit parameters. During this process, error factors such as satellite clock error, receiver clock error, and atmospheric delay need to be considered and corrected through models.

[0053] S5. After the positioning device calculates the position, it outputs the positioning result in a specific format. The positioning result can be displayed on the device's built-in display screen or transmitted to other devices or platforms for display and further processing.

[0054] The fusion of the Beidou positioning and UWB positioning includes the following steps.

[0055] S1. Coordinate system unification: Since the Beidou positioning uses the geodetic coordinate system and the UWB positioning is usually based on the indoor local coordinate system, it is necessary to convert the local coordinates of the UWB positioning data to the geodetic coordinate system consistent with the Beidou positioning for subsequent fusion processing. The conversion relationship between the local coordinate system and the geodetic coordinate system can be established by measuring the geodetic coordinates of specific points indoors.

[0056] S2. Data filtering and noise reduction for Beidou positioning and UWB positioning.

[0057] S3. Fusion processing based on position switching for Beidou positioning and UWB positioning.

[0058] S4. Fusion processing based on Kalman filtering for Beidou positioning and UWB positioning.

[0059] In the above S2, the Beidou positioning data is affected by atmospheric refraction, multipath effects, etc., resulting in noise and errors. Kalman filtering and weighted average filtering methods are used to remove outliers and smooth the data to improve the positioning accuracy; for UWB positioning data, which is easily interfered by the indoor environment and generates noise, median filtering, Gaussian filtering and other algorithms are used to filter the distance or angle data measured by UWB to reduce errors.

[0060] In step S3, it is determined in real time whether the environment where the carrier is located is indoor or outdoor by means of sensors or network signals. When it is determined that the carrier is outdoors, the Beidou positioning data is directly adopted; after entering the indoor environment, the UWB positioning data is switched to.

[0061] In step S4, a system state equation is established to describe the motion state of the carrier, and the observation equation correlates the Beidou and UWB positioning data with the system state. Using the Kalman filtering algorithm, combining the state estimate value at the previous moment with the Beidou and UWB positioning observation values at the current moment, the current state estimate value is predicted and updated. Through continuous iteration, the influence of noise and error is gradually reduced, and a more accurate positioning result is obtained.

[0062] By fusing Beidou positioning and UWB positioning, the Beidou positioning system can provide positioning accuracy at the meter level or even centimeter level in open outdoor areas, but the accuracy will be affected in complex environments. The UWB positioning technology has extremely strong anti-interference ability and ultra-high positioning accuracy in indoor and short-distance ranges. After the two are fused, high-precision positioning can be realized in both outdoor and indoor environments.

[0063] For indoor environments or areas with serious satellite signal occlusion, the Beidou positioning signal may be weak or lost, while the UWB technology can give full play to its high-precision positioning advantage to make up for the deficiency of Beidou positioning, ensuring that accurate position information can also be obtained in indoor and complex environments.

[0064] The Beidou positioning system adopts a variety of anti-interference technologies, such as signal encryption, anti-interference antennas, etc., and can resist the influence of external interference signals to a certain extent. The UWB technology uses ultra-wideband narrow pulse signals for communication and positioning, and has strong anti-multipath fading and anti-interference abilities, and can maintain stable positioning performance in complex electromagnetic environments. After the two are fused, the anti-interference ability of the system is further enhanced; in autonomous driving vehicles, the fusion of Beidou positioning and UWB positioning can provide accurate vehicle position information, help the vehicle drive accurately on the road, identify intersections and traffic signs, etc., and at the same time, accurate parking guidance and management can also be realized in indoor environments such as parking lots.

[0065] In the description of this specification, the descriptions referring to terms such as "one embodiment", "example", "specific example", etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0066] In the description of the specification, claims, and the above-mentioned drawings of the embodiments of the present application, the terms "first", "second", "third", "fourth", etc. (if any) are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that comprises a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or are inherent to these processes, methods, products, or devices.

[0067] In the embodiments of the present application, it is not implied that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as a limitation on the embodiments of the present application. In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically and precisely defined.

[0068] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. Obviously, many modifications and variations can be made according to the content of this specification. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A Beidou + UWB indoor and outdoor integrated continuous positioning vehicle terminal, characterized in that Including: On-vehicle power supply, which provides stable power supply for the vehicle and enables the vehicle to perform intelligent work processing. Positioning terminal, which is electrically connected to the on-vehicle power supply. The positioning terminal includes Beidou positioning, UWB positioning and vehicle terminal. The Beidou positioning and UWB positioning perform position switching and fusion, set position judgment rules, and switch between Beidou positioning and UWB positioning according to whether the user's location is indoor or outdoor. When it is detected that the user enters the indoor from the outdoor, the positioning system automatically switches from Beidou positioning to UWB positioning; vice versa, it switches from UWB positioning to Beidou positioning. The vehicle terminal includes a positioning module, and the positioning module includes an information processing module, a data acquisition module and a communication module. The information processing module, the data acquisition module and the communication module are electrically connected to each other, and the data acquisition module is connected in series with the position switching and fusion. The communication module uploads the received or sent information to the base station information, and the base station information is fed back to the positioning terminal.

2. The Beidou + UWB indoor and outdoor integrated continuous positioning vehicle-mounted terminal according to claim 1, wherein: The UWB positioning includes the following operation steps: S1. Install the UWB base station. According to the planned layout, fix the UWB base station in the positioning area, connect the base station to the power supply and network to ensure normal power supply and data transmission. S2. Install the UWB tag. Install the UWB tag on the target to be positioned, and paste the vehicle at a conspicuous place on the vehicle body where the signal is not interfered. S3. Equipment debugging and calibration: Use the debugging tool software provided by the manufacturer to configure and calibrate the parameters of the UWB base station and tag, set the base station network parameters, working frequency band, transmission power, etc., calibrate the tag emission frequency and signal strength, and ensure normal communication between devices and stable signal transmission through debugging.

3. A Beidou + UWB indoor and outdoor integrated continuous positioning vehicle terminal according to claim 1, characterized in that: The Beidou positioning includes the following operation steps: S1. Through the device supporting software or operation interface, set the positioning related parameters, set the positioning frequency, 1 - 10 seconds / time for vehicle monitoring, and several seconds to several minutes for surveying; select the positioning mode, there are single point positioning and differential positioning. S2. Communication setting. To transmit the positioning data to other devices or platforms, it is necessary to set the communication method and parameters. The vehicle positioning terminal uses the 4G network for transmission, and it is necessary to insert a SIM card and configure the APN; if it is transmitted through Bluetooth, it needs to be paired with the receiving device. S3. Satellite signal reception: The Beidou positioning device receives signals from multiple Beidou satellites through the antenna. These signals contain information such as satellite position and signal emission time. At least 4 satellite signals need to be received to accurately calculate the three-dimensional position. If only two-dimensional position is required, at least 3 satellite signals are sufficient. S4. The built-in processor of the device calculates the position of the receiver according to the pseudorange measurement value and satellite orbit parameters. In this process, error factors such as satellite clock error, receiver clock error, and atmospheric delay need to be considered and corrected through models. S5. After the positioning device calculates the position, it outputs the positioning result in a specific format. The positioning result can be displayed on the device's own display screen, or transmitted to other devices or platforms for display and further processing.

4. The Beidou + UWB indoor and outdoor integrated continuous positioning vehicle-mounted terminal according to claim 2 or 3, characterized in that: The fusion of the Beidou positioning and UWB positioning includes the following steps. S1. Coordinate system unification: Since Beidou positioning uses the geodetic coordinate system and UWB positioning is usually based on the indoor local coordinate system, it is necessary to convert the local coordinates of UWB positioning data to the geodetic coordinate system consistent with Beidou positioning for subsequent fusion processing. The conversion relationship between the local coordinate system and the geodetic coordinate system can be established by measuring the geodetic coordinates of specific points indoors. S2. Data filtering and noise reduction for Beidou positioning and UWB positioning. S3. Fusion processing based on position switching for Beidou positioning and UWB positioning. S4. Fusion processing based on Kalman filter for Beidou positioning and UWB positioning.

5. The Beidou + UWB indoor and outdoor integrated continuous positioning vehicle-mounted terminal according to claim 4, characterized in that: In S2, the Beidou positioning data is affected by atmospheric refraction, multipath effects, etc., and there are noise and errors. Kalman filter and weighted average filter methods are used to remove outliers and smooth the data to improve the positioning accuracy. UWB positioning data is easily interfered by the indoor environment and generates noise. Median filter, Gaussian filter and other algorithms are used to filter the distance or angle data measured by UWB to reduce errors.

6. The Beidou+UWB indoor and outdoor integrated continuous positioning vehicle-mounted terminal according to claim 4, wherein: In S3, through sensors or network signals, it is judged in real time whether the environment where the carrier is located is indoor or outdoor. When it is judged that the carrier is outdoors, the Beidou positioning data is directly used; after entering the indoor area, the UWB positioning data is switched to.

7. The Beidou + UWB indoor and outdoor integrated continuous positioning vehicle-mounted terminal according to claim 4, characterized in that: In S4, a system state equation is established to describe the motion state of the carrier, and the observation equation correlates the Beidou and UWB positioning data with the system state. Using the Kalman filter algorithm, combining the state estimation value at the previous moment with the Beidou and UWB positioning observation values at the current moment, the current state estimation value is predicted and updated. Through continuous iteration, the influence of noise and errors is gradually reduced to obtain a more accurate positioning result.

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