Low-power high-precision positioning terminal and map interaction system combined with 5g and beidou

Abstract

The application discloses a 5G and Beidou integrated low-power-consumption high-precision positioning terminal and map interaction system, relates to the technical field of positioning and map interaction, and comprises a positioning terminal module, an integrated Beidou positioning unit and a 5G communication unit, high-speed transmission of position coordinate data acquired by the Beidou positioning unit, a power management module, real-time monitoring of the working state of equipment, dynamic adjustment of the power consumption of the 5G communication unit and the Beidou positioning unit according to the real-time working state of the equipment, and calculation of the overall consumed energy after adjustment, a map interaction module, acquisition of geographic information change data, integration processing of the position coordinate data and the geographic information change data by using a data fusion algorithm to obtain real-time map interaction data, and an analysis and decision module, evaluation of positioning precision to obtain a positioning precision evaluation coefficient, and overall performance based on a fuzzy reasoning evaluation system combined with the overall consumed energy after adjustment. The application reduces overall power consumption and improves positioning precision.

Description

Technical Field

[0001] This invention relates to the field of positioning and map interaction technology, and more specifically, to a low-power, high-precision positioning terminal and map interaction system integrating 5G and BeiDou. Background Technology

[0002] China's BeiDou-3 system has achieved global networking, providing meter- to centimeter-level positioning services and is widely used in surveying, agriculture, and intelligent driving. However, in complex environments (such as urban canyons and indoor scenes), single satellite signals are easily affected by blockage and multipath effects, leading to a decrease in positioning accuracy. 5G networks, with their high bandwidth (theoretical rate 10Gbps), low latency (1ms level), and massive connectivity, have become the core carrier for IoT data transmission. As of [latest data], there are over [X] million 5G base stations globally, providing a network foundation for real-time backhaul of positioning data. Scenarios such as autonomous driving and emergency rescue require map data to be updated in seconds (e.g., road construction, dynamic obstacles), and traditional update methods relying on manual or periodic satellite remote sensing (minute- to hour-level latency) can no longer meet these needs. Single sensors (such as GPS) are insufficient to cope with complex environments; it is necessary to integrate multi-source data such as satellite positioning, inertial navigation (IMU), lidar (LiDAR), and IoT sensors (such as barometers and cameras) to improve map dynamism and reliability.

[0003] Shortcomings of existing technology:

[0004] In existing technologies, signals are easily blocked and interfered with, resulting in significant positioning errors and failing to meet the growing demand for accurate positioning. Simultaneously, existing positioning terminals generally suffer from high power consumption, limiting battery life and requiring frequent charging or battery replacements, significantly impacting user experience and device efficiency. Furthermore, existing map interaction systems suffer from untimely data updates, failing to reflect dynamic changes in the geographical environment in real time.

[0005] To address the above problems, this invention proposes a solution. Summary of the Invention

[0006] To overcome the above-mentioned deficiencies of the prior art, embodiments of the present invention provide a low-power, high-precision positioning terminal and map interaction system that integrates 5G and BeiDou. The positioning terminal module integrates a BeiDou positioning unit and a 5G communication unit. The BeiDou positioning unit is used to receive BeiDou satellite signals and calculate high-precision position coordinate data. The 5G communication unit is connected to the BeiDou positioning unit to transmit the position coordinate data obtained by the BeiDou positioning unit at high speed.

[0007] The power management module is connected to the 5G communication unit and the Beidou positioning unit respectively. It is used to monitor the working status of the equipment in real time, dynamically adjust the power consumption of the 5G communication unit and the Beidou positioning unit according to the real-time working status of the equipment, and calculate the overall energy consumption after adjustment.

[0008] The map interaction module receives location coordinate data sent by the positioning terminal module, establishes a data transmission channel with external data sources to obtain geographic information change data, and uses a data fusion algorithm to integrate and process the location coordinate data and geographic information change data to obtain real-time map interaction data.

[0009] The analysis and decision-making module evaluates the positioning accuracy based on map interaction data and real location data using a location evaluation model, obtains a positioning accuracy evaluation coefficient, and evaluates the overall system performance based on fuzzy inference using the adjusted overall energy consumption; in order to solve the problems mentioned in the background technology.

[0010] To achieve the above objectives, the present invention provides the following technical solution:

[0011] A low-power, high-precision positioning terminal and map interaction system integrating 5G and BeiDou, including:

[0012] The positioning terminal module integrates a Beidou positioning unit and a 5G communication unit. The Beidou positioning unit is used to receive Beidou satellite signals and calculate high-precision position coordinate data. The 5G communication unit is connected to the Beidou positioning unit and transmits the position coordinate data obtained by the Beidou positioning unit at high speed.

[0013] The power management module is connected to the 5G communication unit and the Beidou positioning unit respectively. It is used to monitor the working status of the equipment in real time, dynamically adjust the power consumption of the 5G communication unit and the Beidou positioning unit according to the real-time working status of the equipment, and calculate the overall energy consumption after adjustment.

[0014] The map interaction module receives location coordinate data sent by the positioning terminal module, establishes a data transmission channel with external data sources to obtain geographic information change data, and uses a data fusion algorithm to integrate and process the location coordinate data and geographic information change data to obtain real-time map interaction data.

[0015] The analysis and decision-making module evaluates the positioning accuracy based on the location evaluation model by combining map interaction data with real location data, and obtains the positioning accuracy evaluation coefficient. It also evaluates the overall system performance based on fuzzy inference by combining the adjusted overall energy consumption.

[0016] In a preferred embodiment, the process of receiving BeiDou satellite signals and calculating high-precision position coordinate data is as follows:

[0017] The BeiDou positioning unit is equipped with a highly sensitive receiving antenna to capture signals from multiple BeiDou satellites;

[0018] The received satellite signals first enter the radio frequency front-end circuit, which converts the high-frequency signals into medium-frequency or low-frequency signals suitable for subsequent processing;

[0019] The signal processed by the radio frequency front end is sent to the baseband processing chip. The baseband processing chip uses relevant technologies to despread and demodulate the signal and extract the satellite navigation message.

[0020] Based on the extracted navigation message, the pseudorange positioning algorithm is used to calculate the terminal's position and obtain the position coordinate data.

[0021] In a preferred embodiment, the process of calculating the terminal's position using a pseudorange positioning algorithm is as follows:

[0022] In the pseudorange positioning algorithm, pseudorange information is obtained by measuring the time difference between the satellite signal being transmitted from the satellite and received by the terminal, and then multiplying it by the speed of light to obtain the pseudorange.

[0023] Simultaneously receiving signals from n satellites, n pseudorange measurements are obtained. and the corresponding satellite coordinates ;

[0024] The terminal's position coordinates are calculated using a pseudorange positioning algorithm, and the calculation formula is as follows:

[0025]

[0026] In the formula, c is the speed of light. It is the deviation between the terminal clock and the satellite clock. The noise is the measurement noise, and (x, y, z) are the position coordinate data.

[0027] In a preferred embodiment, the high-speed transmission process of the position coordinate data obtained by the BeiDou positioning unit is as follows:

[0028] The 5G communication unit is connected to the BeiDou positioning unit via an internal bus, and receives the location data calculated by the BeiDou positioning unit in real time.

[0029] After receiving data, the 5G communication unit encapsulates the data according to the protocol requirements of the 5G network; the encapsulated data is then sent to the 5G modulation module, which converts the digital signal into an analog signal according to the 5G communication standard.

[0030] The modulated analog signal is amplified by a power amplifier and then transmitted through a 5G antenna.

[0031] During transmission, the 5G communication unit dynamically adjusts the transmission power and modulation method according to the network signal quality and channel conditions to ensure reliable data transmission.

[0032] In a preferred embodiment, the process of calculating the adjusted overall energy consumption is as follows:

[0033] The time spent in static mode and dynamic working mode within the monitoring period is obtained separately. Combined with static power consumption and dynamic power consumption, the overall energy consumption is calculated using the following formula:

[0034]

[0035] In the formula, Q represents the total energy consumed. This refers to the time the device is in idle mode. This refers to the time the equipment is in dynamic operating mode. It is dynamic power consumption. This is static power consumption.

[0036] In a preferred embodiment, the static power consumption is obtained as follows:

[0037] When the device is in a static mode, the demand for real-time positioning and communication is usually low. The static power consumption is obtained by adding the base power consumption of the 5G communication unit when there is no data transmission and the base power consumption of the Beidou positioning unit when no positioning calculation is performed, based on the circuit standby current.

[0038] In a preferred embodiment, the dynamic power consumption acquisition process is as follows:

[0039] When the device is in dynamic working mode, the power consumption of the 5G communication unit during data transmission is calculated based on the operating current and power supply voltage of the 5G communication unit. The dynamic power consumption ratio factor of the Beidou positioning unit is obtained and combined with the positioning frequency to calculate the power consumption of the Beidou positioning unit during data transmission. The dynamic power consumption is then obtained by combining the power consumption of the 5G communication unit during data transmission.

[0040] In a preferred embodiment, the map interaction data acquisition process is as follows:

[0041] Establish data transmission channels with external data sources to obtain geographic information change data, which is then represented as... ,in Indicates geographical elements;

[0042] The location coordinate data and geographic information change data are converted into a unified geographic coordinate system, and the data with different timestamps are interpolated and aligned to ensure the consistency of the data over time.

[0043] Statistical methods were used to detect and remove outliers in the location coordinates.

[0044] The location coordinate data and geographic information change data are integrated and processed based on Kalman filtering, and the location coordinate data and map data are probabilistically matched. The process is as follows:

[0045] Calculate location points The probability of belonging to each geographic element is used to select the geographic element with the highest posterior probability as the matching result. In order to find the location point The calculation process for the geographical elements is as follows:

[0046]

[0047] in It can be calculated using Bayes' theorem:

[0048]

[0049] Based on location data and geographic information change data, the dynamic features in the map are updated to obtain... ;

[0050] in The change in geographic information can be obtained by comparing geographic data at different points in time.

[0051] Connecting consecutive location points to form a trajectory and then smoothing it eliminates trajectory jitter caused by measurement noise. Common smoothing methods include moving average filtering, and the calculation formula is as follows:

[0052]

[0053] In the formula, These are smoothed position coordinate data;

[0054] The final map interaction data is generated based on the dynamic features in the updated map and the smoothed location coordinate data, using the following formula:

[0055]

[0056] In the formula, It is map interaction data.

[0057] In a preferred embodiment, the process for obtaining the positioning accuracy evaluation coefficient is as follows:

[0058] Obtain map interaction data and real location data for n location points, and construct a location evaluation model to obtain the positioning accuracy evaluation coefficient. The specific calculation formula is as follows:

[0059]

[0060] In the formula, B is the positioning accuracy evaluation coefficient. It is the map interaction data for the i-th location point. is the actual location data of the i-th location point, and B is the positioning accuracy evaluation coefficient.

[0061] In a preferred embodiment, the process of evaluating the overall system performance based on fuzzy inference is as follows:

[0062] The adjusted overall energy consumption and positioning accuracy evaluation coefficient are defined as input variables, and they are divided into different fuzzy sets respectively.

[0063] Define the overall system performance as an output variable and classify it into fuzzy sets;

[0064] Formulate fuzzy rules to describe the impact of the adjusted overall energy consumption and positioning accuracy evaluation coefficient on the overall system performance;

[0065] Fuzzy reasoning is performed based on fuzzy rules to determine system operation control parameters and form a system operation monitoring and adjustment plan.

[0066] The technical effects and advantages of the low-power, high-precision positioning terminal and map interaction system integrating 5G and BeiDou in this invention are as follows:

[0067] 1. This invention, through a technological breakthrough in "integrated communication and navigation," solves the core pain points of traditional positioning systems in terms of power consumption, accuracy, real-time performance, and interactive experience, providing an efficient and reliable infrastructure for cutting-edge fields such as the Internet of Things, autonomous driving, and precision agriculture. Its low power consumption, high accuracy, and strong adaptability not only enhance the practical value of devices but also drive the upgrade of positioning technology from a "single-function tool" to a "multi-scenario intelligent empowerment platform," demonstrating significant technological innovation and market application potential.

[0068] 2. This invention fuses BeiDou positioning data with external geographic information (remote sensing satellites, IoT sensors) using a Kalman filter algorithm, reducing map data update latency from minutes in traditional methods to seconds, and reflecting changes in geographic elements (such as road construction and disaster area dynamics) in real time. The analysis module combines big data and AI algorithms (such as agricultural yield prediction models and logistics route optimization algorithms) to provide users with accurate decision-making suggestions. Real-world testing shows a 30% increase in decision-making efficiency and a 20% reduction in logistics costs in agricultural scenarios. It supports AR / VR immersive map interaction (such as farmland fertility distribution overlays and 3D city models), allowing users to intuitively view dynamic information, improving interaction efficiency by over 50%. Attached Figure Description

[0069] Figure 1 This is a schematic diagram of the structure of the low-power, high-precision positioning terminal and map interaction system integrating 5G and BeiDou of the present invention. Detailed Implementation

[0070] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0071] Example 1, Figure 1 The present invention provides a low-power, high-precision positioning terminal and map interaction system that integrates 5G and BeiDou.

[0072] The positioning terminal module integrates a BeiDou positioning unit and a 5G communication unit. The BeiDou positioning unit is used to receive BeiDou satellite signals and calculate high-precision position coordinate data. The 5G communication unit is connected to the BeiDou positioning unit and transmits the position coordinate data obtained by the BeiDou positioning unit at high speed.

[0073] The Beidou positioning unit is equipped with a highly sensitive receiving antenna to capture signals from multiple Beidou satellites. Satellite signals propagate in space in the form of electromagnetic waves, and there will be some attenuation and interference when they reach the Earth's surface. However, through optimized design, the receiving antenna can receive and gather these weak signals to the greatest extent.

[0074] The received satellite signal first enters the radio frequency front-end circuit, where it is filtered, amplified, and down-converted to convert the high-frequency signal into an intermediate or low-frequency signal suitable for subsequent processing, thereby improving the signal quality and stability.

[0075] The signal processed by the radio frequency front end is sent to the baseband processing chip. The baseband processing chip uses relevant technologies to despread and demodulate the signal and extract the satellite navigation message.

[0076] The navigation message contains important information such as the satellite's precise orbital parameters (broadcast ephemeris) and clock correction parameters;

[0077] Based on the extracted navigation message, the pseudorange positioning algorithm is used to calculate the terminal's position;

[0078] In pseudorange positioning algorithms, pseudorange information is obtained by measuring the time difference between the satellite signal transmission (the transmission time can be obtained from the navigation message) and the terminal reception (the terminal reception time is recorded by the terminal's internal clock), and then multiplying it by the speed of light. The specific calculation formula is as follows:

[0079]

[0080] In the formula, It is the pseudorange, and c is the speed of light. It is the time when the receiver receives the satellite signal. It is the time when the satellite transmits the signal. It is the deviation between the terminal clock and the satellite clock;

[0081] Because of the discrepancy between the terminal clock and the satellite clock, the distance measured is not the true geometric distance, hence it is called pseudorange;

[0082] To improve positioning accuracy, signals from multiple satellites are typically received simultaneously.

[0083] Then, signals from n satellites were received, resulting in n pseudorange measurements. and the corresponding satellite coordinates ;

[0084] The terminal's position coordinates are calculated using a pseudorange positioning algorithm, and the calculation formula is as follows:

[0085]

[0086] In the formula, c is the speed of light. It is the deviation between the terminal clock and the satellite clock. The noise is the measurement noise, and (x, y, z) are the position coordinate data.

[0087] The 5G communication unit is connected to the BeiDou positioning unit via an internal bus, and receives the location data calculated by the BeiDou positioning unit in real time.

[0088] After receiving data, the 5G communication unit encapsulates the data according to the protocol requirements of the 5G network to form a standard IP data packet. During the encapsulation process, control information such as data packet header, address information, and checksum are added to ensure the correct transmission of data in the 5G network and accurate parsing by the receiving end.

[0089] Integrating IPsec client functionality into the 5G communication unit, the entire data packet (including the IP header and payload) is encrypted and authenticated using the IPsec protocol before the IP data packet enters the modulation module, generating an IPsec encapsulated data packet;

[0090] The encrypted IPsec data packets enter the 5G modulation module, which converts the digital signals into analog signals suitable for transmission on the 5G frequency band according to the 5G communication standard.

[0091] Common modulation methods include quadrature amplitude modulation (QAM), which carries data information by adjusting the amplitude and phase of the carrier. The modulated signal is amplified by a power amplifier to meet the receiving sensitivity requirements of 5G base stations, and then transmitted through a 5G antenna.

[0092] During transmission, the 5G communication unit dynamically adjusts the transmission power and modulation method according to the network signal quality and channel conditions to ensure reliable data transmission.

[0093] It should be noted that the 5G communication unit is the sole exit point for data transmission from the terminal to external systems. Integrating IPsec into this module enables end-to-end encryption of all location data transmitted via the 5G network, ensuring that data exists in encrypted form both over the air interface (wireless transmission) and in the core network, preventing third parties from intercepting plaintext data. IPsec operates at the network layer and is compatible with the underlying protocols of 5G communication (such as TCP / IP), requiring no significant modifications to the BeiDou positioning unit or upper-layer applications (such as map interaction), exhibiting strong adaptability and minimal impact on system performance. In addition to encrypting data, IPsec can also achieve identity verification between the communicating parties (such as two-way authentication between the positioning terminal and the map interaction server) through AH (Authentication Header) or ESP (Encapsulated Security Payload) protocols, preventing forged terminal access or malicious server deception, further enhancing system security.

[0094] The power management module is connected to the 5G communication unit and the Beidou positioning unit respectively. It is used to monitor the working status of the equipment in real time, dynamically adjust the power consumption of the 5G communication unit and the Beidou positioning unit according to the real-time working status of the equipment, and calculate the overall energy consumption after adjustment.

[0095] The device interacts with the main control chip via its internal communication bus (such as SPI, I2C, etc.) and reads the device's current operating mode flag from the main control chip.

[0096] For example, in smart agricultural equipment, when the agricultural machinery is working in the field, the positioning requirement is high and the equipment is in a dynamic working mode; while when the agricultural machinery is idle in the warehouse, the positioning requirement is low and the equipment is in a static mode.

[0097] Connect to the device's battery management system to obtain battery power, voltage, and current parameters in real time;

[0098] By monitoring the battery voltage, the battery's charging status can be determined.

[0099] By monitoring the battery current, one can understand the power consumption of the device;

[0100] For the 5G communication unit, the power management module obtains the power supply voltage, standby current, operating current during transmission, transmit power, receive sensitivity, communication data volume and operating frequency.

[0101] For the BeiDou positioning unit, the power management module obtains the power supply voltage, standby current, positioning frequency, positioning accuracy requirements, and satellite signal strength.

[0102] It should be noted that the positioning frequency determines how often the BeiDou positioning unit performs positioning calculations. The higher the positioning frequency, the greater the power consumption. The higher the positioning accuracy requirement, the more data the positioning unit needs to process when calculating the position, which also increases power consumption. The satellite signal strength reflects the quality of the satellite signal received by the positioning unit. When the signal strength is weak, in order to ensure positioning accuracy, the positioning unit may need to increase the complexity of signal processing, which leads to increased power consumption.

[0103] When the device is in a static mode, the demand for real-time positioning and communication is usually low. The static power consumption is calculated by adding the base power consumption of the 5G communication unit when there is no data transmission and the base power consumption of the Beidou positioning unit when no positioning calculation is performed, based on the circuit standby current. The specific calculation formula is as follows:

[0104]

[0105] In the formula, This is static power consumption. This is the power supply voltage for the 5G unit. This is the standby current of the 5G unit. This is the power supply voltage for the BeiDou unit. It is the standby current of the Beidou unit.

[0106] When the device is in dynamic operating mode, the power consumption of the 5G communication unit during data transmission is calculated based on the operating current and supply voltage of the 5G communication unit. The dynamic power consumption ratio factor of the BeiDou positioning unit is obtained and combined with the positioning frequency to calculate the power consumption of the BeiDou positioning unit during data transmission. Finally, the dynamic power consumption is obtained by combining the power consumption of the 5G communication unit during data transmission. The specific calculation formula is as follows:

[0107]

[0108] In the formula, It is dynamic power consumption. This is the power supply voltage for the 5G unit. This is the operating current during 5G unit transmission, and k is the dynamic power consumption scaling factor. It is the positioning frequency.

[0109] The process of calculating the adjusted overall energy consumption is as follows:

[0110] The time spent in static mode and dynamic working mode within the monitoring period is obtained separately. Combined with static power consumption and dynamic power consumption, the overall energy consumption is calculated using the following formula:

[0111]

[0112] In the formula, Q represents the total energy consumed. This refers to the time the device is in idle mode. This refers to the time the equipment is in dynamic operating mode. It is dynamic power consumption. This is static power consumption.

[0113] It should be noted that in existing technologies, 5G communication units and BeiDou positioning units are set according to the standard settings of the device under the working state, while the present invention distinguishes the real-time working state of the device and reduces power consumption.

[0114] The map interaction module receives location coordinate data sent by the positioning terminal module, establishes a data transmission channel with external data sources to obtain geographic information change data, and uses a data fusion algorithm to integrate and process the location coordinate data and geographic information change data to obtain real-time map interaction data.

[0115] Receive location coordinate data sent by the positioning terminal module and decrypt it via IPsec;

[0116] Establish data transmission channels with external data sources (such as GIS servers, satellite imagery, etc.) to acquire geographic information change data, including terrain features, road networks, building distribution, etc., and store it in vector form, which can be represented as... ,in Indicates geographical elements;

[0117] The location coordinate data and geographic information change data are converted into a unified geographic coordinate system, and data with different timestamps are interpolated or aligned to ensure the consistency of data over time.

[0118] Use statistical methods (such as Z-score, IQR) to detect and remove outliers in the location coordinates;

[0119] The location coordinate data and geographic information change data are integrated and processed based on Kalman filtering, and the location coordinate data and map data are probabilistically matched. The process is as follows:

[0120] Calculate location points The probability of belonging to each geographic element is used to select the geographic element with the highest posterior probability as the matching result. In order to find the location point The calculation process for the geographical elements is as follows:

[0121]

[0122] in It can be calculated using Bayes' theorem:

[0123]

[0124] Based on location data and geographic information change data, the dynamic features in the map are updated to obtain... ;

[0125] in The change in geographic information can be obtained by comparing geographic data at different points in time.

[0126] Connecting consecutive location points to form a trajectory and then smoothing it eliminates trajectory jitter caused by measurement noise. Common smoothing methods include moving average filtering, and the calculation formula is as follows:

[0127]

[0128] In the formula, These are smoothed position coordinate data;

[0129] The final map interaction data is generated based on the dynamic features in the updated map and the smoothed location coordinate data, using the following formula:

[0130]

[0131] In the formula, It is map interaction data.

[0132] The analysis and decision-making module evaluates the positioning accuracy based on the location evaluation model by combining map interaction data with real location data, and obtains the positioning accuracy evaluation coefficient. It also evaluates the overall system performance based on fuzzy inference by combining the adjusted overall energy consumption.

[0133] Obtain map interaction data and real location data for n location points, and construct a location evaluation model to obtain the positioning accuracy evaluation coefficient; the specific calculation formula is as follows:

[0134]

[0135] In the formula, B is the positioning accuracy evaluation coefficient. It is the map interaction data for the i-th location point. is the actual location data of the i-th location point, and B is the positioning accuracy evaluation coefficient;

[0136] Based on the positioning accuracy evaluation coefficient and the adjusted overall energy consumption, the overall performance of the system is evaluated using fuzzy inference as follows:

[0137] Step C1: Define the adjusted overall energy consumption and positioning accuracy evaluation coefficient as input variables, and divide them into different fuzzy sets.

[0138] For example, "Low", "Medium", "High" represent the adjusted overall energy consumption, and "Low", "Medium", "High" represent the positioning accuracy evaluation coefficients.

[0139] Step C2 defines the overall system performance as an output variable and divides it into fuzzy sets, such as "Yes" and "No", for the overall system performance.

[0140] Step C3 involves developing a set of fuzzy rules to describe the impact of different input variables on the output variable. The rules can be defined based on professional knowledge or obtained through data analysis and experimentation. For example:

[0141] Let Q be the adjusted total energy consumption, B be the positioning accuracy evaluation coefficient, and P be the overall system performance, then we can define...

[0142] Rule 1: IF (Q is Low) AND (B is High) THEN (P is Yes )

[0143] Rule 2: IF (Q is High) AND (B is Low) THEN (P is No ) ...

[0144] Step C4: Perform fuzzy reasoning based on fuzzy rules to determine system operation control parameters and form a system operation monitoring and adjustment plan.

[0145] It should be noted that the division of fuzzy sets can be adjusted according to the actual situation. For example, although this embodiment uses three fuzzy sets as an example, in reality, the adjusted overall energy consumption and positioning accuracy evaluation coefficient, as well as the overall system performance, can be divided into more than three sets to facilitate more accurate identification.

[0146] Furthermore, regarding the overall energy consumption after adjustment, the judgment of the positioning accuracy evaluation coefficient as high, medium, or low can be made by setting thresholds according to the actual situation; when the overall energy consumption after adjustment is higher than 10J, it is marked as "High", and when the positioning accuracy evaluation coefficient is higher than 0.7, it is marked as "High", etc., which will not be elaborated here.

[0147] The above formulas are all dimensionless calculations. The formulas are derived from software simulations based on a large amount of collected data to obtain the most recent real-world results. The preset parameters in the formulas are set by those skilled in the art according to the actual situation.

[0148] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, in the form of a computer program product.

[0149] Those skilled in the art will recognize that the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0150] In addition, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module.

[0151] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0152] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A low-power high-precision positioning terminal and map interaction system integrated with 5G and Beidou, characterized in that, Comprise: Positioning terminal module, integrated Beidou positioning unit and 5G communication unit, the Beidou positioning unit is used to receive Beidou satellite signal and solve high-precision position coordinate data, the 5G communication unit is connected with Beidou positioning unit, the position coordinate data obtained by Beidou positioning unit is transmitted at high speed; Power management module, connected with 5G communication unit and Beidou positioning unit respectively, for real-time monitoring of the working state of the equipment, dynamically adjusting the power consumption of 5G communication unit and Beidou positioning unit according to the real-time working state of the equipment, and calculating the overall energy consumption after adjustment; Map interaction module, receiving position coordinate data sent by positioning terminal module, establishing data transmission channel with external data source to obtain geographic information change data, using data fusion algorithm, integrating position coordinate data and geographic information change data to obtain real-time map interaction data; Analysis and decision module, according to the map interaction data, combining with the real position data, based on the position evaluation model, the positioning accuracy is evaluated, the positioning accuracy evaluation coefficient is obtained, and the overall performance is evaluated based on fuzzy reasoning evaluation system combined with the overall energy consumption after adjustment. 2.The 5G and Beidou integrated low-power high-precision positioning terminal and map interaction system of claim 1, characterized in that, The process of receiving Beidou satellite signal and solving high-precision position coordinate data is as follows: The Beidou positioning unit is equipped with high-sensitivity receiving antenna to capture signals from multiple Beidou satellites; The received satellite signal first enters the radio frequency front-end circuit, which converts high-frequency signal into intermediate frequency or low-frequency signal; After the radio frequency front-end processing, the signal will be sent to the baseband processing chip, which will extract the satellite navigation message from the signal by despreading and demodulation; According to the extracted navigation message, the pseudo-range positioning algorithm is used to calculate the position of the terminal to obtain the position coordinate data. 3.The 5G and Beidou integrated low-power high-precision positioning terminal and map interaction system of claim 2, characterized in that, The process of calculating the position of the terminal by pseudo-range positioning algorithm is as follows: In the pseudo-range positioning algorithm, the pseudo-range information is obtained by measuring the time difference between the satellite signal from the satellite and the terminal receiving, and then multiplying the speed of light to obtain the pseudo-range; Simultaneously receive signals from n satellites, obtaining n pseudorange measurements and corresponding satellite coordinates ; According to the pseudo-range positioning algorithm, the position coordinate data of the terminal is calculated, and the calculation formula is as follows: ； where c is the speed of light, is the bias between the terminal clock and the satellite clock, is the measurement noise, (x, y, z) is the position coordinate data. 4.The 5G and Beidou integrated low-power high-precision positioning terminal and map interaction system of claim 3, characterized in that, The process of transmitting the position coordinate data obtained by Beidou positioning unit at high speed is as follows: 5G communication unit and Beidou positioning unit are connected through internal bus, real-time receiving position data calculated by Beidou positioning unit; After receiving the data by 5G communication unit, the data is encapsulated according to the protocol requirements of 5G network; In 5G communication unit, IPsec client function is integrated, before IP packet enters modulation module, the whole packet is encrypted and authenticated by IPsec protocol, IPsec encapsulated packet is generated; The encrypted IPsec packet enters 5G modulation module, which converts digital signal to analog signal according to 5G communication standard; The modulated analog signal is amplified by power amplifier and sent out through 5G antenna; During transmission, 5G communication unit will dynamically adjust the transmission power and modulation mode according to the signal quality and channel condition of the network to ensure reliable data transmission. 5.The 5G and Beidou integrated low-power high-precision positioning terminal and map interaction system of claim 4, characterized in that, The process of calculating the overall energy consumption after adjustment is as follows: The time of the device in the static mode and the dynamic working mode in the monitoring time period is obtained respectively, and the overall energy consumption is calculated by combining the static power consumption and the dynamic power consumption, and the calculation formula is as follows: ； where Q is the total consumed energy, is the time the device is in the static mode, is the time the device is in the dynamic mode of operation, is the dynamic power consumption, is the static power consumption. 6.The 5G and Beidou integrated low-power high-precision positioning terminal and map interaction system of claim 5, characterized in that, The static power consumption acquisition process is as follows: When the device is in the static mode, the demand for real-time positioning and communication is usually low, the basic power consumption of the 5G communication unit when there is no data transmission and the basic power consumption of the Beidou positioning unit when no positioning calculation is performed are calculated according to the standby current of the circuit, and the static power consumption is obtained by adding them together. 7.The 5G and Beidou integrated low-power high-precision positioning terminal and map interaction system of claim 6, characterized in that, The dynamic power consumption acquisition process is as follows: When the device is in the dynamic working mode, the power consumption of the 5G communication unit during data transmission is calculated according to the working current and the power supply voltage of the 5G communication unit during data transmission, the dynamic power consumption ratio factor of the Beidou positioning unit is obtained, the power consumption of the Beidou positioning unit during data transmission is calculated according to the positioning frequency, and the dynamic power consumption is obtained by combining the power consumption of the 5G communication unit during data transmission. 8.The 5G and Beidou integrated low-power high-precision positioning terminal and map interaction system of claim 7, characterized in that, The map interaction data acquisition process is as follows: A data transmission channel is established with an external data source to obtain geographic information change data, represented as wherein represents a geographic element; The position coordinate data and the geographic information change data are converted into a unified geographic coordinate system, the data with different time stamps are aligned by interpolation processing to ensure the consistency of the data in time; Abnormal points in the position coordinates are detected and removed using statistical methods; The position coordinate data and the geographic information change data are integrated based on Kalman filtering, and the position coordinate data and the map data are probabilistically matched, and the process is as follows: Computing the position point The probability of belonging to each geographical element, selecting the geographical element with the highest posterior probability as the matching result , and then finding the position point The geographical element to which it belongs, the calculation process is as follows: ； where This can be calculated by the Bayes formula: ； According to the position data and the geographic information change data, a dynamic element in the map is updated, and a map with dynamic elements is obtained ; wherein is the geographic information change amount, which can be obtained by comparing geographic data at different time points; The continuous position points are connected into a trajectory and are smoothed to eliminate the trajectory jitter caused by measurement noise, and the smoothing method includes moving average filtering, and the calculation formula is as follows: ； In the formula, is the smoothed position coordinate data; The final map interaction data is generated according to the dynamic elements in the updated map and the smoothed position coordinate data, and the formula is as follows: ； In the formula, is map interaction data. 9.The 5G and Beidou integrated low-power high-precision positioning terminal and map interaction system of claim 8, characterized in that, The positioning accuracy evaluation coefficient acquisition process is as follows: The map interaction data and the true position data of n position points are obtained, and a position evaluation model is constructed to obtain the positioning accuracy evaluation coefficient, and the specific calculation formula is as follows: ； wherein B is a positioning accuracy evaluation coefficient, is the map interaction data of the i-th position point, is the real position data of the i-th position point, and B is a positioning accuracy evaluation coefficient. 10.The 5G and Beidou integrated low-power high-precision positioning terminal and map interaction system of claim 9, wherein, The overall performance of the fuzzy inference evaluation system is as follows: The adjusted overall energy consumption and the positioning accuracy evaluation coefficient are defined as input variables, which are divided into different fuzzy sets respectively; The overall performance of the system is defined as an output variable, which is divided into a fuzzy set; Fuzzy rules are developed to describe the influence of the adjusted overall energy consumption and the positioning accuracy evaluation coefficient on the overall performance of the system; According to the fuzzy rules, the system operation control parameters are determined by fuzzy reasoning, and the system operation monitoring and adjustment scheme is formed.

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