Satellite positioning auxiliary system based on Bluetooth perception and method thereof

Abstract

According to the satellite positioning auxiliary system and method based on Bluetooth perception, dynamic auxiliary information related to satellite positioning is transmitted to a mobile intelligent positioning terminal through the Bluetooth perception technology, and the positioning auxiliary information is updated by the intelligent positioning terminal in a re-packing mode; and rapid satellite searching and outdoor positioning of the terminal in a scene without cellular network coverage are realized.

Description

Technical Field

[0001] The present invention belongs to the field of wireless positioning technology, and specifically relates to a satellite positioning assistance system and method based on Bluetooth sensing, that is, auxiliary information related to satellite positioning is transmitted to a mobile positioning terminal through Bluetooth sensing technology, which is suitable for rapid terminal positioning in scenarios without cellular network coverage. Background Art

[0002] The satellite navigation-assisted positioning system is a method and technology in which an external source provides the information and data required for signal capture and positioning of a positioning terminal. This can accelerate the signal capture process of the positioning terminal, shorten the time to first position, and improve the capture and tracking sensitivity of the receiver. Positioning assistance information includes a timestamp indicating the transmission time, ephemeris, and almanac parameters. The ephemeris and almanac parameters are essentially satellite orbit parameters for a short-term polynomial orbit model of the actual satellite trajectory. These parameters are maintained and updated at the positioning assistance server. Based on the available positioning assistance information, when the satellites are within their respective described sectors, and the positioning terminal is at the intersection of the ranges of a group of satellites, a rapid hot start can be performed based on the ephemeris and other parameters contained in the positioning assistance information, achieving rapid satellite search and successful positioning.

[0003] Typically, satellite navigation-assisted positioning uses a cellular network, with the ephemeris server transmitting positioning assistance information to a positioning terminal or receiver. For example, patent CN105068100A discloses a method in which a network base station (such as CDMA, 3G-UMTS, 4G, etc.) broadcasts receiver time, frequency, and rough location information to a mobile receiver via a mobile network.

[0004] However, in some special scenarios, such as various energy industries like coalification and petroleum, or sensitive applications like those in the military, data transmission security is often strictly restricted, requiring transmission only over non-public networks, while cellular networks are a type of public network. Therefore, a new positioning assistance information distribution mechanism must be adopted to ensure rapid terminal positioning capabilities even when a cellular network is unavailable. To this end, the present invention proposes a Bluetooth-based satellite positioning assistance system and method, which uses Bluetooth sensing technology to transmit satellite positioning-related assistance information to a mobile positioning terminal. Summary of the Invention

[0005] In order to solve the problem of rapid positioning of a positioning terminal when there is no cellular network, the present invention provides a satellite positioning assistance system and method based on Bluetooth perception.

[0006] The present invention proposes a satellite positioning assistance system based on Bluetooth sensing, the system comprises:

[0007] Positioning assistance server: Built-in network communication module, processor module, and storage module; the network communication module completes communication with the Bluetooth data transmission base station; the storage module stores the rough location information of the smart positioning tag's activity area, the positioning assistance information associated with the rough location information, and its version number; the processor module regularly updates the corresponding positioning assistance information and its version number based on the rough location information of the activity area, and saves the new version of the positioning assistance information data to the storage module, and at the same time, sends it to the Bluetooth data transmission base station through the network communication module at regular intervals;

[0008] Bluetooth data transmission base station: It integrates an MCU processing module, a Bluetooth module, and an uplink communication module. The uplink communication module obtains positioning assistance information data from a positioning assistance server through a wired or wireless network. The MCU processing module compresses the positioning assistance information data packet and splits it into multiple Bluetooth data sub-packets. The Bluetooth module broadcasts the split Bluetooth data sub-packets via low-power Bluetooth broadcasting.

[0009] Smart positioning tag: worn on people or objects that need to be located, it integrates a Bluetooth module, MCU processor, storage unit, acceleration sensor, satellite positioning module and antenna; the Bluetooth module is used to receive Bluetooth data packets containing positioning assistance information broadcast by the Bluetooth data transmission base station, and the MCU processor will group the multiple received data packets according to the packet sequence number, decompress them, and save the updates to the storage unit; the satellite positioning module and antenna use the latest version of the positioning assistance information in the storage unit to achieve rapid satellite search and positioning.

[0010] Based on the above system, a satellite positioning assistance method based on Bluetooth perception is further proposed, as follows:

[0011] Preparation: The storage module of the positioning auxiliary server stores the rough location information of the activity area of ​​the smart positioning tag.

[0012] Step 1: The processor module of the positioning assistance server periodically updates the positioning assistance information corresponding to the position based on the coarse position information, wherein the positioning assistance information includes a timestamp indicating the transmission time, an ephemeris table, and an almanac parameter, wherein the ephemeris table and the almanac parameter are a combination of satellite orbit parameters of a short-term polynomial orbit model for an actual satellite trajectory; the processor module of the positioning assistance server updates the positioning assistance information, generates a new version number, and stores it in the storage module;

[0013] Step 2: The processor module of the positioning assistance server regularly sends the positioning assistance information together with the version number to the Bluetooth data transmission base station through the network communication module;

[0014] Step 3: The Bluetooth data transmission base station periodically obtains positioning assistance information data from the positioning assistance server through the uplink communication module;

[0015] Step 4: The Bluetooth data transmission base station MCU processing module compresses the positioning assistance information and splits it according to the length of the Bluetooth broadcast packet data to generate multiple data sub-packets. It also adds a data type identification header (identifying that the Bluetooth packet is positioning assistance information), a version identification field, a sub-packet sequence number identifier, and the total number of sub-packets to each data sub-packet. The version identification field identifies the version number of the current positioning assistance information.

[0016] Step 5: The Bluetooth module of the Bluetooth data transmission base station cyclically sends the data sub-packets through the low-power Bluetooth broadcast channel according to the sub-packet sequence number;

[0017] Step 6: The smart positioning tag is worn on a person or an object to be located. The Bluetooth module of the smart positioning tag continuously scans the surrounding Bluetooth broadcast signals, identifies the data sub-packet whose data type identifier header is positioning assistance information, parses the version identification field therein, and compares it with the positioning assistance information version number stored in the storage unit. If the version comparison is the same, the received data sub-packet is discarded; if the version comparison is a new version, it starts to receive and save the new data packet to the storage unit of the tag until all Bluetooth broadcast sub-packets with the same version number are received. After that, CRC check is performed and multiple sub-packets are reassembled and decompressed to generate complete positioning assistance information data, and the new data is immediately used for rapid satellite positioning;

[0018] Preferably, the processor module of the positioning assistance server in step 2 regularly sends the positioning assistance information together with the version number to the Bluetooth data transmission base station through the network communication module, and the regular cycle is once every 2 hours.

[0019] Preferably, the data sub-packet structure of the Bluetooth broadcast in step 4 includes at least: a 2-byte data type identifier header defined as "AG", a 2-byte version identifier, a 1-byte data sub-packet sequence number, a 1-byte total number of sub-packets, a payload (a split data block of positioning assistance information), and a 2-byte CRC checksum. The payload is fixed at 20 bytes.

[0020] Preferably, the version identification field in step 4 uses a UTC timestamp, accurate to the hour level, to avoid version number conflicts;

[0021] Preferably, in step 4, the Bluetooth data transmission base station MCU processing module compresses the positioning auxiliary information using an LZO (Lempel-Ziv-Oberhumer) compression algorithm.

[0022] Preferably, in step 5, the Bluetooth data transmission base station cyclically sends the data sub-packets through the low-power Bluetooth broadcast channel according to the sub-packet sequence number, and the broadcast type used is a non-connectable non-directional broadcast;

[0023] Preferably, the Bluetooth data transmission base station in step 5 cyclically sends the data sub-packets through the low-power Bluetooth broadcast channel, cyclically sending them at intervals of 200ms according to the sub-packet sequence number, and continuously sending them for 20 minutes.

[0024] Preferably, the smart positioning tag determines whether the positioning tag is in motion according to the state value of the acceleration sensor, and starts Bluetooth scanning and updates positioning auxiliary information only when the positioning tag is in motion.

[0025] The smart positioning tag described in this technical solution can be in the form of an electronic work badge, a safety helmet card, or a wearable positioning bracelet.

[0026] The beneficial effects of this technical solution are mainly that it can get rid of dependence on cellular networks, and can still update positioning assistance data in areas without 4G / 5G signals, and achieve one-to-many efficient distribution through Bluetooth broadcast, reducing server load. At the same time, the version verification mechanism in this solution avoids invalid data transmission and improves transmission reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 This is a system architecture diagram of a specific embodiment of the present invention and a structural diagram of a positioning assistance server, a Bluetooth data transmission base station, and a smart positioning tag;

[0028] Figure 2 This is an example of the format of a Bluetooth broadcast data sub-packet according to a specific embodiment of the present invention. DETAILED DESCRIPTION

[0029] The following describes in detail a satellite positioning assistance system based on Bluetooth perception and a method thereof provided by the present invention in conjunction with the accompanying drawings.

[0030] refer to Figure 1 The satellite positioning assistance system based on Bluetooth perception includes:

[0031] Positioning assistance server 1: built-in network communication module 11, processor module 12, storage module 13; wherein the network communication module 11 completes communication with the Bluetooth data transmission base station 2; the storage module 13 stores the rough location information of the activity area of ​​the smart positioning tag 3, the positioning assistance information associated with the rough location information, and its version number; the processor module 12 regularly updates the corresponding positioning assistance information and its version number based on the rough location information of the activity area, and saves the new version of the positioning assistance information data to the storage module 13, and simultaneously sends it to the Bluetooth data transmission base station 2 through the network communication module 11;

[0032] Bluetooth data transmission base station 2: integrated with an MCU processing module 21, a Bluetooth module 22, and an uplink communication module 23; wherein the uplink communication module 23 periodically obtains positioning assistance information data from the positioning assistance server 1 via a wired network or a wireless network; the MCU processing module 21 compresses the positioning assistance information data packet and splits it into multiple Bluetooth data sub-packets; the Bluetooth module 22 broadcasts the split Bluetooth data sub-packets via low-power Bluetooth broadcasting;

[0033] Smart positioning tag 3: worn on a person or an object that needs to be located, it integrates a Bluetooth module 31, an MCU processor 32, a storage unit 33, an acceleration sensor 34, a satellite positioning module and an antenna 35; wherein the Bluetooth module 31 is used to receive the Bluetooth data packet containing positioning auxiliary information broadcast by the Bluetooth data transmission base station 2, and the MCU processor 32 groups the received multiple data packets according to the packet sequence number and decompresses them, and saves and updates them to the storage unit 33; the satellite positioning module and antenna 35 use the latest version of the positioning auxiliary information in the storage unit 33 to achieve rapid satellite search and positioning.

[0034] Based on the above system, a method for early warning of personnel gathering is further proposed, as follows:

[0035] Preparation: The storage module 13 of the positioning auxiliary server 1 stores the rough location information of the activity area of ​​the smart positioning tag 3, and the location information is WGS-84 coordinate data.

[0036] Step 1: The processor module 12 of the positioning assistance server 1 periodically updates the positioning assistance information corresponding to the position based on the rough position information. The positioning assistance information includes a timestamp indicating the transmission time, an ephemeris table, and an almanac parameter, wherein the ephemeris table and the almanac parameter are a combination of satellite orbit parameters of a short-term polynomial orbit model for a real satellite trajectory. The processor module 12 of the positioning assistance server 1 periodically updates the positioning assistance information, generates a new version number, and stores it in the storage module 13.

[0037] Step 2: The processor module 12 of the positioning assistance server 1 regularly sends the positioning assistance information together with the version number to the Bluetooth data transmission base station 2 through the network communication module 11;

[0038] Step 3: The Bluetooth data transmission base station 2 periodically obtains the latest positioning assistance information data from the positioning assistance server 1 through the uplink communication module 23;

[0039] Step 4: The MCU processing module 21 of the Bluetooth data transmission base station 2 compresses the positioning assistance information and splits it according to the length of the Bluetooth broadcast packet to generate multiple data sub-packets. A data type identification header (identifying that the Bluetooth packet is positioning assistance information), a version identification field, a sub-packet sequence number identifier, and the total number of sub-packets are added to each data sub-packet. The version identification field identifies the version number of the current positioning assistance information, and the version number is associated with time and is unique.

[0040] Step 5: The Bluetooth module 22 of the Bluetooth data transmission base station 2 cyclically sends the data sub-packets through the low-power Bluetooth broadcast channel according to the sub-packet sequence number;

[0041] Step 6: The smart positioning tag 3 is worn on a person or an object to be located. The Bluetooth module 31 of the smart positioning tag 3 continuously scans the surrounding Bluetooth broadcast signals, identifies the data sub-packet whose data type identifier header is positioning assistance information, parses the version identification field therein, and compares it with the positioning assistance information version number stored in the storage unit 33. If the version comparison is the same, the received data sub-packet is discarded; if the version comparison is a new version, it starts to receive a new data packet and saves the new data packet to the tag storage unit 33 until all Bluetooth broadcast sub-packets with the same version number corresponding to the total number of sub-packets are received, performs CRC check and reassembles multiple sub-packets and then decompresses to generate complete positioning assistance information data, and immediately uses the new data for rapid satellite positioning;

[0042] Preferably, in step 2, the processor module 12 of the positioning assistance server 1 regularly sends the positioning assistance information together with the version number to the Bluetooth data transmission base station 2 through the network communication module 11, and the regular cycle is once every 2 hours.

[0043] Preferably, the data sub-packet structure of the Bluetooth broadcast in step 4 is as follows: Figure 2 As shown, it includes: a 2-byte data type identification header defined as "AG", a 2-byte version identification, a 1-byte data sub-packet sequence number, a 1-byte total number of sub-packets, a payload (a split data block of positioning auxiliary information), and a 2-byte CRC check code, where the payload is fixed to 20 bytes.

[0044] Preferably, the version identification field in step 4 is encoded in UTC timestamp format, accurate to the hour level, to avoid version number conflicts;

[0045] Preferably, in step 4, the MCU processing module 21 of the Bluetooth data transmission base station 2 compresses the positioning assistance information using an LZO (Lempel-Ziv-Oberhumer) compression algorithm.

[0046] Preferably, in step 5, the Bluetooth data transmission base station 3 cyclically sends the data sub-packets through the low-power Bluetooth broadcast channel according to the sub-packet sequence number, and the broadcast type used is a non-connectable non-directional broadcast;

[0047] Preferably, in step 5, the Bluetooth data transmission base station 2 cyclically sends the data sub-packets through the low-power Bluetooth broadcast channel, cyclically sending them at intervals of 200ms according to the sub-packet sequence number, and continuously sending them for 10 minutes.

[0048] Preferably, the smart positioning tag 3 determines whether the positioning tag is in motion according to the state value of the acceleration sensor 34, and starts Bluetooth scanning and updates positioning auxiliary information only when the positioning tag is in motion.

[0049] The above description is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A satellite positioning assistance system based on Bluetooth perception, characterized in that the system include: A positioning auxiliary server, wherein the positioning auxiliary server has a built-in network communication module, a processor module and a storage module; The network communication module completes communication with the Bluetooth data transmission base station; the storage module stores the rough location information of the smart positioning tag's active area, the positioning assistance information associated with the rough location information, and its version number; the processor module regularly updates the corresponding positioning assistance information and its version number based on the rough location information of the active area, and saves the new version of the positioning assistance information data to the storage module, and simultaneously sends it to the Bluetooth data transmission base station through the network communication module; A Bluetooth data transmission base station, wherein the Bluetooth data transmission base station integrates an MCU processing module, a Bluetooth module, and an uplink communication module; wherein the uplink communication module periodically obtains positioning assistance information data from the positioning assistance server via a wired network or a wireless network; the MCU processing module implements compression processing of the positioning assistance information data packet and splits it into multiple Bluetooth data sub-packets; the Bluetooth module broadcasts the split Bluetooth data sub-packets via a low-power Bluetooth broadcast mode; A smart positioning tag is worn on a person or an object that needs to be located, and integrates a Bluetooth module, an MCU processor, a storage unit, an acceleration sensor, a satellite positioning module, and an antenna; wherein the Bluetooth module is used to receive Bluetooth data packets containing positioning assistance information broadcast by the Bluetooth data transmission base station, and the MCU processor groups the received multiple data packets according to the packet sequence number, decompresses them, and saves and updates them to the storage unit; the satellite positioning module and antenna use the latest version of the positioning assistance information in the storage unit to achieve rapid satellite search and positioning.

2. A satellite positioning assistance method based on Bluetooth perception, characterized in that: The method is implemented based on the system described in claim 1, and the specific method includes: Preparation: The storage module of the positioning auxiliary server stores the rough location information of the active area of ​​the smart positioning tag, and the location information is identified by WGS-84 coordinate data; Step 1: The processor module of the positioning assistance server periodically updates the positioning assistance information corresponding to the position based on the coarse position information, wherein the positioning assistance information includes a timestamp indicating the transmission time, an ephemeris table, and an almanac parameter, wherein the ephemeris table and the almanac parameter are a combination of satellite orbit parameters of a short-term polynomial orbit model for a real satellite trajectory; the processor module of the positioning assistance server updates the positioning assistance information, generates a new version number, and stores it in the storage module; Step 2: The processor module of the positioning assistance server regularly sends the positioning assistance information together with the version number to the Bluetooth data transmission base station through the network communication module; Step 3: The Bluetooth data transmission base station periodically obtains positioning assistance information data from the positioning assistance server through the uplink communication module; Step 4: The Bluetooth data transmission base station MCU processing module compresses the positioning assistance information and splits it according to the Bluetooth broadcast packet data length to generate multiple data sub-packets, and adds a data type identification header, a version identification field, a sub-packet sequence number identifier, and the total number of sub-packets to each data sub-packet, wherein the data type identification header is used to identify the Bluetooth packet as positioning assistance information, and the version identification field identifies the version number of the current positioning assistance information; Step 5: The Bluetooth module of the Bluetooth data transmission base station cyclically sends the data sub-packets through the low-power Bluetooth broadcast channel according to the sub-packet sequence number; Step 6: The smart positioning tag is worn on a person or an object that needs to be located. The Bluetooth module of the smart positioning tag continuously scans the surrounding Bluetooth broadcast signals, identifies the data sub-packet whose data type identifier header is positioning assistance information, parses the version identification field therein, and compares it with the positioning assistance information version number stored in the tag storage unit. If the version comparison is the same, the received data sub-packet is discarded; if the version comparison is a new version, it starts to receive and save the new data packet to the tag storage unit until all Bluetooth broadcast sub-packets with the same version number are received, performs CRC check and reassembles multiple sub-packets, then decompresses to generate complete positioning assistance information data, and immediately uses the new data for rapid satellite positioning.

3. The satellite positioning assistance method based on Bluetooth perception according to claim 2, characterized in that: The processor module of the positioning assistance server regularly sends the positioning assistance information together with the version number to the Bluetooth data transmission base station through the network communication module, and the regular cycle is once every 2 hours.

4. The satellite positioning assistance method based on Bluetooth perception according to claim 2, characterized in that: The data sub-packet structure of the Bluetooth broadcast in step 4 at least includes: a 2-byte data type identification header defined as "AG", a 2-byte version identification, a 1-byte data sub-packet sequence number, a 1-byte total number of sub-packets, a 20-byte split data block payload of positioning assistance information, and a 2-byte CRC check code.

5. The satellite positioning assistance method based on Bluetooth perception according to claim 2, characterized in that: The version identification field in step 4 is encoded in UTC timestamp format and is accurate to the hour level.

6. A satellite positioning assistance method based on Bluetooth perception according to any one of claims 2 to 5, characterized in that: In step 4, the Bluetooth data transmission base station MCU processing module compresses the positioning auxiliary information using the LZO (Lempel-Ziv-Oberhumer) compression algorithm.

7. The satellite positioning assistance method based on Bluetooth perception according to claim 2, characterized in that: In step 5, the Bluetooth data transmission base station cyclically sends the data sub-packets through the low-power Bluetooth broadcast channel according to the sub-packet sequence number, and the broadcast type used is non-connectable non-directional broadcast.

8. The satellite positioning assistance method based on Bluetooth perception according to claim 2, characterized in that: In step 5, the Bluetooth data transmission base station cyclically sends the data sub-packets through the low-power Bluetooth broadcast channel, cyclically sending them at intervals of 200ms according to the sub-packet sequence number, and continuously sending them for 20 minutes.

9. The satellite positioning assistance method based on Bluetooth perception according to claim 2, characterized in that: The smart positioning tag determines whether the positioning tag is in motion according to the state value of the acceleration sensor, and starts Bluetooth scanning and updates positioning auxiliary information only when the positioning tag is in motion.

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