Indoor and outdoor positioning method and system based on ultra wide band and satellite positioning fusion

Abstract

The invention discloses an indoor and outdoor positioning method and system based on ultra wide band and satellite positioning fusion, and belongs to the technical field of indoor and outdoor positioning, and the method comprises the steps: collecting an outdoor initial coordinate of a first target through a satellite navigation system in an outdoor environment; the method comprises the following steps: in an indoor environment, continuously transmitting ultra-wideband signals to a first target through an ultra-wideband positioning system to obtain indoor relative coordinates of the first target; determining a coordinate processing strategy according to a signal intensity comparison result of the satellite navigation signal and the ultra-wideband signal; and based on a coordinate processing strategy, obtaining a final positioning coordinate by combining the outdoor initial coordinate and the indoor relative coordinate. Therefore, by implementing the application, the problem that in the prior art, indoor and outdoor high-precision positioning is difficult to realize at the same time, so that the positioning precision is greatly influenced by the movement of the positioning target can be solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of indoor and outdoor positioning, and particularly relates to an indoor and outdoor positioning method and system based on ultra-wideband and satellite positioning fusion. BACKGROUND

[0002] The progress of today's positioning technology has been widely used in fields including navigation, logistics and security monitoring. Although satellite navigation systems, such as GPS or Beidou positioning, can achieve outdoor wide-area positioning, the signal is easily blocked by buildings, and when the positioning target enters the indoor environment, the signal reflection and attenuation caused by the building structure and materials will cause the positioning accuracy to drop sharply or even fail, so it cannot meet the positioning needs of complex indoor environments (such as factory workshops, underground spaces, and large buildings).

[0003] At present, ultra-wideband positioning technology (which can be simply referred to as UWB) has obvious advantages in indoor positioning due to its centimeter-level high precision and strong anti-interference capability. However, this technology relies on the deployment of a base station network and is difficult to completely cover outdoor scenarios, lacking a global position reference, so it is not possible to achieve continuous indoor and outdoor positioning by using only ultra-wideband positioning technology when the positioning target moves continuously between indoor and outdoor environments. SUMMARY

[0004] The present application proposes an indoor and outdoor positioning method and system based on ultra-wideband and satellite positioning fusion, which can solve the problem that it is difficult to achieve high-precision positioning in both indoor and outdoor environments in the prior art, and the positioning accuracy is greatly affected by the movement of the positioning target.

[0005] The first aspect of the present application provides an indoor and outdoor positioning method based on ultra-wideband and satellite positioning fusion, the method comprising:

[0006] In an outdoor environment, collecting an outdoor initial coordinate of a first target through a satellite navigation system;

[0007] In an indoor environment, continuously emitting an ultra-wideband signal to the first target through an ultra-wideband positioning system to obtain an indoor relative coordinate of the first target;

[0008] According to the comparison result of the signal strengths of the satellite navigation signal and the ultra-wideband signal, determining a coordinate processing strategy; wherein the signal strengths of the satellite navigation signal and the ultra-wideband signal are determined by monitoring the signal-to-noise ratio and the signal reception power provided by the satellite navigation system and the ultra-wideband positioning system, respectively;

[0009] Based on the coordinate processing strategy, combining the outdoor initial coordinate and the indoor relative coordinate to obtain a final positioning coordinate.

[0010] The above scheme uses a satellite navigation system with high outdoor positioning accuracy to obtain an outdoor initial coordinate, and uses an ultra-wideband positioning system with high indoor positioning accuracy to obtain an indoor relative coordinate. Then, the signal strengths of the satellite navigation signal and the ultra-wideband signal are compared, and the positioning mode more suitable for the current position of the first target is selected according to the signal strength, to obtain a high-precision positioning coordinate. That is, if the satellite navigation signal is stronger, it indicates that the first target is outdoors, if the ultra-wideband signal is stronger, it indicates that the first target is indoors, and if both signals are strong, it indicates that the first target is in a transition area between indoors and outdoors, and then the two coordinates need to be combined for analysis. Therefore, by using the satellite navigation system and the ultra-wideband positioning system in combination, a continuous high-precision positioning link from outdoors to indoors is constructed, so that the position information can be obtained smoothly and quickly regardless of where the positioning target is, and the scheme is suitable for more complex positioning scenarios.

[0011] In a possible implementation method of the first aspect, in an outdoor environment, an outdoor initial coordinate of a first target is acquired by a satellite navigation system, specifically as follows:

[0012] The satellite navigation system continuously sends satellite navigation signals to the ground; wherein the satellite navigation signals include orbit parameters and a transmission time point;

[0013] When a positioning terminal of the first target receives at least a first threshold number of the satellite navigation signals, the propagation time of the satellite navigation signals from transmission to reception is measured;

[0014] In combination with a preset satellite orbit position and the propagation time, the outdoor initial coordinate of the first target is obtained.

[0015] The above scheme uses a satellite navigation system more suitable for outdoor positioning to obtain an outdoor initial coordinate of a first target, and realizes high-precision positioning in a wide scene.

[0016] In a possible implementation method of the first aspect, in an indoor environment, an indoor relative coordinate of a first target is obtained by continuously emitting an ultra-wideband signal to the first target by an ultra-wideband positioning system, specifically as follows:

[0017] The base station group in the ultra-wideband positioning system continuously emits the ultra-wideband signal to the positioning terminal of the first target, and when the positioning terminal receives at least a second threshold number of the ultra-wideband signals, the time difference of the ultra-wideband signals from transmission to reception of each base station is calculated;

[0018] According to the time difference, the distance difference between the positioning terminal and each base station is determined;

[0019] A hyperbolic positioning model is constructed based on the distance difference, and the indoor relative coordinate of the first target is determined through the intersection of the surface of the hyperbolic positioning model.

[0020] The scheme realizes accurate positioning of the indoor relative coordinates of the first target in a more complex indoor environment by continuously sending positioning signals to the first target through multiple ultra-wideband positioning base stations.

[0021] In a possible implementation method of the first aspect, the coordinate processing strategy is determined according to a comparison result of the signal strengths of the satellite navigation signal and the ultra-wideband signal, and specifically:

[0022] When the signal strength of the satellite navigation signal is greater than the third threshold value and the signal strength of the ultra-wideband signal is less than the third threshold value, the coordinate processing strategy is outdoor satellite positioning.

[0023] When the signal strength of the satellite navigation signal is less than the third threshold value and the signal strength of the ultra-wideband signal is greater than the third threshold value, the coordinate processing strategy is indoor-outdoor combined positioning.

[0024] When the signal strengths of the satellite navigation signal and the ultra-wideband signal are both greater than the third threshold value, the coordinate processing strategy is indoor-outdoor weighted fusion positioning.

[0025] The scheme compares the signal strengths of the two positioning systems to determine whether the first target is currently located outdoors, indoors, or in an indoor-outdoor transition area, and selects an appropriate positioning strategy to obtain more accurate position coordinates.

[0026] In a possible implementation method of the first aspect, based on the coordinate processing strategy, the final positioning coordinates are obtained by combining the outdoor initial coordinates and the indoor relative coordinates, and specifically:

[0027] When the coordinate processing strategy is outdoor satellite positioning, only the outdoor initial coordinates are used as the final positioning coordinates.

[0028] When the coordinate processing strategy is indoor-outdoor combined positioning, the outdoor initial coordinates are subjected to coordinate conversion, and the coordinate conversion result and the indoor relative coordinates are combined to obtain the final positioning coordinates.

[0029] When the coordinate processing strategy is indoor-outdoor weighted fusion positioning, the outdoor initial coordinates and the indoor relative coordinates are subjected to weighted fusion according to the positioning weights of the satellite navigation signal and the ultra-wideband signal to obtain the final positioning coordinates.

[0030] The scheme uses the outdoor initial coordinates to calibrate the positioning process when the first target is indoors or in an indoor-outdoor transition area. When it is determined that the first target is outdoors, the higher-precision outdoor initial coordinates are directly used as the final positioning coordinates.

[0031] In a possible implementation of the first aspect, the outdoor initial coordinates are converted, and the conversion result and the indoor relative coordinates are combined to obtain final positioning coordinates, specifically as follows:

[0032] The outdoor initial coordinates are converted to an indoor ultra-wideband coordinate system to obtain conversion coordinates;

[0033] The conversion coordinates and the indoor relative coordinates are preliminarily combined to construct a positioning base value;

[0034] According to a base station installation error of the ultra-wideband positioning system and a cumulative error of the conversion coordinates, adjustment parameters of each coordinate axis are set;

[0035] According to environmental monitoring data, influence factors of each coordinate axis are set; the environmental monitoring data are related to dynamic changes of an indoor environment;

[0036] The positioning base value is error-corrected by using the adjustment parameters and the influence factors to obtain final positioning coordinates.

[0037] The above scheme first converts the outdoor initial coordinates to an indoor coordinate system, and then combines the conversion coordinates and the indoor relative coordinates to realize physical superposition of the coordinates, fuse position information of different sources together, and obtain higher-precision position information. Meanwhile, the scheme also considers interference of indoor environment changes on positioning and inherent errors of the positioning system, corrects the combination result, reduces errors of data fusion, and obtains high-precision final positioning coordinates.

[0038] In a possible implementation of the first aspect, the outdoor initial coordinates and the indoor relative coordinates are weighted fused according to positioning weights of satellite navigation signals and ultra-wideband signals to obtain final positioning coordinates, specifically as follows:

[0039] According to the signal strengths, the positioning weights of the satellite navigation signals and the ultra-wideband signals are adjusted respectively; the higher the signal strength is, the higher the corresponding positioning weight is;

[0040] The outdoor initial coordinates and the indoor relative coordinates are combined to obtain indoor positioning coordinates;

[0041] According to satellite positioning errors, ultra-wideband positioning errors, and signal propagation errors, system deviation coefficients of each coordinate axis are constructed;

[0042] According to influence of interference sources in the environment, adjustment factors of each coordinate axis are constructed;

[0043] The indoor positioning coordinate and the outdoor initial coordinate are weightedly fused based on the positioning weight, and an error correction is made on the weighted fusion process through the system deviation coefficient and the adjustment factor, so as to obtain the final positioning coordinate.

[0044] The above scheme realizes the fusion of the outdoor coordinate which is more stable in a wide range and the indoor coordinate which has a high precision of centimeter level in an indoor environment, realizes the complementary advantages of the two kinds of data, and makes an error correction considering the influence of different interference sources in the fusion process, so as to obtain the high-precision final positioning coordinate when the two signal strengths are close to each other, that is, the first target is likely to be in the indoor-outdoor transition area.

[0045] In a possible implementation method of the first aspect, the indoor positioning coordinate and the outdoor initial coordinate are weightedly fused based on the positioning weight, and an error correction is made on the weighted fusion process through the system deviation coefficient and the adjustment factor, specifically:

[0046] When the coordinate processing strategy is indoor-outdoor weighted fusion positioning, a specific expression of the final positioning coordinate is:

[0047]

[0048] In the formula, (x, y, z) is the final positioning coordinate, (x0, y0, z0) is the outdoor initial coordinate, (x, y, z) is the indoor positioning coordinate, α1 is the positioning weight of the satellite navigation signal, α2 is the positioning weight of the ultra-wideband signal, λx, λy, λz are respectively the system deviation coefficients of the X-axis, the Y-axis and the Z-axis, and βx, βy, βz are respectively the adjustment factors of the X-axis, the Y-axis and the Z-axis. final final final f f f x y z X Y Z

[0049] In a possible implementation method of the first aspect, a hyperbolic positioning model is constructed based on the distance difference, and the indoor relative coordinate of the first target is determined through the intersection point of the hyperbolic positioning model, specifically:

[0050] Any one of the base stations is selected as a first base station, and the position coordinate of the first base station is taken as a reference coordinate to calculate the distance difference of the first target to the remaining base stations;

[0051] ​​​​​​​​​​​​According to the hyperbola corresponding to the distance difference, a corresponding hyperboloid is constructed, and a curve is obtained by intersecting any two of the hyperboloids;

[0052] The curve is combined with the remaining hyperboloids to obtain the indoor relative coordinates of the first target.

[0053] The second aspect of the application provides an indoor and outdoor positioning system based on ultra-wideband and satellite positioning fusion, which comprises an outdoor coordinate calculation module, an indoor coordinate calculation module, a coordinate processing strategy generation module and a final positioning coordinate determination module.

[0054] The outdoor coordinate calculation module is used to collect the outdoor initial coordinates of the first target in an outdoor environment through a satellite navigation system.

[0055] The indoor coordinate calculation module is used to continuously emit ultra-wideband signals to the first target in an indoor environment through an ultra-wideband positioning system to obtain the indoor relative coordinates of the first target.

[0056] The coordinate processing strategy generation module is used to determine a coordinate processing strategy according to the signal strength comparison results of satellite navigation signals and ultra-wideband signals, wherein the signal strengths of the satellite navigation signals and the ultra-wideband signals are determined by monitoring the signal-to-noise ratio and the signal receiving power provided by the satellite navigation system and the ultra-wideband positioning system, respectively.

[0057] The final positioning coordinate determination module is used to obtain the final positioning coordinates by combining the outdoor initial coordinates and the indoor relative coordinates based on the coordinate processing strategy. BRIEF DESCRIPTION OF DRAWINGS

[0058] In order to more clearly illustrate the technical solutions of the application, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0059] Figure 1 is a specific flowchart of an indoor and outdoor positioning method based on ultra-wideband and satellite positioning fusion provided by an embodiment of the application;

[0060] Figure 2 is a structural diagram of an indoor and outdoor positioning system based on ultra-wideband and satellite positioning fusion provided by an embodiment of the application. DETAILED DESCRIPTION

[0061] With reference to the drawings and embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0062] It should be understood that the step numbers used herein are only for the convenience of description, and are not intended to limit the execution sequence of the steps.

[0063] First embodiment

[0064] The conventional outdoor positioning system cannot provide accurate and effective positioning services in an indoor environment. Moreover, when the positioning target moves indoors and outdoors, the coverage range of a single positioning system is limited, and the single positioning system cannot provide a stable positioning method according to environmental changes, resulting in poor positioning accuracy in complex scenes. The embodiments of the present application combine the satellite navigation system with higher outdoor positioning accuracy and the ultra-wideband positioning system with more accurate indoor positioning to build a coherent high-precision positioning link from outdoors to indoors, so that the positioning target can obtain position information smoothly and quickly no matter where it is, and accurate positioning in various complex scenes is achieved.

[0065] As shown in Figure 1 To solve the problem that it is difficult to simultaneously achieve high-precision indoor and outdoor positioning in the prior art, and the positioning accuracy is greatly affected by the movement of the positioning target, the first embodiment of the present application provides a specific flowchart of an indoor and outdoor positioning method based on ultra-wideband and satellite positioning fusion. The indoor and outdoor positioning method based on ultra-wideband and satellite positioning fusion of the present embodiment includes steps S1 to S4, which are described in detail as follows.

[0066] Step S1, in an outdoor environment, acquiring an outdoor initial coordinate of a first target by using a satellite navigation system.

[0067] In the embodiments of the present application, a satellite navigation system based on GPS or Beidou is used for outdoor positioning. Satellites continuously send satellite navigation signals containing orbit parameters and transmission time points to the ground. When the positioning terminal of the first target receives at least four satellite navigation signals, the propagation time of the satellite navigation signals from the satellite to the terminal is measured, and the satellite orbit position (i.e., ephemeris data) is combined to calculate the three-dimensional coordinates of the positioning terminal in the earth coordinate system by using the principle of triangular positioning, that is, the outdoor initial coordinate of the first target.

[0068] Optionally, the positioning terminal can be a device carrying a positioning function, which is generally carried on the first target for receiving a positioning signal.

[0069] The initial outdoor coordinates can provide an outdoor location reference for subsequent positioning. Essentially, positioning is achieved by utilizing the spatial geometric relationship between the satellite and the terminal, as well as the signal propagation characteristics.

[0070] Step S2: In an indoor environment, continuously transmit ultra-wideband signals to the first target using an ultra-wideband positioning system to obtain the indoor relative coordinates of the first target.

[0071] Once the primary target enters indoors, the positioning accuracy of satellite navigation signals is drastically reduced or even rendered unusable due to factors such as building obstruction and multipath effects. In such cases, an ultra-wideband (UWB) positioning system is activated for indoor positioning. UWB utilizes extremely narrow pulse signals for positioning (nanosecond to picosecond levels), offering advantages such as strong penetration, good resistance to multipath interference, and high positioning accuracy (centimeter-level), making it suitable for positioning needs in complex indoor environments.

[0072] The base station cluster of the ultra-wideband positioning system is distributed in the indoor space and continuously sends ultra-wideband signals to the first target. When the positioning terminal receives at least 3 ultra-wideband signals, it calculates the indoor relative coordinates.

[0073] First, calculate the time difference between each received ultra-wideband signal transmitted from its corresponding base station and received by the location-controlled terminal. Since the speed of signal propagation in space is approximately the speed of light and is known, the distance difference between the location-controlled terminal and different base stations can be obtained using the formula "distance difference = time difference × speed of light".

[0074] Then, a hyperbolic positioning model is constructed based on the distance difference, and the indoor relative coordinates of the first target are determined through the intersection of the surfaces of the hyperbolic positioning model.

[0075] Specifically, the distance difference between the positioning terminal and different base stations is first calculated based on the time difference, and then the relative position coordinates of the positioning terminal to different base stations are obtained.

[0076] For example, in this embodiment of the application, there are three ultra-wideband positioning base stations. The first ultra-wideband positioning base station has first coordinates (x1, y1, z1), the second ultra-wideband positioning base station has second coordinates (x2, y2, z2), and the third ultra-wideband positioning base station has third coordinates (x3, y3, z3). Using the first ultra-wideband positioning base station as a reference base station, the distance differences Δd from the positioning terminal to the second and third ultra-wideband positioning base stations are measured. 21 and Δd 31 .

[0077] Based on spatial geometric relationships, determine the position coordinates (x, y) of the positioning terminal. r y r , z r)The distance difference constraint to three base stations is met, so a nonlinear equation set with the position coordinates as unknowns is constructed by using the spatial two-point distance formula, reflecting the correlation between the distance difference of the positioning terminal to different base stations and the coordinates, and the nonlinear equation set is:

[0078]

[0079] Then the above nonlinear equation set is converted into a linear equation set by a hyperbolic model, that is, a corresponding hyperboloid model, and the following equation is obtained after being solved together:

[0080]

[0081] In the formula, d1 is the distance difference of the positioning terminal to the first ultra-wideband positioning base station.

[0082] The above linear equation set is expressed in a matrix form AX=B, wherein:

[0083]

[0084] In the formula, A is a coefficient matrix, X is an unknown vector, that is, the position coordinates of the positioning terminal; B is a constant term matrix, b1 is a positioning compensation factor of the first ultra-wideband positioning base station and the second ultra-wideband positioning base station, and b2 is a positioning compensation factor of the first ultra-wideband positioning base station and the third ultra-wideband positioning base station.

[0085] The above linear equation set in the matrix form is actually that two hyperboloids intersect to obtain a curve, and then the intersection point of the curve and the hyperboloid composed of the third base station is solved to obtain the solution of the linear equation set.

[0086] Because there is a certain error in actual measurement, the above linear equation set may have no solution or multiple solutions, so the least square method is used to solve X under the error minimization principle in the embodiment of the application to obtain the coordinates of the positioning terminal relative to the ultra-wideband base station, that is, the indoor relative coordinates of the first target, so as to realize the indoor precise positioning calculation.

[0087] Step S3, determining a coordinate processing strategy according to the signal strength comparison result of the satellite navigation signal and the ultra-wideband signal.

[0088] In step S2 of the embodiment of the application, the signal strengths of the satellite navigation signal and the ultra-wideband signal are acquired first, the signal strengths are compared at a set threshold, and then it is determined whether to use outdoor satellite positioning or indoor-outdoor combined positioning or indoor-outdoor weighted fusion positioning according to the signal strength comparison result, so as to realize the precise positioning based on the current position of the first target.

[0089] Real-time monitoring of satellite navigation signal of satellite navigation system and signal-to-noise ratio and received power and other indicators of ultra-wideband positioning system, and the signal-to-noise ratio and received power and other indicators of ultra-wideband signal, determine the corresponding signal strength. Among them, the signal strength can reflect the system positioning availability and accuracy, the satellite navigation signal is strong, which means that the outdoor or open environment is less affected by the shelter, and the ultra-wideband signal is strong, which means that the indoor environment is suitable for positioning conditions.

[0090] When the signal strength of the satellite navigation signal is greater than the set threshold and the signal strength of the ultra-wideband signal is less than the set threshold, it means that satellite positioning is more effective and the indoor environment has great interference to UWB or the base station coverage is poor, and the first target is very likely to be outdoors. Therefore, outdoor satellite positioning is used as the coordinate processing strategy to ensure positioning continuity in outdoor and weaken indoor UWB environment.

[0091] When the signal strength of the satellite navigation signal is less than the set threshold and the signal strength of the ultra-wideband signal is greater than the set threshold, it means that satellite positioning is affected by indoor shelter, and the positioning accuracy is poor or cannot be positioned, while the indoor base station coverage is good, and the first target is very likely to be indoors. Therefore, indoor and outdoor combined positioning is used as the coordinate processing strategy to obtain accurate positioning coordinates by relying on the high-precision characteristics of UWB.

[0092] When the signal strength of the satellite navigation signal and the ultra-wideband signal is greater than the set threshold, it means that the first target is very likely to be in the transition area between indoor and outdoor or the indoor space is open. Therefore, indoor and outdoor weighted fusion positioning is used as the coordinate processing strategy to combine the advantages of the two positioning methods, improve the positioning accuracy and reliability, and realize smooth switching and optimization of positioning in different scenarios.

[0093] Step S4, based on the coordinate processing strategy, the outdoor initial coordinates and the indoor relative coordinates are combined to obtain the final positioning coordinates.

[0094] The coordinate processing strategy includes outdoor satellite positioning, indoor and outdoor combined positioning, and indoor and outdoor weighted fusion positioning.

[0095] Outdoor satellite positioning is to directly use the outdoor initial coordinates as the final positioning coordinates; indoor and outdoor combined positioning is to combine the outdoor initial coordinates and the indoor relative coordinates to obtain the final positioning coordinates; indoor and outdoor weighted fusion positioning is to weight and fuse the outdoor initial coordinates and the indoor relative coordinates, and dynamically allocate the weight according to the signal strength, so as to fully utilize the advantages of the two positioning systems to realize accurate positioning and obtain accurate final positioning coordinates.

[0096] When outdoor satellite positioning is used, it means that the signal strength of the satellite navigation signal is better, and the first target is very likely to be outdoors. Therefore, the previously obtained outdoor initial coordinates are directly used as the final positioning coordinates to realize positioning of the first target, and no coordinate system conversion is needed.

[0097] Because both the indoor-outdoor combined positioning and the indoor-outdoor weighted fusion positioning need to combine the outdoor initial coordinates, the outdoor initial coordinates are first converted to the indoor ultra-wideband coordinate system before being combined. The conversion involves rotation, translation and scaling transformation of the spatial coordinate system. The conversion model is established by collecting the coordinate points at the same position in the two coordinate systems in the indoor-outdoor overlapping area (such as the entrance of a building) in advance. The two coordinate systems here refer to the earth coordinate system of the outdoor initial coordinates and the indoor relative coordinate of the indoor ultra-wideband coordinate system.

[0098] The conversion model can be expressed as a transformation including a rotation matrix (describing the rotation relationship of the coordinate system), a translation vector (reflecting the offset of the origin of the coordinate system) and a possible scale factor (correcting the scaling difference of the coordinates), which can map the earth coordinate system to the indoor ultra-wideband coordinate system, unify the coordinate system reference of different systems and prepare for the subsequent coordinate combination.

[0099] Suppose the conversion coordinates of the outdoor initial coordinates (x0, y0, z0) converted to the indoor ultra-wideband coordinate system are (x t , y t , z t ), the conversion coordinates are combined with the indoor relative coordinates to construct the positioning base value. Then, according to the installation error of the base station of the ultra-wideband positioning system and the cumulative error of the conversion coordinates, the adjustment parameters of each coordinate axis are set, and according to the environmental monitoring data, the influence factors of each coordinate axis are set. Finally, the positioning base value is error-corrected by the adjustment parameters and the influence factors to obtain the final positioning coordinates, realizing the accurate positioning of the first target.

[0100] As an improvement of the above-mentioned scheme, the outdoor initial coordinates are subjected to matrix multiplication and addition operation with the rotation matrix, translation vector, etc. of the conversion model, and then the correction parameters related to the conversion deviation, time and environment are used in the form of vectors or matrices to participate in the operation, so as to gradually adjust the outdoor initial coordinates and finally obtain the conversion coordinates in the indoor ultra-wideband coordinate system. The expression of the conversion coordinates is:

[0101]

[0102] In the formula, (x t , y t , z t ) are the conversion coordinates, R is the rotation matrix, T is the translation vector, 0 T is the transpose of the zero vector, ξ x is the x-axis conversion deviation supplementary parameter in the indoor ultra-wideband coordinate system, ξ y is the y-axis conversion deviation supplementary parameter in the indoor ultra-wideband coordinate system, and ξ z is the z-axis conversion deviation supplementary parameter in the indoor ultra-wideband coordinate system, and λx,t is the time-dependent offset parameter for the x-axis, λ y,t is the time-dependent offset parameter for the y-axis, λ z,t is the time-dependent offset parameter for the z-axis, θ t is the time decay coefficient, is the gravity field gradient influence coefficient for the x-axis, is the gravity field gradient influence coefficient for the y-axis, is the gravity field gradient influence coefficient for the z-axis, g is the gravity acceleration, ψ a,x is the geomagnetic influence correction coefficient for the x-axis, ψ a,y is the geomagnetic influence correction coefficient for the y-axis, ψ a,z is the geomagnetic influence correction coefficient for the z-axis, a is the geomagnetic field intensity.

[0103] The rotation matrix describes the spatial rotation relationship from the outdoor coordinate system to the indoor ultra-wideband coordinate system. Since the indoor and outdoor coordinate system directions (such as the coordinate axis north direction, zenith direction) may be different, the outdoor coordinate is rotated through the rotation matrix to align the direction with the indoor ultra-wideband coordinate system, such as the indoor ultra-wideband coordinate system x-axis along the building corridor, the earth coordinate system x-axis points to the earth meridian, and the coordinate axis direction needs to be rotated to match.

[0104] The translation vector is used to compensate for the spatial offset of the origin of the indoor and outdoor coordinate systems. The outdoor satellite positioning origin is the earth center (or protocol origin), and the indoor ultra-wideband coordinate system origin is the reference point of its deployment (such as the location of an indoor base station).

[0105] The time-dependent offset coefficients of each coordinate axis take into account the influence of time on coordinate conversion. For example, signal propagation, device clock drift, etc. change with time, and the λ series of parameters compensate for the linear offset of the x, y, and z axes due to time; the time decay coefficient θ t The time decay coefficient reflects the time decay characteristics, such as the decline of device performance over time, the attenuation mode of error accumulation, and can dynamically correct the conversion error caused by time.

[0106] The gravity field gradient influence coefficient characterizes the uneven distribution of the earth's gravity field, and the indoor building structure (such as floors, large metal components) will change the local gravity field. Therefore, the gravity field gradient influence coefficient is used to correct the interference of gravity field changes on coordinate conversion, such as in high-rise buildings, the gravity field gradient change may cause the elevation (z-axis) of the indoor and outdoor coordinate systems to deviate from the elevation of the indoor ultra-wideband coordinate system. Through the gravity-related parameters, the z-axis conversion accuracy is improved.

[0107] The magnetic influence correction coefficient of each coordinate axis: the geomagnetic field is distorted by building materials such as steel bars, metal pipes, etc. in the room. If the UWB positioning or satellite positioning device is disturbed by the geomagnetic field, the coordinate measurement will be deviated. The conversion error caused by the magnetic field distortion of the x, y, z axes is corrected by the geomagnetic influence correction coefficient, so as to ensure the accuracy of the coordinate conversion in the complex electromagnetic environment.

[0108] After the conversion coordinates are combined and error-corrected with the indoor relative coordinates, the final positioning coordinates obtained by indoor-outdoor combined positioning are obtained, and the specific expression is as follows:

[0109]

[0110] In the formula, (x f , y f , z f ) is the final positioning coordinates obtained by indoor-outdoor combined positioning, (x t , y t , z t ) is the conversion coordinates, (x r , y r , z r ) is the indoor relative coordinates, ω x , ω y , ω z are adjustment parameters in the x, y, z axes respectively, τ x , τ y , τ z are influence factors in the x, y, z axes respectively.

[0111] The positioning basis value is the physical fusion of the conversion coordinates and the indoor relative coordinates, which realizes the fusion of position information from different sources. Optionally, the positioning basis value can be obtained by directly adding the conversion coordinates and the indoor relative coordinates.

[0112] The adjustment parameter is used to correct the inherent deviation of the positioning system, such as the installation error of the ultra-wideband base station and the cumulative error caused by the coordinate system conversion. By actual measurement or calibration, such as collecting data at a known accurate position, the correction value is deduced, and the positioning basis value is corrected, so that the coordinates are closer to the true position.

[0113] The influence factor is used to compensate for the interference of environmental dynamic changes on positioning, for example, to correct the change of the ultra-wideband signal caused by the movement of indoor personnel and the carrying of metal objects due to multipath effect, or the influence of environmental factors such as geomagnetic field and temperature on positioning accuracy.

[0114] Based on the expression of the final positioning coordinates obtained by indoor-outdoor combined positioning above, the expression of the influence factor is as follows:

[0115]

[0116] wherein τ x , τ y , τ z are the influence factors in x, y, z axes, which can be dynamically adjusted according to signal intensity and environmental sensor information, so that the positioning result is more suitable for real-time environment; χ x,e , χ y,e , χ z,e are the device hardware deviation compensation parameters in x, y, z axes, which are determined by inherent errors in device production and installation; ρ x,e , ρ y,e , ρ z,e are the environmental temperature influence coefficients in x, y, z axes, which are used to correct the positioning error of the device itself in the temperature environment; σ x,e , σ y,e , σ z,e are the device vibration offset coefficients in x, y, z axes; δ x,d , δ y,d , δ z,d are the vibration frequency influence parameters in x, y, z axes; μ x,u , μ y,u , μ z,u are the device voltage fluctuation correction parameters in x, y, z axes; v x,u , v y,u , v z,u are the voltage positioning error correlation parameters in x, y, z axes. In addition, the device herein refers to a satellite navigation system, an ultra-wideband positioning system, a positioning device, and other devices related to signal transmission and reception.

[0117] Based on the above formula, because the influence factor is used to compensate for the interference of dynamic changes in the environment (such as temperature, vibration, and voltage fluctuation) on positioning, in order to further improve the accuracy of error correction, the influence factor of each axis is decomposed into the comprehensive action of four types of factors, i.e., device hardware deviation, environmental temperature, device vibration, and voltage fluctuation, and these factors are quantified through mathematical modeling, so that the positioning compensation is more accurate.

[0118] Considering that temperature changes will cause the drift of device hardware parameters (such as circuit resistance and antenna frequency), the environmental temperature influence coefficient is used for correction; when the device (such as a mobile robot carrying a tag or a device worn by a person) vibrates, the antenna posture and signal propagation path change, resulting in positioning deviation, so the device vibration offset coefficient is used to correct such errors.

[0119] Because different vibration frequencies interfere with positioning in different modes, such as high-frequency vibration can make the signal multipath effect more complex, therefore the device vibration offset coefficient is multiplied by the vibration frequency influence parameter to compensate for the position offset caused by vibration + the interference difference brought by vibration frequency, so that the positioning method of the embodiment of the application can adapt to the dynamic vibration scene of the device.

[0120] When the device voltage is unstable, such as the change of the power of the battery-powered device causes the working state of the circuit to change, affecting the signal transmission / reception accuracy, therefore the device voltage fluctuation correction parameter is used for error correction; the voltage positioning error correlation parameter is used to quantify the corresponding relationship between voltage fluctuation and positioning error, such as how much the positioning error increases when the voltage decreases by 10%, therefore the device voltage fluctuation correction parameter and the voltage positioning error correlation parameter are multiplied to compensate for the interference of voltage fluctuation on positioning, and to ensure the positioning accuracy of the device under different power supply states.

[0121] In principle, combining the conversion coordinates and the indoor relative coordinates is to use the conversion coordinates to provide the initial outdoor-to-indoor position reference, and the relative position coordinates to reflect the indoor fine position offset, and to correct the cumulative error of the conversion coordinates through the fusion algorithm, and to obtain more accurate and stable indoor positioning results by combining the real-time relative position coordinates, so that the positioning not only connects the outdoor initial position, but also adapts to the indoor fine scene.

[0122] In addition, the indoor relative coordinates obtained by the ultra-wideband positioning system actually reflect the relative position of the first target in the indoor ultra-wideband coordinate system, and the conversion coordinates can connect the outdoor initial coordinates and the indoor ultra-wideband coordinate system, fuse the conversion coordinates and the indoor relative coordinates, correct the error, and combine the environmental influence to obtain more accurate final positioning coordinates.

[0123] The indoor-outdoor weighted fusion positioning also uses the positioning base value in the indoor-outdoor combined positioning, but introduces weighted fusion on the basis of the positioning base value, that is, when the signal strengths of the satellite navigation signal and the ultra-wideband signal both meet the requirements, the advantages of the two need to be fused to obtain more accurate positioning results. Here, because the outdoor initial coordinates of satellite positioning have wide-area absolute reference value and can provide long-term stable position information in the global unified coordinate system, and the indoor relative coordinates of UWB positioning have centimeter-level high-precision advantage in indoor environment and can resist the shielding interference of buildings. By weighting and fusing the two, the advantages can be complemented and the error can be compensated, so as to output more accurate and robust final positioning coordinates.

[0124] Therefore, the difference between indoor-outdoor weighted fusion positioning and indoor-outdoor combined positioning lies in "whether to simultaneously fuse the positioning information of the two signals and perform dynamic weighting", and the indoor-outdoor weighted fusion positioning is an optimized fusion in the transition scene, and the indoor-outdoor combined positioning is a single scheme in the indoor scene.

[0125] In the embodiments of the present application, the positioning weights of the satellite navigation signal and the ultra-wideband signal are respectively adjusted according to the sizes of the signal strengths. The higher the signal strength is, the higher the positioning weight is.

[0126] For example, the positioning weight of the satellite navigation signal is ws, and the positioning weight of the ultra-wideband signal is wu, and both of them satisfy ws+wu=1. When the signal strength of the satellite navigation signal is much stronger than that of the ultra-wideband signal, the value range of ws is [0.7, 0.95], and the value range of wu is [0.05, 0.3]. When the signal strengths of the two are close, the value ranges of ws and wu are both [0.4, 0.6].

[0127] Then the outdoor initial coordinates and the indoor relative coordinates are combined to obtain indoor positioning coordinates. The indoor positioning coordinates are actually the final positioning coordinates in the case of indoor-outdoor combined positioning. Since the indoor relative coordinates are introduced into the indoor positioning coordinates, the indoor positioning coordinates are dynamically fused by the positioning weight of the ultra-wideband signal in the embodiments of the present application. Under the action of the system deviation coefficients, the adjustment factors of each coordinate axis and the positioning weights, the indoor positioning coordinates and the outdoor initial coordinates are weighted and fused to obtain the final positioning coordinates in the case of indoor-outdoor weighted fusion positioning, and the specific expression is:

[0128]

[0129] In the formula, (x final , y final , z final ) is the final positioning coordinates, (x0, y0, z0) is the outdoor initial coordinates, (x f , y f , z f ) is the indoor positioning coordinates, α1 is the positioning weight of the satellite navigation signal, α2 is the positioning weight of the ultra-wideband signal, λ x , λ y , λ z are respectively the system deviation coefficients of the X-axis, the Y-axis and the Z-axis, β X , β Y , β Z are respectively the adjustment factors of the X-axis, the Y-axis and the Z-axis.

[0130] Further, based on the final positioning coordinates obtained by the above indoor and outdoor weighted fusion positioning, if the signal strength of the satellite navigation signal is higher, it means that the first target is likely to be in an open environment, then a1 is increased, so that the outdoor initial coordinates have a higher proportion in the fusion and play its wide-area stability; if the signal strength of the ultra-wideband signal is higher, it means that there is no obstruction in the indoor environment and the UWB base station layout is optimal, then a2 is increased, so that the indoor positioning coordinates dominate the fusion, making up for the error of the satellite in the indoor weak signal, and realizing the "complementary advantages".

[0131] On the basis of the above weighted fusion, the system deviation coefficient and the adjustment factor are used to correct the interference error caused by systematic deviation and environmental changes.

[0132] The system deviation coefficient is used to compensate the systematic deviation of the "satellite + UWB" fusion, which is obtained by pre-acquiring the inherent deviation of satellite positioning ephemeris error, ionospheric delay, and ultra-wideband positioning base station calibration error, signal propagation model error, etc. through measurement or Kalman filtering, calibration experiment and other algorithms.

[0133] The adjustment factor is used to cope with the error caused by real-time multipath effect, electromagnetic interference and other dynamic environmental interference during the weighted fusion, which can be dynamically calculated according to the signal strength, interference source detection and other environmental monitoring data, so that the fusion result can adapt to the real-time environment.

[0134] Further, the expression of the adjustment factor is:

[0135]

[0136] In the formula, μ x,f , μ y,f , μ z,f are the dynamic adjustment parameters of the fusion weight in the x, y, z axes respectively; v x,f , v y,f , v z,f are the data fluctuation smoothing parameters in the x, y, z axes respectively.

[0137] It can be seen that in the weighted fusion process, the adjustment factor needs to adapt to the data fluctuation and the dynamic change of the weight.

[0138] The fusion weight dynamic adjustment parameter is responsible for real-time adaptation of the weight strategy. The signal quality of satellite navigation signals and ultra-wideband signals is dynamically changing. For example, when a vehicle is driving, the satellite navigation signal is temporarily blocked by a building, and the ultra-wideband signal fluctuates due to changes in the distance from the base station. Therefore, according to real-time data such as signal strength and positioning error, the weight proportion of satellite and ultra-wideband in fusion is dynamically adjusted. For example, when the satellite navigation signal suddenly weakens, the fusion weight dynamic adjustment parameter reduces the positioning weight of the satellite navigation signal, avoiding the influence of its error on the fusion result; when the ultra-wideband signal is subjected to multipath interference, the fusion weight dynamic adjustment parameter suppresses the positioning weight of the ultra-wideband signal, ensuring the stability of the fusion.

[0139] The data fluctuation smoothing parameter focuses on compensating for data fluctuation errors. Positioning data may fluctuate instantaneously due to dynamic changes in the environment, such as sudden changes in multipath effects of ultra-wideband signals caused by personnel movement and increased Doppler frequency shift of satellites when a vehicle accelerates. The data fluctuation smoothing parameter corrects fluctuating data through sliding average or Kalman filtering. For example, the positioning result of an ultra-wideband positioning system jumps due to signal reflection, and the data fluctuation smoothing parameter combines historical data and real-time data to calculate a more reasonable intermediate value, making the fusion result smoother and more continuous.

[0140] Therefore, the fusion weight dynamic adjustment parameter ensures that the fusion weight adapts to the current scenario (i.e., satellite navigation signal is strong, and satellite navigation signal is strong), and the data fluctuation smoothing parameter ensures the stability of the data itself (filters out transient interference and prevents sudden changes in positioning results).

[0141] In addition, the calculation formula of the positioning weight is:

[0142]

[0143]

[0144] In the formula, S1 is the signal strength of the satellite navigation signal, reflecting the availability and accuracy of satellite positioning in the current environment, i.e., the stronger the signal, the more stable the satellite positioning and the smaller the possible error; S2 is the signal strength of the ultra-wideband signal, representing the adaptability of ultra-wideband positioning in the current environment, i.e., the stronger the signal, the easier it is to exert the high-precision advantage of ultra-wideband positioning indoors.

[0145] Therefore, the core value of the weighted fusion algorithm adopted by the embodiments of the present application lies in "dynamic adaptation + error full compensation". In the aspect of dynamic adaptation, the fusion degree of different signals is adjusted in real time by means of positioning weight, which can make the positioning method cover complex scenes such as outdoor-indoor transition area and open indoor space, and enable the positioning system to intelligently switch the advantage data source. In the aspect of error full compensation, all link error sources from satellite to ultra-wideband are compensated to solve the limitations of single system positioning. For example, at the entrance of an underground parking lot, the satellite signal is weak but not completely disappeared, and the ultra-wideband starts to cover, a1 gradually decreases, and a2 gradually increases, to realize smooth transition of the positioning result; in a large factory workshop, the satellite signal is blocked but the ultra-wideband is fully covered, a2 dominates, and the ultra-wideband error is compensated to ensure high precision; in an outdoor open area, the satellite signal is strong and the ultra-wideband has no coverage, a1 dominates to utilize the stability of satellite positioning.

[0146] In summary, the embodiments of the present application give three positioning result acquisition methods for different situations by comparing signal strengths, complement the advantages of ultra-wideband positioning systems and navigation satellite systems, construct a coherent high-precision positioning link from outdoor to indoor, and combine various error correction coefficients to finely compensate for multiple factors such as device hardware deviation, environmental temperature, vibration, and voltage fluctuation, thereby greatly reducing the influence of various error sources and making the positioning result closer to the true position of the first target.

[0147] The embodiments of the present application have the following beneficial effects:

[0148] The embodiments of the present application use the satellite navigation system with high outdoor positioning accuracy to obtain outdoor initial coordinates, and use the ultra-wideband positioning system with high indoor positioning accuracy to obtain indoor relative coordinates. Then, the signal strengths of the satellite navigation signal and the ultra-wideband signal are compared, and the positioning method more suitable for the position of the first target is selected according to the signal strength, to obtain high-precision positioning coordinates. That is, the satellite navigation signal is stronger, indicating that the first target is outdoor, the ultra-wideband signal is stronger, indicating that the first target is indoor, and both signals are strong, indicating that the first target is in the transition area between indoor and outdoor, and the two coordinates need to be combined for analysis. Therefore, by using the satellite navigation system and the ultra-wideband positioning system together, a coherent high-precision positioning link from outdoor to indoor is constructed, so that the position information can be obtained smoothly and quickly no matter where the positioning target is, and the positioning system is suitable for more complex positioning scenes.

[0149] Second embodiment

[0150] Further, in order to implement the indoor and outdoor positioning system based on ultra-wideband and satellite positioning fusion corresponding to the above-mentioned method embodiment, and realize the corresponding functions and technical effects, Figure 2A structural diagram of an indoor and outdoor positioning system based on ultra-wideband and satellite positioning fusion is provided. For ease of illustration, only parts related to the present embodiment are shown. The indoor and outdoor positioning system based on ultra-wideband and satellite positioning fusion provided by the present embodiment comprises:

[0151] An outdoor coordinate calculation module 201 is configured to collect an outdoor initial coordinate of a first target under an outdoor environment through a satellite navigation system.

[0152] In the present embodiment, a satellite navigation system based on GPS or Beidou is used for outdoor positioning. Satellites continuously send satellite navigation signals containing orbit parameters and transmission time points to the ground. When a positioning terminal of the first target receives at least four satellite navigation signals, the propagation time of the satellite navigation signals from the satellites to the terminal is measured, and the three-dimensional coordinate of the positioning terminal in the earth coordinate system is calculated by combining the set satellite orbit position (i.e., ephemeris data) and using the principle of triangular positioning, that is, the outdoor initial coordinate of the first target.

[0153] Optionally, the positioning terminal can be a device with a positioning function, which is generally mounted on the first target for receiving positioning signals.

[0154] The outdoor initial coordinate can provide an outdoor position reference for subsequent positioning. Its essence is to realize positioning by using the spatial geometric relationship between the satellite and the terminal and the signal propagation characteristics.

[0155] An indoor coordinate calculation module 202 is configured to continuously emit an ultra-wideband signal to the first target through an ultra-wideband positioning system under an indoor environment to obtain an indoor relative coordinate of the first target.

[0156] In the present embodiment, the base station group in the ultra-wideband positioning system continuously emits the ultra-wideband signal to the positioning terminal of the first target. When the positioning terminal receives at least a second threshold value of the ultra-wideband signals, the time difference of the ultra-wideband signals from each base station to the reception is calculated.

[0157] According to the time difference, the distance difference between the positioning terminal and each base station is determined.

[0158] A hyperbolic positioning model is constructed based on the distance difference. The indoor relative coordinate of the first target is determined through the intersection of the surface of the hyperbolic positioning model.

[0159] A coordinate processing strategy generation module 203 is configured to determine a coordinate processing strategy according to the signal strength comparison results of the satellite navigation signal and the ultra-wideband signal. The signal strengths of the satellite navigation signal and the ultra-wideband signal are determined by monitoring the signal-to-noise ratio and the signal reception power provided by the satellite navigation system and the ultra-wideband positioning system, respectively.

[0160] In the embodiments of the present application, the signal strengths of satellite navigation signals and ultra-wideband signals are first acquired, the signal strengths are compared at a set threshold, and then it is determined whether to use outdoor satellite positioning or indoor-outdoor combined positioning or indoor-outdoor weighted fusion positioning according to the comparison result of the signal strengths, so as to realize accurate positioning based on the current position of the first target.

[0161] The signal-to-noise ratio and received power of satellite navigation signals of a satellite navigation system and the signal-to-noise ratio and received power of ultra-wideband signals of an ultra-wideband positioning system are monitored in real time to determine the corresponding signal strengths. The signal strengths can reflect the positioning availability and accuracy of the system. Strong satellite navigation signals indicate an outdoor or open environment with less obstruction, and strong ultra-wideband signals indicate an indoor environment that is suitable for positioning.

[0162] When the signal strength of the satellite navigation signal is greater than the set threshold and the signal strength of the ultra-wideband signal is less than the set threshold, it is indicated that satellite positioning is more effective and the indoor environment has large interference to UWB or the base station coverage is poor, and the first target is likely to be outdoors. Therefore, outdoor satellite positioning is used as the coordinate processing strategy to ensure positioning continuity in outdoor and indoor UWB environments.

[0163] When the signal strength of the satellite navigation signal is less than the set threshold and the signal strength of the ultra-wideband signal is greater than the set threshold, it is indicated that satellite positioning is obstructed in the indoor environment, the positioning accuracy is poor or positioning is impossible, and the indoor base station coverage is good. Therefore, indoor-outdoor combined positioning is used as the coordinate processing strategy to obtain accurate positioning coordinates by relying on the high-precision characteristics of UWB.

[0164] When the signal strengths of the satellite navigation signal and the ultra-wideband signal are both greater than the set threshold, it is indicated that the first target is likely to be in a transition area between indoor and outdoor or an open indoor space. Therefore, indoor-outdoor weighted fusion positioning is used as the coordinate processing strategy to combine the advantages of the two positioning methods, improve positioning accuracy and reliability, and realize smooth switching and optimization of positioning in different scenarios.

[0165] The final positioning coordinate determination module 204 is configured to obtain final positioning coordinates by combining the outdoor initial coordinates and the indoor relative coordinates based on the coordinate processing strategy.

[0166] In the embodiments of the present application, when the coordinate processing strategy is outdoor satellite positioning, only the outdoor initial coordinates are used as the final positioning coordinates.

[0167] When the coordinate processing strategy is indoor-outdoor combined positioning, the outdoor initial coordinates are subjected to coordinate conversion, and the coordinate conversion result and the indoor relative coordinates are combined to obtain the final positioning coordinates.

[0168] The coordinate processing strategy is used for indoor and outdoor weighted fusion positioning, and the outdoor initial coordinates and the indoor relative coordinates are weighted and fused according to the positioning weights of the satellite navigation signals and the ultra-wideband signals to obtain the final positioning coordinates.

[0169] In some embodiments, the indoor coordinate calculation module 202, in particular:

[0170] When the first target enters the indoor, the positioning accuracy of the satellite navigation signals emitted by the satellite is sharply reduced or even unable to be positioned due to the shielding of buildings and multipath effects, at which time the ultra-wideband positioning system (UWB) is started for indoor positioning. The ultra-wideband positioning system uses extremely narrow pulse signals for positioning (nanoseconds to picoseconds), has the advantages of strong penetration, good anti-multipath interference, and high positioning accuracy (centimeter level), and is suitable for indoor complex environment positioning requirements.

[0171] The base station group of the ultra-wideband positioning system is distributed in the indoor space and continuously sends ultra-wideband signals to the first target. When the positioning terminal receives at least three ultra-wideband signals, the indoor relative coordinates are calculated.

[0172] First, the time difference of each received ultra-wideband signal from the corresponding base station to the positioning terminal is calculated. Because the propagation speed of the signal in space is approximately the speed of light and is known, the distance difference between the positioning terminal and different base stations can be obtained according to the formula "distance difference = time difference x speed of light".

[0173] Then, a hyperbolic positioning model is constructed based on the distance difference, and the indoor relative coordinates of the first target are determined through the intersection points of the hyperbolic positioning model.

[0174] Specifically, the distance difference between the positioning terminal and different base stations is calculated according to the time difference, and then the relative position coordinates of the positioning terminal to different base stations are obtained.

[0175] For example, in the embodiments of the present application, there are three ultra-wideband positioning base stations, the first coordinate of the first ultra-wideband positioning base station is (x1, y1, z1), the second coordinate of the second ultra-wideband positioning base station is (x2, y2, z2), and the third coordinate of the third ultra-wideband positioning base station is (x3, y3, z3). The first ultra-wideband positioning base station is taken as a reference base station, and the distance differences between the positioning terminal and the second ultra-wideband positioning base station and the third ultra-wideband positioning base station are measured to be Δd 21 and Δd 31 .

[0176] According to the spatial geometric relationship, the position coordinates (x r , y r , z r)distance difference constraints to three base stations need to be met, so a nonlinear equation set with the position coordinates as unknowns is constructed by using a spatial two-point distance formula, reflecting the correlation between the distance difference of the positioning terminal to different base stations and the coordinates, and the nonlinear equation set is:

[0177]

[0178] Then the nonlinear equation set is converted into a linear equation set by using a hyperbolic model, i.e., a corresponding hyperboloid model, and the following equations are obtained after being solved together:

[0179]

[0180] In the formula, d1 is the distance difference of the positioning terminal to the first ultra-wideband positioning base station.

[0181] The linear equation set is expressed in a matrix form AX=B, wherein:

[0182]

[0183] In the formula, A is a coefficient matrix, X is an unknown vector, i.e., the position coordinates of the positioning terminal; B is a constant term matrix, b1 is a positioning compensation factor of the first ultra-wideband positioning base station and the second ultra-wideband positioning base station, and b2 is a positioning compensation factor of the first ultra-wideband positioning base station and the third ultra-wideband positioning base station.

[0184] The linear equation set in the matrix form is actually a curve obtained by intersecting two hyperboloids, and the intersection point of the curve and the hyperboloid formed by the third base station is solved to obtain the solution of the linear equation set.

[0185] Because there is a certain error in actual measurement, the linear equation set may have no solution or multiple solutions, so the least square method is used to solve X under the error minimization principle to obtain the coordinates of the positioning terminal relative to the ultra-wideband base station, i.e., the indoor relative coordinates of the first target, so as to realize the indoor precise positioning calculation.

[0186] In some embodiments, the final positioning coordinate determination module 204 specifically includes:

[0187] The coordinate processing strategy includes outdoor satellite positioning, indoor-outdoor combined positioning, and indoor-outdoor weighted fusion positioning.

[0188] The outdoor satellite positioning is to directly use the outdoor initial coordinates as the final positioning coordinates; the indoor-outdoor combined positioning is to combine the outdoor initial coordinates and the indoor relative coordinates to obtain the final positioning coordinates; and the indoor-outdoor weighted fusion positioning is to perform weighted fusion on the outdoor initial coordinates and the indoor relative coordinates, and dynamically allocate the weight through the signal strength, so as to fully utilize the advantages of the two positioning systems to realize precise positioning and obtain accurate final positioning coordinates.

[0189] When the outdoor satellite positioning is adopted, the signal strength of the satellite navigation signal is better, and the first target is likely to be outdoors, so the previously obtained outdoor initial coordinates are directly used as the final positioning coordinates to realize the positioning of the first target, and any coordinate system conversion is not required.

[0190] Because the indoor-outdoor combined positioning and the indoor-outdoor weighted fusion positioning both need to combine the outdoor initial coordinates, the outdoor initial coordinates are first converted to the indoor ultra-wideband coordinate system for combination. The conversion involves rotation, translation and scaling of the spatial coordinate system, and a conversion model is established by collecting the coordinate points at the same position in the two coordinate systems in the indoor-outdoor overlapping area (such as the entrance of a building) in advance. The two coordinate systems here refer to the earth coordinate system of the outdoor initial coordinates and the indoor ultra-wideband coordinate system of the indoor relative coordinates.

[0191] The conversion model can be represented as a transformation including a rotation matrix (describing the rotation relationship of the coordinate system), a translation vector (reflecting the offset of the origin of the coordinate system) and a possible scale factor (correcting the scaling difference of the coordinates), which can map the earth coordinate system to the indoor ultra-wideband coordinate system, unify the coordinate system of different systems, and prepare for subsequent coordinate combination.

[0192] Suppose that the conversion coordinates of the outdoor initial coordinates (x0, y0, z0) converted to the indoor ultra-wideband coordinate system are (x t , y t , z t ), the conversion coordinates are combined with the indoor relative coordinates to construct a positioning base value. Then, according to the installation error of the base station of the ultra-wideband positioning system and the cumulative error of the conversion coordinates, adjustment parameters of each coordinate axis are set, and according to the environmental monitoring data, influence factors of each coordinate axis are set. Finally, the positioning base value is error-corrected through the adjustment parameters and the influence factors to obtain the final positioning coordinates, and the precise positioning of the first target is realized.

[0193] As an improvement of the above scheme, the outdoor initial coordinates are subjected to matrix multiplication and addition operation with the rotation matrix, translation vector and the like of the conversion model, and then a correction parameter related to the conversion deviation, time and environment is used in the form of a vector or a matrix to participate in the operation, so as to gradually adjust the outdoor initial coordinates, and finally obtain the conversion coordinates in the indoor ultra-wideband coordinate system. The expression of the conversion coordinates is:

[0194]

[0195] In the formula, (x t , y t , z t ) are the conversion coordinates, R is the rotation matrix, T is the translation vector, and 0T ξ is the transpose of zero vector, x ξ is the x-axis conversion bias supplement parameter in the indoor ultra-wideband coordinate system, y ξ is the y-axis conversion bias supplement parameter in the indoor ultra-wideband coordinate system, and ξ z λ is the z-axis conversion bias supplement parameter in the indoor ultra-wideband coordinate system, x,t λ is the x-axis time-dependent offset parameter, y,t λ is the y-axis time-dependent offset parameter, z,t λ is the z-axis time-dependent offset parameter, t θ is the time attenuation coefficient, g is the x-axis gravity field gradient influence coefficient, g is the y-axis gravity field gradient influence coefficient, g is the z-axis gravity field gradient influence coefficient, g is the gravity acceleration, and ψ a,x ψ is the x-axis geomagnetic influence correction coefficient, a,y ψ is the y-axis geomagnetic influence correction coefficient, a,z ψ is the z-axis geomagnetic influence correction coefficient, a is the geomagnetic field intensity.

[0196] The rotation matrix describes the spatial rotation relationship from the outdoor coordinate system to the indoor ultra-wideband coordinate system. Since the indoor and outdoor coordinate systems may have different directions (such as the positive north direction of the coordinate axis and the zenith direction), the outdoor coordinate is rotated through the rotation matrix to align with the direction of the indoor ultra-wideband coordinate system, such as matching the coordinate axis direction by rotating the indoor ultra-wideband coordinate system x-axis along the building corridor and the earth coordinate system x-axis pointing to the earth meridian.

[0197] The translation vector is used to compensate for the spatial offset of the origin of the indoor and outdoor coordinate systems. The outdoor satellite positioning origin is the earth center (or the protocol origin), and the indoor ultra-wideband coordinate system origin is the reference point of its deployment (such as the location of an indoor base station).

[0198] The time-dependent offset coefficients of each coordinate axis take into account the influence of time on coordinate conversion. For example, signal propagation, device clock drift, and other time-varying factors, the λ series of parameters compensate for the linear offset of the x, y, and z axes due to time; the time attenuation coefficient θ t The time attenuation characteristic reflects the attenuation mode of error accumulation as the device performance decreases over time, which can dynamically correct the conversion error caused by time.

[0199] The gravity field gradient influence coefficient characterizes the uneven distribution of the earth's gravity field, and the indoor building structure (such as floors and large metal components) changes the local gravity field. Therefore, the gravity field gradient influence coefficient is used to correct the interference of gravity field changes on coordinate conversion, such as the elevation (z-axis) of the indoor and outdoor coordinate systems in a high-rise building, which may deviate from the elevation of the indoor ultra-wideband coordinate system. By compensating for the gravity-related parameters, the conversion accuracy of the z-axis is improved.

[0200] The magnetic influence correction coefficient of each coordinate axis: the geomagnetic field is distorted by building materials such as steel bars, metal pipes, etc. in the room. If the UWB positioning or satellite positioning device is disturbed by the geomagnetic field, the coordinate measurement will be deviated. The conversion error caused by the magnetic field distortion of the x, y, z axes is corrected by the geomagnetic influence correction coefficient, so as to ensure the accuracy of the coordinate conversion in the complex electromagnetic environment.

[0201] After the conversion coordinates are combined and error-corrected with the indoor relative coordinates, the final positioning coordinates obtained by indoor-outdoor combined positioning are obtained, and the specific expression is:

[0202]

[0203] In the formula, (x f , y f , z f ) are the final positioning coordinates obtained by indoor-outdoor combined positioning, (x t , y t , z t ) are the conversion coordinates, (x r , y r , z r ) are the indoor relative coordinates, ω x , ω y , ω z are adjustment parameters in the x, y, z axes respectively, τ x , τ y , τ z are influence factors in the x, y, z axes respectively.

[0204] The positioning basis value is the physical fusion of the conversion coordinates and the indoor relative coordinates, which realizes the fusion of position information from different sources. Optionally, the positioning basis value can be obtained by directly adding the conversion coordinates and the indoor relative coordinates.

[0205] The adjustment parameter is used to correct the inherent deviation of the positioning system, such as the installation error of the ultra-wideband base station and the cumulative error caused by the coordinate system conversion. By actual measurement or calibration, such as collecting data at a known accurate position, the correction value is deduced, and the positioning basis value is corrected, so that the coordinates are closer to the true position.

[0206] The influence factor is used to compensate for the interference of environmental dynamic changes on positioning, for example, to correct the change of the ultra-wideband signal caused by the movement of indoor personnel and the carrying of metal objects due to multipath effect, or the influence of environmental factors such as geomagnetic field and temperature on positioning accuracy.

[0207] Based on the expression of the final positioning coordinates obtained by indoor-outdoor combined positioning above, the expression of the influence factor is:

[0208]

[0209] wherein τ x , τ y , τ z are the influence factors in x, y, z axes, which can be dynamically adjusted according to signal intensity and environmental sensor information, so that the positioning result is more suitable for real-time environment; χ x,e , χ y,e , χ z,e are the device hardware deviation compensation parameters in x, y, z axes, which are determined by inherent errors in device production and installation; ρ x,e , ρ y,e , ρ z,e are the environmental temperature influence coefficients in x, y, z axes, which are used to correct the positioning error of the device itself in the temperature environment; σ x,e , σ y,e , σ z,e are the device vibration offset coefficients in x, y, z axes; δ x,d , δ y,d , δ z,d are the vibration frequency influence parameters in x, y, z axes; μ x,u , μ y,u , μ z,u are the device voltage fluctuation correction parameters in x, y, z axes; v x,u , v y,u , v z,u are the voltage positioning error correlation parameters in x, y, z axes. In addition, the device herein refers to a satellite navigation system, an ultra-wideband positioning system, a positioning device, and other devices related to signal transmission and reception.

[0210] Based on the above formula, because it is explained before that the influence factor is used to compensate the interference of dynamic changes of the environment (such as temperature, vibration, voltage fluctuation) on positioning, in order to further improve the accuracy of error correction, the influence factor of each axis is further decomposed into the comprehensive action of four factors of device hardware deviation, environmental temperature, device vibration, and voltage fluctuation in the embodiments of the present application, and these factors are quantified through mathematical modeling, so that the positioning compensation is more accurate.

[0211] Considering that temperature changes will cause the drift of device hardware parameters (such as circuit resistance, antenna frequency), the environmental temperature influence coefficient is used for correction; when the device (such as a mobile robot carrying a tag, a device worn by a person) vibrates, the antenna posture and the signal propagation path change, resulting in positioning deviation, so the device vibration offset coefficient is used to correct such errors.

[0212] Because different vibration frequencies interfere with positioning in different modes, such as high-frequency vibration can make the signal multipath effect more complex, therefore the device vibration offset coefficient is multiplied by the vibration frequency influence parameter to compensate for the position offset caused by vibration + the interference difference brought by vibration frequency, so that the positioning method of the embodiment of the application can adapt to the dynamic vibration scene of the device.

[0213] When the device voltage is unstable, such as the change of the power of the battery-powered device causes the working state of the circuit to change, affecting the signal transmission / reception accuracy, therefore the device voltage fluctuation correction parameter is used for error correction; the voltage positioning error correlation parameter is used to quantify the corresponding relationship between voltage fluctuation and positioning error, such as how much the positioning error increases when the voltage decreases by 10%, therefore the device voltage fluctuation correction parameter and the voltage positioning error correlation parameter are multiplied to compensate for the interference of voltage fluctuation on positioning, and to ensure the positioning accuracy of the device under different power supply states.

[0214] In principle, combining the conversion coordinates and the indoor relative coordinates is to use the conversion coordinates to provide the initial outdoor-to-indoor position reference, and the relative position coordinates to reflect the indoor fine position offset, and to correct the cumulative error of the conversion coordinates through the fusion algorithm, and to obtain more accurate and stable indoor positioning results by combining the real-time relative position coordinates, so that the positioning not only connects the outdoor initial position, but also adapts to the indoor fine scene.

[0215] In addition, the indoor relative coordinates obtained by the ultra-wideband positioning system actually reflect the relative position of the first target in the indoor ultra-wideband coordinate system, and the conversion coordinates can connect the outdoor initial coordinates and the indoor ultra-wideband coordinate system, fuse the conversion coordinates and the indoor relative coordinates, correct the error, and combine the environmental influence to obtain more accurate final positioning coordinates.

[0216] The indoor-outdoor weighted fusion positioning also uses the positioning base value in the indoor-outdoor combined positioning, but introduces weighted fusion on the basis of the positioning base value, that is, when the signal strengths of the satellite navigation signal and the ultra-wideband signal both meet the requirements, the advantages of the two need to be fused to obtain more accurate positioning results. Here, because the outdoor initial coordinates of satellite positioning have wide-area absolute reference value and can provide long-term stable position information in the global unified coordinate system, and the indoor relative coordinates of UWB positioning have centimeter-level high-precision advantage in indoor environment and can resist the shielding interference of buildings. By weighting and fusing the two, the advantages can be complemented and the error can be compensated, so as to output more accurate and robust final positioning coordinates.

[0217] Therefore, the difference between indoor-outdoor weighted fusion positioning and indoor-outdoor combined positioning lies in "whether to simultaneously fuse the positioning information of the two signals and perform dynamic weighting", and the indoor-outdoor weighted fusion positioning is an optimized fusion in the transition scene, and the indoor-outdoor combined positioning is a single scheme in the indoor scene.

[0218] In the embodiments of the present application, the positioning weights of the satellite navigation signal and the ultra-wideband signal are respectively adjusted according to the sizes of the signal strengths. The higher the signal strength is, the higher the positioning weight corresponding to the signal strength is.

[0219] Then, the outdoor initial coordinates and the indoor relative coordinates are combined to obtain indoor positioning coordinates. The indoor positioning coordinates are actually final positioning coordinates in the case of indoor-outdoor combined positioning. Since the indoor relative coordinates are introduced into the indoor positioning coordinates, the indoor positioning coordinates are dynamically fused by the positioning weight of the ultra-wideband signal in the embodiments of the present application. Under the action of the preset system deviation coefficients of each coordinate axis, the adjustment factors and the positioning weights, the indoor positioning coordinates and the outdoor initial coordinates are weighted and fused to obtain final positioning coordinates in the case of indoor-outdoor weighted fusion positioning, and the specific expression is as follows:

[0220]

[0221] In the formula, (x, y, z) is the final positioning coordinates, (x0, y0, z0) is the outdoor initial coordinates, (x, y, z) is the indoor positioning coordinates, α1 is the positioning weight of the satellite navigation signal, α2 is the positioning weight of the ultra-wideband signal, λx, λy, λz are respectively the system deviation coefficients of the X-axis, the Y-axis and the Z-axis, βx, βy, βz are respectively the adjustment factors of the X-axis, the Y-axis and the Z-axis. final final final f f f x y z X Y Z

[0222] Further, based on the final positioning coordinates in the case of indoor-outdoor weighted fusion positioning, if the signal strength of the satellite navigation signal is higher, it means that the first target is likely to be in an open environment, then α1 is increased, and the outdoor initial coordinates may have a higher proportion in the fusion and play its wide-area stability; if the signal strength of the ultra-wideband signal is higher, it means that there is no shielding in the indoor environment and the UWB base station layout is optimal, then α2 is increased to make the indoor positioning coordinates dominate the fusion and make up for the error of the satellite under the weak signal in the indoor environment, so as to realize the "complementary advantages".

[0223] The system deviation coefficients are used for compensating the systematic deviation after the fusion of "satellite+UWB", and are used for the ephemeris error of satellite positioning, the ionospheric delay, and the base station calibration error and signal propagation model error of ultra-wideband positioning, and are obtained by algorithms such as actual measurement or Kalman filtering and calibration experiment in advance. ​​​​​​​​​​​​

[0224] The adjustment factor is used to cope with errors caused by real-time multipath effects, electromagnetic interference and other dynamic environmental disturbances during weighted fusion, and can be dynamically calculated based on environmental monitoring data such as signal strength and interference source detection, so that the fusion result adapts to the real-time environment.

[0225] Further, the expression of the adjustment factor is:

[0226]

[0227] In the formula, μ x,f , μ y,f , and μ z,f are the fusion weight dynamic adjustment parameters in the x, y, and z axes respectively; v x,f , v y,f , and v z,f are the data fluctuation smoothing parameters in the x, y, and z axes respectively.

[0228] Therefore, in the weighted fusion process, the adjustment factor needs to adapt to the data fluctuation and the dynamic change of the weight.

[0229] Among them, the fusion weight dynamic adjustment parameter is responsible for real-time adaptation of the weight strategy. The signal quality of satellite navigation signals and ultra-wideband signals is dynamically changing. For example, when a vehicle is driving, the satellite navigation signal is temporarily blocked by a building, and the ultra-wideband signal fluctuates due to changes in distance from the base station. Therefore, according to real-time data such as signal strength and positioning error, the weight proportion of satellite and ultra-wideband in fusion is dynamically adjusted. For example, when the satellite navigation signal suddenly weakens, the fusion weight dynamic adjustment parameter reduces the contribution of the positioning weight of the satellite navigation signal, avoiding its error affecting the fusion result; when the ultra-wideband signal is subjected to multipath interference, the fusion weight dynamic adjustment parameter suppresses the positioning weight of the ultra-wideband signal, ensuring the stability of the fusion.

[0230] The data fluctuation smoothing parameter focuses on compensating for data fluctuation errors. Positioning data may fluctuate instantaneously due to dynamic changes in the environment, such as sudden changes in ultra-wideband signal multipath effects caused by personnel movement and increased satellite Doppler frequency shift when a vehicle accelerates. The data fluctuation smoothing parameter corrects fluctuating data through moving average or Kalman filtering. For example, the positioning result of an ultra-wideband positioning system jumps due to signal reflection, and the data fluctuation smoothing parameter combines historical data and real-time data to calculate a more reasonable intermediate value, making the fusion result smoother and more continuous.

[0231] Therefore, the fusion weight dynamic adjustment parameter ensures that the fusion weight adapts to the current scenario (i.e., the satellite navigation signal is strong, and the ultra-wideband signal is strong), and the data fluctuation smoothing parameter ensures the stability of the data itself (filters out transient interference and prevents sudden changes in positioning results).

[0232] In addition, the calculation formula of the positioning weight is:

[0233]

[0234]

[0235] In the formula, S1 is the signal strength of the satellite navigation signal, reflecting the availability and accuracy of satellite positioning in the current environment, that is, the stronger the signal, the more stable the satellite positioning and the smaller the possible error; S2 is the signal strength of the ultra-wideband signal, reflecting the adaptability of ultra-wideband positioning in the current environment, that is, the stronger the signal, the easier it is to play the advantage of high-precision indoor ultra-wideband positioning.

[0236] In summary, the embodiments of the present application give three positioning result acquisition methods for different situations by comparing signal strengths, complement the advantages of ultra-wideband positioning systems and navigation satellite systems, build a coherent high-precision positioning link from outdoor to indoor, and combine various error correction coefficients to finely compensate for multiple factors such as device hardware deviation, environmental temperature, vibration, and voltage fluctuation, greatly reducing the influence of various error sources, and making the positioning result closer to the true position of the first target.

[0237] The implementation of the embodiments of the present application has the following beneficial effects:

[0238] The embodiments of the present application use the satellite navigation system with high outdoor positioning accuracy to obtain the outdoor initial coordinates, and use the ultra-wideband positioning system with high indoor positioning accuracy to obtain the indoor relative coordinates. Then, the signal strengths of the satellite navigation signal and the ultra-wideband signal are compared, and the positioning method more suitable for the position of the first target is selected according to the signal strength, to obtain high-precision positioning coordinates. That is, the stronger the satellite navigation signal, the more likely the first target is outdoors, the stronger the ultra-wideband signal, the more likely the first target is indoors, and if both signals are strong, it means that the first target is in the transition area between indoor and outdoor, and the two types of coordinates need to be combined for analysis. Therefore, by using the satellite navigation system and the ultra-wideband positioning system together, a coherent high-precision positioning link from outdoor to indoor is constructed, so that the position information can be obtained smoothly and quickly no matter where the positioning target is, and it is suitable for more complex positioning scenarios.

[0239] The above-described specific embodiments further illustrate the purpose, technical solutions, and beneficial effects of the present application. It should be understood that the above-described specific embodiments are only examples of the present application and do not limit the protection scope of the present application. It is particularly pointed out that any modifications, equivalent replacements, improvements, etc. made by those skilled in the art within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. An indoor and outdoor positioning method based on the fusion of ultra-wideband and satellite positioning, characterized in that, include: In outdoor environments, the initial outdoor coordinates of the first target are acquired using a satellite navigation system; In an indoor environment, an ultra-wideband (UWB) positioning system continuously transmits UWB signals to the first target to obtain the indoor relative coordinates of the first target. Based on the comparison of signal strength between satellite navigation signals and ultra-wideband signals, a coordinate processing strategy is determined; wherein, the signal strength of the satellite navigation signals and ultra-wideband signals is determined by monitoring the signal-to-noise ratio and signal receiving power provided by the satellite navigation system and the ultra-wideband positioning system, respectively. Based on the coordinate processing strategy, the final positioning coordinates are obtained by combining the initial outdoor coordinates and the relative indoor coordinates.

2. The indoor and outdoor positioning method based on ultra-wideband and satellite positioning fusion according to claim 1, characterized in that, In the outdoor environment, the initial outdoor coordinates of the first target are acquired through a satellite navigation system, specifically as follows: The system continuously transmits satellite navigation signals to the ground; wherein the satellite navigation signals include orbital parameters and launch time. When the positioning terminal of the first target receives at least a first threshold number of the satellite navigation signals, the propagation time of the satellite navigation signals from transmission to reception is measured. By combining the preset satellite orbit position and the propagation time, the initial outdoor coordinates of the first target are obtained.

3. The indoor and outdoor positioning method based on ultra-wideband and satellite positioning fusion according to claim 1, characterized in that, In the indoor environment, the method involves continuously transmitting ultra-wideband signals to the first target using an ultra-wideband positioning system to obtain the indoor relative coordinates of the first target. Specifically: The ultra-wideband signal is continuously transmitted to the positioning terminal of the first target by the base station group in the ultra-wideband positioning system. When the positioning terminal receives at least a second threshold number of the ultra-wideband signals, the time difference between the transmission and reception of the ultra-wideband signal from each of the base stations is calculated. Based on the time difference, the distance difference between the positioning terminal and each base station is determined; A hyperbolic positioning model is constructed based on the distance difference, and the indoor relative coordinates of the first target are determined by the intersection of the surfaces of the hyperbolic positioning model.

4. The indoor and outdoor positioning method based on ultra-wideband and satellite positioning fusion according to claim 1, characterized in that, The coordinate processing strategy is determined based on the signal strength comparison results of satellite navigation signals and ultra-wideband signals, specifically as follows: When the signal strength of the satellite navigation signal is greater than the third threshold and the signal strength of the ultra-wideband signal is less than the third threshold, the coordinate processing strategy is outdoor satellite positioning. When the signal strength of the satellite navigation signal is less than the third threshold and the signal strength of the ultra-wideband signal is greater than the third threshold, the coordinate processing strategy is indoor and outdoor combined positioning. When the signal strengths of both satellite navigation signals and ultra-wideband signals are greater than the third threshold, the coordinate processing strategy is indoor and outdoor weighted fusion positioning.

5. The indoor and outdoor positioning method based on ultra-wideband and satellite positioning fusion according to claim 1, characterized in that, The coordinate processing strategy obtains the final positioning coordinates by combining the initial outdoor coordinates and the relative indoor coordinates, specifically as follows: The coordinate processing strategy is that when using outdoor satellite positioning, only the initial outdoor coordinates are used as the final positioning coordinates; The coordinate processing strategy is to perform coordinate transformation on the initial outdoor coordinates when performing indoor-outdoor combined positioning, and then combine the coordinate transformation result with the indoor relative coordinates to obtain the final positioning coordinates; The coordinate processing strategy is to perform weighted fusion positioning of indoor and outdoor coordinates by weighting and fusing the initial outdoor coordinates and the relative indoor coordinates according to the positioning weights of satellite navigation signals and ultra-wideband signals to obtain the final positioning coordinates.

6. The indoor and outdoor positioning method based on ultra-wideband and satellite positioning fusion according to claim 5, characterized in that, The process of performing coordinate transformation on the initial outdoor coordinates and combining the transformation result with the indoor relative coordinates to obtain the final positioning coordinates is as follows: After transforming the initial outdoor coordinates to the indoor ultra-wideband coordinate system, the transformed coordinates are obtained; The transformed coordinates are initially combined with the indoor relative coordinates to construct the basic positioning values; Based on the base station installation error of the ultra-wideband positioning system and the cumulative error of the transformed coordinates, the adjustment parameters of each coordinate axis are set; Based on environmental monitoring data, influence factors for each coordinate axis are set; wherein, the environmental monitoring data is related to the dynamic changes of the indoor environment; By adjusting the parameters and influencing factors, the positioning baseline value is corrected for errors to obtain the final positioning coordinates.

7. The indoor and outdoor positioning method based on ultra-wideband and satellite positioning fusion according to claim 5, characterized in that, The final positioning coordinates are obtained by weighting and fusing the initial outdoor coordinates and the relative indoor coordinates based on the positioning weights of satellite navigation signals and ultra-wideband signals. Specifically: The positioning weights of the satellite navigation signal and the ultra-wideband signal are adjusted according to the signal strength; wherein, the higher the signal strength, the higher the corresponding positioning weight. The indoor positioning coordinates are obtained by combining the initial outdoor coordinates and the relative indoor coordinates. Based on satellite positioning error, ultra-wideband positioning error, and signal propagation error, construct the system deviation coefficients for each coordinate axis; Based on the influence of interference sources in the environment, adjustment factors for each coordinate axis are constructed; Based on the positioning weights, the indoor positioning coordinates and the outdoor initial coordinates are weighted and fused, and the weighted fusion process is corrected for errors by the system deviation coefficient and the adjustment factor to obtain the final positioning coordinates.

8. The indoor and outdoor positioning method based on ultra-wideband and satellite positioning fusion according to claim 7, characterized in that, The process involves weighted fusion of indoor positioning coordinates and outdoor initial coordinates based on the positioning weights, and error correction of the weighted fusion process using the system deviation coefficient and the adjustment factor. Specifically: When the coordinate processing strategy is indoor / outdoor weighted fusion positioning, the specific expression for the final positioning coordinates is: In the formula, (x final y final , z final (x0, y0, z0) are the final positioning coordinates, and (x0, y0, z0) are the initial outdoor coordinates. f y f , z f ) represents the indoor positioning coordinates, α1 represents the positioning weight of the satellite navigation signal, α2 represents the positioning weight of the ultra-wideband signal, and λ x , λ y , λ z The system deviation coefficients β for the X-axis, Y-axis, and Z-axis are respectively. X β Y β Z These are the adjustment factors for the X-axis, Y-axis, and Z-axis, respectively.

9. The indoor and outdoor positioning method based on ultra-wideband and satellite positioning fusion according to claim 3, characterized in that, The process involves constructing a hyperbolic positioning model based on the distance difference, and determining the indoor relative coordinates of the first target through the intersection points of the surfaces of the hyperbolic positioning model. Specifically: Select any one base station from the base station group as the first base station, and use the location coordinates of the first base station as reference coordinates to calculate the distance difference between the first target and the other base stations; Based on the hyperbola corresponding to the distance difference, construct the corresponding hyperboloid, and obtain a curve by intersecting any two hyperboloids. By combining the curve with the rest of the hyperboloids, the indoor relative coordinates of the first target are obtained.

10. An indoor / outdoor positioning system based on ultra-wideband and satellite positioning fusion, characterized in that, include: The module includes an outdoor coordinate calculation module, an indoor coordinate calculation module, a coordinate processing strategy generation module, and a final positioning coordinate determination module. Among them, the outdoor coordinate calculation module is used to collect the initial outdoor coordinates of the first target through the satellite navigation system in an outdoor environment; The indoor coordinate calculation module is used to obtain the indoor relative coordinates of the first target by continuously transmitting ultra-wideband signals to the first target through an ultra-wideband positioning system in an indoor environment. The coordinate processing strategy generation module is used to determine the coordinate processing strategy based on the signal strength comparison results of the satellite navigation signal and the ultra-wideband signal; wherein, the signal strength of the satellite navigation signal and the ultra-wideband signal are determined by monitoring the signal-to-noise ratio and signal receiving power provided by the satellite navigation system and the ultra-wideband positioning system, respectively. The final positioning coordinate determination module is used to obtain the final positioning coordinates by combining the initial outdoor coordinates and the relative indoor coordinates based on the coordinate processing strategy.

Images