Positioning method and device for indoor and outdoor switching process and electronic equipment

Abstract

The invention discloses a positioning method and device for an indoor and outdoor switching process and electronic equipment. The method comprises the following steps: when a target object enters the electronic fence, detecting the signal quality of a satellite navigation system for outdoor positioning of the target object at preset time intervals, and acquiring first position information of the target object fed back by the satellite navigation system; under the condition that the signal quality does not meet the signal quality requirement, activating an ultra-wideband system for indoor positioning, and determining first target position information of the target object in each preset time period; and for each preset time period, determining second target position information of the target object and the position of the target object in the process of switching from outdoor to indoor at least according to the first position information, the first target position information, the weight of the satellite navigation system and the weight of the ultra-wideband system. According to the method and the device, the technical problems of positioning blind areas and position hopping of the target object during indoor and outdoor environment switching are solved.

Description

Technical Field

[0001] This application relates to the field of wireless positioning, and more specifically, to a positioning method, apparatus, and electronic device for indoor-outdoor switching processes. Background Technology

[0002] Currently, with the development of fields such as the Industrial Internet of Things, smart logistics, and emergency rescue, the demand for high-precision continuous positioning is increasing. For example, the BeiDou Navigation Satellite System (BDS) is widely used in open outdoor environments due to its wide coverage and high positioning accuracy. However, when entering indoor or heavily obstructed environments, the BeiDou signal attenuates significantly, leading to a sharp drop in positioning accuracy and creating positioning blind spots. On the other hand, Ultra-Wideband (UWB) technology, with its centimeter-level positioning accuracy, has become an ideal choice for indoor positioning. However, due to the limited positioning range of UWB, typically not exceeding 100 meters, it cannot meet the needs of long-distance outdoor positioning. Furthermore, when switching between indoor and outdoor environments, positioning systems in related technologies often adopt a hard handover method, that is, only activating UWB positioning after the satellite signal is lost. This approach not only leads to blind spots during the positioning process but also easily causes position jumps (i.e., drastic changes in positioning coordinates) due to the sudden change of signal source, resulting in a poor user experience and seriously affecting the continuity and stability of positioning.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This application provides a positioning method, device, and electronic device for the indoor-outdoor switching process, so as to at least solve the technical problems of positioning blind spots and position jumps of target objects when switching between indoor and outdoor environments.

[0005] According to one aspect of the embodiments of this application, a positioning method for an indoor-outdoor switching process is provided, comprising: when a target object enters an electronic fence, detecting the signal quality of a satellite navigation system used for positioning of the target object outdoors at preset time intervals and obtaining first position information of the target object fed back by the satellite navigation system, wherein the signal quality includes carrier-to-noise ratio, number of visible satellites, and position accuracy factor, and the range of the electronic fence includes a range within a preset distance from the indoor entrance; if the signal quality does not meet the signal quality requirements, activating an ultra-wideband system used for indoor positioning, and determining first target position information of the target object at each preset time interval, wherein the first target position information is second position information determined based on data fed back by the ultra-wideband system or third position information determined by dead reckoning through an inertial measurement unit; for each preset time interval, determining second target position information of the target object at least based on the first position information, the first target position information, and the weights of the satellite navigation system and the ultra-wideband system, wherein the second target position information is used to reflect the position of the target object during the switching process from outdoors to indoors in the corresponding preset time interval.

[0006] According to some embodiments of this application, the signal quality requirements are that the carrier-to-noise ratio is greater than or equal to a first preset threshold, the number of visible satellites is greater than or equal to a second preset threshold, and the position accuracy factor is less than a third preset threshold.

[0007] According to some embodiments of this application, the method further includes: when a target object enters the electronic fence, preloading an ultra-wideband anchor point topology map of the ultra-wideband system indoors, wherein the ultra-wideband anchor point topology map is used to indicate the location information and signal coverage range of all anchor points of the ultra-wideband system in the indoor environment.

[0008] According to some embodiments of this application, determining the first target location information of a target object includes: determining the number of valid anchor points in an ultra-wideband anchor point topology map; when the number of valid anchor points is greater than or equal to a fourth preset threshold, processing the data fed back by the ultra-wideband system by calculating the time difference of arrival to obtain second location information, and determining the second location information as the first target location information, wherein the data fed back by the ultra-wideband system includes at least the time when each valid anchor point receives the pulse signal emitted by the target object; when the number of valid anchor points is less than the fourth preset threshold, determining the third location information as the first target location information.

[0009] According to some embodiments of this application, the weight of the satellite navigation system is updated in each preset time period. The weight of the satellite navigation system in each preset time period is determined by the following method: obtaining a first preset coefficient corresponding to the carrier-to-noise ratio, a second preset coefficient corresponding to the position accuracy factor, and a preset baseline value, wherein the preset baseline value is used to map the carrier-to-noise ratio to a range of 0 to 1; and determining the weight of the satellite navigation system based on the carrier-to-noise ratio, the position accuracy factor, the first preset coefficient, the second preset coefficient, and the preset baseline value.

[0010] According to some embodiments of this application, the weight of the ultra-wideband system is updated in each preset time period, and the weight of the ultra-wideband system in each preset time period is determined by the following methods: determining the geometric precision attenuation factor of the ultra-wideband system; determining the geometric factor based at least on the geometric precision attenuation factor, wherein the geometric factor is used to quantify the geometric distribution of multiple effective anchor points; and determining the weight of the ultra-wideband system based at least on the geometric factor and the number of effective anchor points.

[0011] According to some embodiments of this application, if it is detected that in any preset time period, the weight of the satellite navigation system is less than a first preset weight threshold and the weight of the ultra-wideband system is greater than a second preset weight threshold, it is determined that the positioning system used by the target object is switched from the satellite navigation system to the ultra-wideband system, and the receiver used to detect the signal quality of the satellite navigation system is turned off.

[0012] According to another aspect of the embodiments of this application, a positioning device for indoor-outdoor switching process is also provided, comprising: a detection module, configured to detect the signal quality of the satellite navigation system used for positioning of the target object outdoors at preset time intervals when the target object enters an electronic fence, and obtain the first position information of the target object fed back by the satellite navigation system, wherein the signal quality includes carrier-to-noise ratio, number of visible satellites, and position accuracy factor, and the range of the electronic fence includes a range within a preset distance from the indoor entrance; a first determination module, configured to activate an ultra-wideband system used for indoor positioning when the signal quality does not meet the signal quality requirements, and determine the first target position information of the target object at each preset time interval, wherein the first target position information is a second position information determined based on the data fed back by the ultra-wideband system or a third position information determined by dead reckoning through an inertial measurement unit; and a second determination module, configured to determine the second target position information of the target object at least based on the first position information, the first target position information, and the weights of the satellite navigation system and the ultra-wideband system for each preset time interval, wherein the second target position information is used to reflect the position of the target object during the switching process from outdoors to indoors in the corresponding preset time interval.

[0013] According to another aspect of the embodiments of this application, a non-volatile storage medium is also provided, wherein a program is stored in the non-volatile storage medium, wherein the positioning method controls the device where the non-volatile storage medium is located to perform the above-mentioned indoor-outdoor switching process when the program is running.

[0014] According to another aspect of the embodiments of this application, an electronic device is also provided, including: a memory and a processor, the processor being configured to run a program stored in the memory, wherein the program executes the positioning method of the above-described indoor-outdoor switching process during runtime.

[0015] According to another aspect of the embodiments of this application, a computer program product is also provided, including computer instructions, which, when executed by a processor, implement the positioning method for the above-mentioned indoor-outdoor switching process.

[0016] In this embodiment, when a target object enters an electronic fence, the signal quality of the outdoor satellite navigation system used for positioning is detected at preset time intervals, and the first position information of the target object fed back by the satellite navigation system is obtained. The signal quality includes carrier-to-noise ratio, number of visible satellites, and position accuracy factor. The range of the electronic fence includes a range within a preset distance from the indoor entrance. If the signal quality does not meet the requirements, an ultra-wideband system for indoor positioning is activated, and at each preset time interval, the first target position information of the target object is determined. The first target position information is either second position information determined based on data fed back by the ultra-wideband system or third position information determined by dead reckoning using an inertial measurement unit. For each preset time interval, at least based on the first position information and the first target position information... The second target location information of the target object is determined by the weights of the satellite navigation system and the ultra-wideband system. The second target location information is used to reflect the position of the target object when it switches from outdoors to indoors during the corresponding preset time period. When the target object enters the electronic fence, if the signal quality requirements of the satellite navigation system are not met, the ultra-wideband system for indoor positioning is activated, avoiding the problem of positioning blind spots caused by activating the ultra-wideband system only when the signal is interrupted indoors. At the same time, the first location information of the target object and the first target location information fed back by the satellite navigation system are obtained in each preset time period, and then fused to determine the second target location information to avoid position jumps. Thus, the technical problems of positioning blind spots and position jumps of the target object when switching between indoor and outdoor environments are solved. Attached Figure Description

[0017] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0018] Figure 1 This is a hardware structure block diagram of a computer terminal for implementing a positioning method for indoor-outdoor switching process according to an embodiment of this application;

[0019] Figure 2 This is a flowchart of a positioning method for an indoor / outdoor switching process provided according to an embodiment of this application;

[0020] Figure 3 This is a flowchart of another positioning method for indoor / outdoor switching process provided according to an embodiment of this application;

[0021] Figure 4 This is a schematic diagram of a test environment deployment according to an embodiment of this application;

[0022] Figure 5 This is a comparison diagram of transition zone positioning errors provided according to an embodiment of this application;

[0023] Figure 6 This is a comparison chart of positioning errors for different schemes provided according to embodiments of this application;

[0024] Figure 7 This is a comparison chart of system power consumption provided according to an embodiment of this application;

[0025] Figure 8 This is a switching delay comparison chart provided according to an embodiment of this application;

[0026] Figure 9 This is a timing diagram of signal strength and positioning weight changes according to an embodiment of this application;

[0027] Figure 10 This is a system architecture diagram provided according to an embodiment of this application;

[0028] Figure 11 This is a bar chart of typical experimental data (outdoor scene) for BeiDou positioning provided according to an embodiment of this application;

[0029] Figure 12 This is a typical experimental data (indoor scene) diagram of UWB positioning provided according to an embodiment of this application;

[0030] Figure 13 This is a radar chart showing the performance of a UWB positioning module according to an embodiment of this application;

[0031] Figure 14 This is a schematic diagram of a system-level test result for seamless indoor-outdoor switching according to an embodiment of this application;

[0032] Figure 15This is a schematic diagram of another indoor-outdoor seamless switching system-level test results provided according to an embodiment of this application;

[0033] Figure 16 This is a schematic diagram of an implementation case of a seamless switching positioning system for port AGVs provided in the embodiments of this application;

[0034] Figure 17 This is a schematic diagram of the structure of a positioning device for indoor-outdoor switching process provided in an embodiment of this application. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0036] The information collected in this application embodiment is information and data authorized by the user or fully authorized by all parties. The collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data all comply with the relevant laws, regulations and standards of the relevant regions, and necessary confidentiality measures have been taken. It does not violate public order and good morals, and provides corresponding operation entry points for users to choose to authorize or reject the automated decision results. If the user chooses to reject, the process will proceed to the expert decision-making process.

[0037] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0038] To better understand the embodiments of this application, the technical terms involved in the embodiments of this application are explained below:

[0039] Ultra-wideband (UWB) technology is a wireless communication technology that transmits data by sending and receiving extremely narrow pulses at the nanosecond or microsecond level. UWB technology features high-precision positioning, strong anti-interference capabilities, and high transmission rates.

[0040] In related technologies, positioning systems often employ a hard handover approach, meaning UWB positioning is only activated after satellite signals are lost. This not only leads to blind spots during positioning but also easily causes location jumps (i.e., drastic changes in positioning coordinates) due to the sudden change of signal source, resulting in a poor user experience and severely impacting the continuity and stability of positioning. Therefore, there is a technical problem of positioning blind spots and location jumps when the target object switches between indoor and outdoor environments. To address this problem, this application provides relevant solutions, which are detailed below.

[0041] According to an embodiment of this application, an embodiment of a positioning method for an indoor-outdoor switching process is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0042] The methods and embodiments provided in this application can be executed on a computer terminal or similar computing device. Figure 1 A hardware block diagram of a computer terminal for implementing a positioning method during indoor / outdoor switching is shown. Figure 1 As shown, the computer terminal 10 may include one or more processors 102 (shown as 102a, 102b, ..., 102n in the figure) 102 (processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission device 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0043] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10. As involved in the embodiments of this application, the data processing circuits serve as a form of processor control (e.g., selection of a variable resistor termination path connected to an interface).

[0044] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the positioning method for the indoor-outdoor switching process in this embodiment of the application. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, thereby realizing the positioning method for the indoor-outdoor switching process described above. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0045] The transmission device 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission device 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0046] The display may be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10.

[0047] In the above operating environment, this application provides an embodiment of a positioning method for an indoor-outdoor switching process. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here.

[0048] like Figure 2 The diagram shown is a flowchart of a positioning method for an indoor / outdoor switching process according to an embodiment of this application, including:

[0049] Step S202: When the target object enters the electronic fence, the signal quality of the satellite navigation system used for positioning of the target object outdoors is detected at preset time intervals, and the first position information of the target object fed back by the satellite navigation system is obtained.

[0050] In the technical solution provided in step S202, the signal quality includes carrier-to-noise ratio, number of visible satellites, and position accuracy factor, and the range of the electronic fence includes the range of the indoor entrance within a preset distance.

[0051] As some optional embodiments of this application:

[0052] Geo-fencing is a location-based service feature that allows virtual geographic boundaries to be set on a map. When a target object (e.g., mobile device, drone, vehicle, etc.) enters or leaves these preset geographic areas (within a preset distance from the indoor entrance, e.g., a preset distance of 50 meters, meaning the area within 50 meters of the indoor entrance is defined as the geofence), the seamless location switching system in this embodiment can automatically trigger an alarm and immediately activate the ultra-wideband system. Geo-fencing is primarily used to achieve seamless switching between outdoor satellite navigation systems (e.g., the BeiDou Navigation Satellite System) and ultra-wideband systems (UWB systems, which use UWB technology for positioning and utilize an extremely wide frequency range (e.g., the frequency band can be between 3.5 and 6.5 GHz, but some systems operate at higher frequencies) for data transmission and precise positioning), ensuring that the positioning service is not interrupted or its accuracy significantly reduced when moving from an outdoor environment to an indoor environment (or other areas with poor satellite signals). The ultra-wideband system is designed to provide high-precision positioning services in indoor environments with poor BeiDou satellite signals. By integrating dynamic weights with satellite navigation systems, ultra-wideband systems can not only compensate for the shortcomings of satellite positioning in obstructed or enclosed environments, but also provide more stable and accurate positioning data under specific conditions (such as deep indoor environments or environments with metallic interference). The seamless positioning handover system architecture in this embodiment includes a hardware layer, a data processing layer, and an application layer. The hardware layer includes a Global Navigation Satellite System (GNSS) receiver or a BeiDou receiver (e.g., a BeiDou tri-band receiver supporting B1I (Band 1 Initial) / B2a (Band 2 Alternate) / B3 (Band 3) frequency bands), a UWB anchor network (operating in the 3.5 to 6.5 GHz frequency band, achieving high-precision positioning services through Time Difference of Arrival technology), and an Inertial Measurement Unit (IMU) module. The data processing layer is used for signal evaluation, handover control, and coordinate transformation. The application layer includes a positioning engine, an electronic fence (for setting up electronic fences), and a navigation interface (providing positioning data to upper-layer navigation software or systems, supporting real-time path planning, obstacle avoidance decisions, and the generation of navigation instructions, suitable for application scenarios such as smart logistics, autonomous driving, and personnel tracking).

[0053] Signal quality for each preset time period (e.g., once every 100 milliseconds) is obtained as follows: The BeiDou receiver antenna receives signals transmitted by a satellite navigation system (e.g., the BeiDou Satellite Positioning System). The correlator inside the receiver performs correlation operations between the received signal and a locally generated pseudo-random code to demodulate the satellite signal. After amplification and filtering, the carrier power and noise power density of the demodulated satellite signal are measured. The ratio of carrier power to noise power density is converted to dB-Hz units to obtain the carrier-to-noise density ratio (CN0). The visible satellite number is the number of BeiDou satellites that the receiver can simultaneously track and decode signals from. The number of satellites that can stably track and decode signals within each preset time period is defined as the visible satellite number. The Dilution of Precision (DOP) represents the impact of satellite spatial geometry on positioning accuracy. It includes subcategories such as Position Dilution of Precision (PDOP), which is the accuracy attenuation factor for three-dimensional position (longitude, latitude, and elevation), and Horizontal Dilution of Precision (HDOP), which is the accuracy attenuation factor for horizontal position (longitude and latitude). These reflect the influence of satellite geometry on positioning accuracy. A lower DOP value indicates higher positioning accuracy. The Position Dilution of Precision and Horizontal Dilution of Precision are directly output by BeiDou receivers or Global Navigation Satellite System (GNSS) receivers via the NMEA-0183 protocol (a communication protocol in the GNSS field used for data exchange between satellite receivers and external devices; NMEA statements contain information such as positioning, velocity, time, satellite status, and DOP value). The initial position information of a target object returned by a satellite navigation system (e.g., the BeiDou Navigation Satellite System) is the spatial coordinates calculated by the BeiDou Navigation Satellite System, using the World Geodetic System 1984 (WGS-84) geodetic coordinate system (longitude / latitude). WGS-84 is a global coordinate system. It defines a standard Earth reference model, including the Earth's shape (ellipsoidal model), dimensions, gravity field, origin, and rotation axes.

[0054] Step S204: If the signal quality does not meet the signal quality requirements, activate the ultra-wideband system for indoor positioning, and determine the first target location information of the target object in each preset time period.

[0055] In the technical solution provided in step S204, the first target position information is either the second position information determined based on the data fed back by the ultra-wideband system or the third position information determined by dead reckoning through the inertial measurement unit.

[0056] The signal quality requirements are that the carrier-to-noise ratio is greater than or equal to the first preset threshold, the number of visible satellites is greater than or equal to the second preset threshold, and the position accuracy factor is less than the third preset threshold.

[0057] When a target object enters the electronic fence, a topology map of the ultra-wideband anchor points in the indoor environment is preloaded. The ultra-wideband anchor point topology map is used to indicate the location information and signal coverage range of all anchor points of the ultra-wideband system in the indoor environment.

[0058] There are several ways to determine the first target location information of a target object. For example: determining the number of effective anchor points in the ultra-wideband anchor point topology map; if the number of effective anchor points is greater than or equal to a fourth preset threshold, processing the data fed back by the ultra-wideband system using time difference of arrival (TDOA) calculation to obtain second location information, and using this second location information as the first target location information. The data fed back by the ultra-wideband system includes at least the time when each effective anchor point receives the pulse signal transmitted by the target object; if the number of effective anchor points is less than the fourth preset threshold, the third location information is used as the first target location information. If the signal quality does not meet the signal quality requirements, the ultra-wideband system used for indoor positioning is activated. The signal quality requirements are: carrier-to-noise ratio greater than or equal to a first preset threshold (e.g., 35 dB-Hz), number of visible satellites greater than or equal to a second preset threshold (e.g., 4 satellites), and position accuracy factor less than a third preset threshold (e.g., 3.0). Signal quality is considered unacceptable when the carrier-to-noise ratio is less than a first preset threshold (e.g., 35 dB-Hz), the number of visible satellites is less than a second preset threshold (e.g., 4), or the position accuracy factor is greater than or equal to a third preset threshold (e.g., 3.0). During signal evaluation, if the signal quality does not meet the requirements, it indicates that the signal quality of the satellite navigation system used for positioning outdoors has deteriorated to the point where it cannot meet positioning needs. The ultra-wideband (UWB) system is immediately activated, and an UWB scan is performed based on the anchor discovery protocol to determine the number of valid anchors in the UWB anchor topology map. The UWB system begins scanning to find indoor-deployed anchors (i.e., UWB anchors). This process is performed using a UWB-specific signal protocol, which, based on measurements such as time difference of arrival or frequency angle of arrival, can quickly identify valid anchors. Anchors are static transmitting or receiving devices whose precise locations are known. Their location information is typically pre-loaded into the positioning engine as a reference for positioning calculations. Valid anchors are those actually used in the current positioning task.

[0059] In some embodiments of this application, when a target object enters the electronic fence, a pre-loaded ultra-wideband (UWB) anchor topology map (composed of UWB anchor network) of the indoor UWB system provides necessary initial information for the upcoming UWB system to achieve positioning. The UWB anchor topology map indicates the location information and signal coverage of all anchor points in the indoor environment. Pre-loading avoids the delay of anchor scanning and information acquisition after the target enters the room, ensuring the UWB system can start immediately and provide continuous positioning services. If the signal quality does not meet the requirements, the UWB system is immediately activated and an UWB scan is performed based on the anchor discovery protocol to determine the number of valid anchor points in the UWB anchor topology map. Anchor points refer to statically transmitting or receiving devices with known precise locations. Their location information is typically pre-loaded into the positioning engine as a reference for positioning calculations. Anchor point deployment meets the requirement of an anchor point density > 0.2 per square meter in building entrance areas. Anchor point clock synchronization adopts a hybrid scheme of wired cascading as the primary method and wireless calibration as a secondary method. Anchor point IDs are bound to physical locations and pre-stored in the target object's terminal. Only anchor points that meet the signal quality requirements (the strength of the received signal must exceed a certain threshold) and can provide stable ranging (the ranging between the anchor point and the target device must remain within a preset error range) will be recognized as valid anchor points. This process is achieved through an anchor point discovery protocol, which can quickly identify valid anchor points based on measurements such as time difference of arrival or frequency angle of arrival.

[0060] When the number of valid anchor points is greater than or equal to a fourth preset threshold (e.g., 3), the data fed back from the ultra-wideband system is processed using Time Difference of Arrival (TDoA) calculation to obtain second location information, which is then used as the first target location information. Time Difference of Arrival (TDoA) calculation is a positioning technique based on time difference measurement. When a signal source sends a signal to multiple receiving points, the arrival time of the signal at each point varies due to distance. By measuring and calculating these time differences, the position of the signal source relative to the receiving points can be determined. Specifically: receiving data fed back from the ultra-wideband system includes, but is not limited to, the time when each valid anchor point receives the pulse signal emitted by the target object (i.e., signal arrival time); signal strength: i.e., the power level of the received signal; clock synchronization information: in TDoA positioning, time synchronization between anchor points is extremely critical, and the system needs to feed back the clock offset or synchronization status of each anchor point; anchor point ID and location: the feedback data includes the identification of each anchor point and preset precise location information.

[0061] The time difference between the arrival times of the pulse signal emitted by the target object at each effective anchor point is determined based on the time it takes for each effective anchor point to receive the signal, and the position of each effective anchor point. This time difference reflects the relative distance between the signal source (i.e., the target object) and the receiving point (i.e., the effective anchor point). By accurately measuring and calculating these time differences, the position of the signal source relative to the receiving point can be determined. The measured time difference data is input into the TDoA (Time-Do-A) algorithm. By solving the hyperbolic equations, the position of the target object in the local Cartesian coordinate system is determined, yielding the second position information (local coordinate system position) output in meters for subsequent positioning fusion or direct application. If the number of effective anchor points is less than a fourth preset threshold, the conditions for using TDoA are not met. In this case, the third position information is determined through dead reckoning using the inertial measurement unit, and this third position information is used as the first target position information.

[0062] Step S206: For each preset time period, at least the second target location information of the target object is determined based on the first location information, the first target location information, the weight of the satellite navigation system, and the weight of the ultra-wideband system. The second target location information is used to reflect the location of the target object during the process of switching from outdoors to indoors in the corresponding preset time period.

[0063] In the technical solution provided in step S206, the weight of the satellite navigation system is updated in each preset time period. The weight of the satellite navigation system in each preset time period is determined by the following method: obtaining the first preset coefficient corresponding to the carrier-to-noise ratio, the second preset coefficient corresponding to the position accuracy factor, and the preset baseline value, wherein the preset baseline value is used to map the carrier-to-noise ratio to the range of 0 to 1; and determining the weight of the satellite navigation system based on the carrier-to-noise ratio, the position accuracy factor, the first preset coefficient, the second preset coefficient, and the preset baseline value.

[0064] The weights of the ultra-wideband system are updated in each preset time period. The weights of the ultra-wideband system in each preset time period are determined by the following methods: determining the geometric precision attenuation factor of the ultra-wideband system; determining the geometric factor based at least on the geometric precision attenuation factor, wherein the geometric factor is used to quantify the geometric distribution of multiple effective anchor points; and determining the weights of the ultra-wideband system based at least on the geometric factor and the number of effective anchor points.

[0065] For each preset time period, the second target location information of the target object is determined at least based on the first location information, the first target location information, and the weights of the satellite navigation system and the ultra-wideband system. For example, it can be determined using the following hybrid positioning equation:

[0066] Pfinal = α × PBDS + β × PUWB + (1 - α - β) × PDR, where Pfinal is the second target position information, α is the weight of the satellite navigation system, β is the weight of the ultra-wideband system, P_BDS is the BeiDou positioning coordinates (i.e., the first position information mentioned above), PUWB is the ultra-wideband positioning coordinates (i.e., the second position information mentioned above), and PDR is the position calculated by the inertial measurement unit (IMU), i.e., the third position information mentioned above. PDR = dead reckoning (imu_data). imu_data (inertial measurement unit data) is the raw sensor readings, including accelerometer data and gyroscope angular velocity data. When the target object is in a known position (e.g., the first target position information of the previous preset time period), PDR dead reckoning uses the inertial measurement unit data to calculate the relative displacement and heading change, and outputs the relative displacement, i.e., the third position information. Its position error will accumulate infinitely with time. As a redundant backup in case of signal failure, the Position Deployment Detector (PDR) calculates short-term displacement using accelerometer / gyroscope data to compensate for the positioning gap between the satellite navigation system and the ultra-wideband system. In the formula, (1-α-β) represents the weight of the dead reckoning. When both α and β are small, the weight of the dead reckoning increases, relying on inertial navigation for position calculation.

[0067] The weights of a satellite navigation system are determined based on the carrier-to-noise ratio, position accuracy factor, a first preset coefficient, a second preset coefficient, and a preset baseline value, for example, using the following formula:

[0068] α = 0.8 × sigmoid(CN0 - 30) + 0.2 × (1 ÷ PDOP), where 0.8 is the first preset coefficient, CN0 is the carrier-to-noise ratio, 0.2 is the second preset coefficient, and 30 is the preset baseline value. The sigmoid function (CN0 - 30) is an S-shaped curve used in signal processing and machine learning to map values ​​to the range of 0 to 1 with a smooth transition. When CN0 is greater than 30 dB-Hz, it indicates a strong signal, and (CN0 - 30) will be a positive number. The parameter CN0 - 30 of the sigmoid function will be a positive value, and the value of the sigmoid function will be close to 1, but will never equal 1. This means that as CN0 increases, sigmoid(CN0 - 30) will tend to increase, but will always be less than 1. When CN0 is less than 30dB-Hz, sigmoid(CN0-30) will be a value less than 0.5, indicating a weak signal. α will decrease, meaning the reliability of the satellite navigation system is decreasing, and it will rely more on ultra-wideband systems.

[0069] The weights of an ultra-wideband system are determined at least based on the geometric factor and the number of effective anchor points, for example, using the following formula:

[0070] β = min(number of anchor points ÷ 5, 1.0) × geometric factor, where the number of anchor points is the number of effective anchor points, and min(number of anchor points ÷ 5, 1.0) is the minimum value among 1.0 and the quotient of the number of effective anchor points and 5.

[0071] The geometrical factor = 1 ÷ geometrical precision attenuation factor (GDOP). The geometrical precision attenuation factor (GDOP), also known as the positioning accuracy factor or UWB anchor point topology geometric factor, reflects the impact of the spatial geometric distribution between the anchor point and the tag to be located (i.e., the target object) on positioning accuracy. (The sum of variances of the position calculations), where the geometric accuracy attenuation factor ranges from 0.0 (worst) to 1.0 (best). These represent the position variances of the X, Y, and Z axes corresponding to the second position information of the ultra-wideband system, respectively.

[0072] When CN0 > 40 dB-Hz and PDOP < 1.5, α → 0.95, and the positioning service is primarily provided by the satellite navigation system (e.g., BeiDou Navigation Satellite System). When CN0 < 25 dB-Hz or PDOP > 6, α → 0.05 (the BeiDou Navigation Satellite System fails). When there are 4 effective anchor points evenly distributed (the geometry factor will be > 0.8), β → 0.95; when 3 effective anchor points are collinear (the geometry factor will be < 0.2), β → 0.05. α and β are ultimately applied to adaptive fusion positioning and seamless handover control.

[0073] When determining the location information of the second target using the above hybrid positioning equation, since the coordinate systems of the first and second location information are different, a Helmert transformation is needed to convert the WGS-84 coordinate system of the first location information to the local coordinate system of the second location information, thereby achieving coordinate unification. For example, this can be achieved using the following formula:

[0074]

[0075] Where R represents the rotation matrix, consisting of three angles Rx, Ry, and Rz, representing the rotation angles (in radians) around the X, Y, and Z axes, respectively. Rotation is typically performed in the order of ZYX (or a specified order). The rotation matrix corrects axial deviations between two coordinate systems. X0, Y0, and Z0 represent the translations (in meters) of the origin of the source coordinate system (WGS-84) relative to the origin of the target coordinate system (local coordinate system). During the transformation, these translations are first subtracted from the source coordinates, effectively aligning the origins. WGS84 Y WGS84 Z WGS84 This represents the three-dimensional coordinates of the source coordinates (i.e., the first position information) in space, along the X, Y, and Z axes. local Ylocal Z local This indicates the X, Y, and Z coordinates of the source coordinates (i.e., the first position information) in the local coordinate system after coordinate unification.

[0076] To achieve a more accurate final position result, Kalman filtering can be used to process the second target's position information to obtain the third target's position information. The role of Kalman filtering is to further fuse multi-source data (i.e., the aforementioned second target position information) to obtain a more accurate state estimate (position, velocity, etc.). Kalman filtering uses the weights α of the satellite navigation system and β of the ultra-wideband system to adjust the measurement noise matrix (K matrix) in the Kalman filter, thereby affecting the degree of trust the Kalman filter places in each measurement source. Then, Kalman filtering uses the state equation and measurement equation to perform state estimation, obtaining the final position information (i.e., the aforementioned third target position information). Specifically, the role of Kalman filtering in the fusion process is as follows:

[0077] State vector: includes position, velocity, and acceleration.

[0078] Prediction steps: Use IMU data (determined by state transition equations) to predict the current state.

[0079] Update steps: Use BeiDou and UWB measurements and dynamically adjust the noise levels of these two measurements using α and β (K matrix).

[0080] Adjusting the K matrix: In Kalman filtering, the measurement noise matrix K represents the uncertainty of the measurement value. A larger K indicates a less reliable measurement value, and the Kalman filter tends to trust the predicted value more; conversely, a smaller K indicates greater trust in the measurement value. Therefore, the reciprocals (or similar transformations) of α and β can be used as the noise variance of the corresponding measurement value in the K matrix. For example, for BeiDou measurements (i.e., the first location information mentioned above), the measurement noise variance can be set as: K_bds = 1 ÷ (α + ε) (ε is a preset very small number, for example, 0.0001, to avoid division by 0). For UWB measurements (i.e., the second location information mentioned above), the measurement noise variance can be set as: K_uwb = 1 ÷ (β + ε). Thus, when α is large (close to 1), it indicates that the BeiDou measurement value is very reliable, K_bds will be small, and the Kalman filter will trust the BeiDou measurement value more; similarly, when β is large, K_uwb is small, and UWB is trusted more. Therefore, the entire process can be summarized as follows:

[0081] 1. Calculate the weight α of the satellite navigation system and the weight β of the ultra-wideband system in real time using formulas.

[0082] 2. Adjust the measurement noise matrix K of the Kalman filter according to α and β.

[0083] 3. Perform Kalman filtering prediction (using IMU data or motion models) and updates (using BeiDou and UWB position measurements).

[0084] 4. The output of the Kalman filter is the final position estimate (i.e., the third target position information mentioned above). In this way, α and β are used to dynamically adjust the trust level of different positioning sources, and the dynamic estimation capability of the Kalman filter is used to naturally fuse IMU data without the need to calculate P_DR separately, thereby obtaining better positioning results, while also providing state information such as velocity and acceleration.

[0085] 5. The following pseudocode illustrates the initialization of the Kalman filter parameters (state vector x, covariance matrix P, process noise Q, initial measurement noise matrix K).

[0086] while True:

[0087] Read sensor data: BeiDou position (BeiDou positioning coordinates) PBDS (i.e., the first position information mentioned above), UWB position (Ultra-Wideband positioning coordinates) PUWB (i.e., the second position information mentioned above), IMU data (including acceleration, angular velocity, etc.).

[0088] 1. Calculate α and β: α = 0.8 * sigmoid(CN0 - 30) + 0.2 * (1 ÷ PDOP), β = min(number of anchor points ÷ 5, 1.0) × geometric factor.

[0089] 2. Generate fused observations (i.e., the second target location information mentioned above) using the hybrid positioning equation: Pfinal=α×PBDS+β×PUWB+(1-α-β)×PDR; based on the current state and IMU calculation (when using it, α, β, and Pfinal that have been calculated by the above formula in the above steps can be used, and there is no need to calculate them again).

[0090] 3. Coordinate System 1: P_fusion_wgs84 = Coordinate System Transformation(Pfinal, "Local to WGS84"), using Helmert parameters (i.e., the above uses Helmert transformation to realize the transformation between the WGS-84 coordinate system of the first position information and the local coordinate system of the second position information).

[0091] 4. Set the measurement noise matrix K for the Kalman filter: (BeiDou measurement noise variance) (UWB measurement noise variance), K = constructing block diagonal matrix (K_bds, K_uwb) (assuming that the measurements of BeiDou (satellite navigation system) and UWB (ultra-wideband system) are independent).

[0092] 5. Prediction Steps: State prediction is performed using IMU data (or a motion model): x_pred = F × x, where F is the state transition matrix. The state at the next moment is predicted based on the selected IMU motion model (e.g., uniform motion, uniform acceleration). P_pred = F × P × F T +Q, where F T It is the transpose of F.

[0093] 6. Update steps: Use the fused observations: z = P_fusion_wgs84 (the observation vector is the fused position (i.e., the position information of the second target mentioned above)). H = observation matrix, which is used to extract the observable part from the high-dimensional state and map the state vector to the observation space. Then calculate the Kalman gain:

[0094] K1 = P_pred × H T ×inv(H×P_pred×H T +K) where inv refers to matrix inversion. Update state and covariance: x=x_pred+K1×(zH×x_pred); P=(I-K1×H)×P_pred, where I represents the identity matrix. Finally, output the final position final_position (i.e., the third target position information mentioned above): the position components in x (including not only position, but also velocity, acceleration and other state information), final_position=x[0:3], which means that the first three elements are selected from x, which are usually three-dimensional position coordinates, used to determine the specific position of the target object (such as vehicle, drone, etc.) in space.

[0095] If, during any preset time period, the weight of the satellite navigation system is less than a first preset weight threshold (e.g., 0.2) and the weight of the ultra-wideband system is greater than a second preset weight threshold (e.g., 0.7), it is determined that the positioning system used by the target object is switched from the satellite navigation system to the ultra-wideband system, and the receiver used to detect the signal quality of the satellite navigation system is turned off.

[0096] Real-time closed-loop control can also be implemented by determining the BeiDou confidence level and UWB confidence level. When the UWB confidence level > 0.8 for 5 seconds, the receiver used to detect the signal quality of the satellite navigation system (e.g., the BeiDou receiver) is turned off. When the BeiDou confidence level is less than a predetermined threshold (e.g., < 0.3) and the UWB confidence level is greater than another preset threshold (e.g., > 0.6), the full-power mode of the ultra-wideband system is activated. Here, the BeiDou confidence level maps the quality of space signal propagation, and the UWB confidence level characterizes the reliability of the local measurement environment. BeiDou confidence level = 0.6 × carrier-to-noise ratio factor + 0.3 × multipath effect factor + 0.1 × satellite geometry factor, where: carrier-to-noise ratio factor (represented by cn0_factor, with a value of 0-1): cn0_factor = 1 - 1 / (1+e ((CN0-35)÷5) Multipath effect factor (represented by multipath_factor, with a value of 0-1): The satellite geometric factor (denoted by sat_factor, with a value of 0-1) is: sat_factor = tanh((sat_count-5)÷3), where sat_count represents the number of visible satellites, and tanh(x) = (e m -e -m )÷(e m +e -m Here, m is taken as (sat_count-5)÷3.

[0097] UWB confidence score = 0.5 × anchor number gain + 0.3 × ranging stability factor + 0.2 × clock synchronization factor, where, anchor number gain (represented by anchor_factor, with a value of 0-1): anchor_factor = min(1.0, number of anchors ÷ 5), and ranging stability factor (represented by range_factor, with a value of 0-1): Clock synchronization factor (represented by sync_factor, with a value of 0-1): sync_factor = 1 - tanh (clock synchronization error ÷ 0.3). The carrier-to-noise ratio, multipath effect, number of visible satellites and anchor points, range variance, and clock synchronization error mentioned above are all measurable physical quantities.

[0098] The positioning method for indoor / outdoor handover in this application is applicable to target objects switching from indoors to outdoors or vice versa. It eliminates positioning blind spots, suppresses position jumps, and reduces handover latency during indoor / outdoor environment switching, achieving centimeter-level continuous positioning. Pre-wake-up technology activates the UWB system (Ultra-Wideband system) in advance, avoiding positioning interruptions caused by satellite signal attenuation; real-time calculation of fusion weights based on signal quality, combined with Kalman filtering, ensures a smooth positioning transition and eliminates position jumps; optimized hardware architecture compresses handover latency to <100ms, resulting in more real-time response; and a self-judgment mechanism for positioning modes reduces system power consumption by more than 40%. Millisecond-level seamless handover: a soft handover mechanism based on signal quality (i.e., signal quality requirements) compresses environmental handover latency to 80-100ms (10 times faster than traditional hard handover), meeting the needs of high-speed mobile scenarios. The adaptive RF management module shuts down the BeiDou receiver when UWB is operating stably, reducing measured power consumption from 210mW to 125mW and extending mobile device battery life by 50%. In port AGV scheduling scenarios, the positioning accuracy at container handling path switching points reached 0.32m, with no trajectory jumps; the average daily operating time of warehouse robots increased from 8 hours to 12 hours. Simultaneously, the deployment density of UWB anchor points was reduced by 30%, lowering system construction costs. When the target objects in intelligent logistics are mobile platforms such as Automated Guided Vehicles (AGVs) and emergency rescue equipment, seamless navigation with a positioning error of ≤0.5m can be achieved in complex scenarios such as ports and warehouses. This meets the stringent requirements of the Industrial Internet of Things (IIoT) for high-precision continuous positioning, improves the operating efficiency and safety of automated equipment, and enhances the positioning reliability in fields such as the IIoT and smart cities.

[0099] This application also provides a flowchart of another positioning method for indoor / outdoor switching process, such as... Figure 3 As shown, at the start of positioning, BeiDou signal detection is first performed (based on CN0, number of visible satellites, and PDOP). If CN0 is less than 35, the number of visible satellites is less than 4, or PDOP is greater than or equal to 3.0, UWB scanning (based on the anchor discovery protocol) is activated. If there are 3 or more valid anchors, the conditions are met, and UWB-TDOA is used for calculation. If the conditions are not met, IMU dead reckoning (for motion state prediction) is used. Then, coordinate system transformation is performed, and dynamic weights are calculated. Finally, the final position (i.e., the position information of the third target mentioned above) is output through Kalman filtering fusion, and status feedback is provided. If CN0 is greater than or equal to 35 and PDOP is less than 3, BeiDou positioning (i.e., the satellite navigation system mentioned above) is used directly for calculation.

[0100] Figure 4 This is a schematic diagram of a test environment deployment according to an embodiment of this application, such as... Figure 4The diagram illustrates the deployment of a test environment when testing using the method described in this application. Solid dots mark UWB anchor points (UWB-0 to UWB-6), which form the basis of the UWB positioning system and are used to achieve high-precision indoor positioning. Red dashed lines represent the test path for the automated guided vehicle (AGV). The outdoor loading / unloading area, indoor shelving area, and transition area are clearly defined to evaluate the system's performance in complex scenarios.

[0101] Figure 5 This is a comparison diagram of transition zone positioning errors provided according to an embodiment of this application, such as... Figure 5 As shown, compared with the solution in this embodiment, the positioning error of the solution in this embodiment is significantly reduced.

[0102] Figure 6 This is a comparison chart of positioning errors for different schemes provided in the embodiments of this application, such as... Figure 6 As shown, compared with the traditional switching scheme and the pure IMU scheme, the positioning error of the scheme in this application embodiment is significantly reduced.

[0103] Figure 7 This is a comparison chart of system power consumption provided according to an embodiment of this application, such as... Figure 7 As shown, compared to systems using traditional switching schemes, the power consumption of the positioning chip, wireless module, and processor in the system using the scheme in this application embodiment is significantly reduced.

[0104] Figure 8 This is a switching delay comparison chart provided according to an embodiment of this application, such as... Figure 8 As shown, compared with the switching delay of traditional solutions, the switching delay of the solution in this application is significantly reduced.

[0105] Figure 9 This is a timing diagram of signal strength and positioning weight changes provided according to an embodiment of this application, such as... Figure 9 The diagram illustrates the changes in the strength of BeiDou satellite signals (i.e., signals from the satellite navigation system used for positioning outdoors) and UWB signals (i.e., signals from the ultra-wideband system) over a time series, as well as the dynamic adjustment of the BeiDou weight (i.e., the weight of the satellite navigation system mentioned above) α and the UWB weight (i.e., the weight of the ultra-wideband system mentioned above) β calculated based on these signal strengths over time. The yellow background area represents the transition region between indoor and outdoor environments. Within this region, the BeiDou satellite signal begins to weaken, while the UWB signal gradually strengthens, and the corresponding weights are adjusted accordingly. A smooth transition of the BeiDou weight (i.e., the weight of the satellite navigation system) α and the UWB weight (i.e., the weight of the ultra-wideband system) β can be observed, achieving a seamless switch from BeiDou-dominated positioning to UWB-dominated positioning.

[0106] Figure 10 This is a system architecture diagram provided according to an embodiment of this application, such as... Figure 10 The diagram illustrates the architecture of a seamless switching system for implementing the methods described in this application, including: a BeiDou receiver (BDS-B3 / B2a / B1I): supporting reception of multiple frequency bands (B1I, B2a, B3) of the BeiDou Navigation Satellite System (BDS), providing high-precision outdoor positioning; a UWB transceiver (3.5-6.5GHz): an ultra-wideband transceiver module operating in the 3.5 to 6.5 GHz frequency band, used to receive and transmit UWB signals, achieving centimeter-level indoor positioning (the UWB anchor point is not shown in detail in the diagram, but the anchor point, combined with the UWB transceiver, constitutes a key part of the UWB positioning system); a 6-axis IMU: an inertial measurement unit integrating a 3-axis accelerometer and a 3-axis gyroscope, used for dead reckoning, providing motion state information, and assisting in position estimation when the signal is poor; and a power management system including dynamic voltage regulation, used to adjust system power consumption in different positioning modes to achieve energy-saving optimization. ARM Processor (Cortex-M7): The central processing unit responsible for data processing and algorithm execution, featuring high-speed processing capabilities and low power consumption, suitable for real-time processing of positioning data. Storage Unit (8MB Flash): Used to store pre-loaded indoor UWB anchor point topology maps, system configuration parameters, historical positioning data, etc., ensuring fast data access and processing. Antenna Interface: Used to connect the BeiDou receiver and UWB transceiver, ensuring signal reception and transmission. Data Interface: Transmits processed positioning data and control commands to the ARM processor, and interacts with the storage unit to achieve data storage and retrieval. The following table shows the parameters used by the BeiDou receiver module:

[0107]

[0108]

[0109] Figure 11 This is a bar chart of typical experimental data (outdoor scene) for BeiDou positioning provided according to an embodiment of this application. For example... Figure 11 As shown, the positioning performance of BeiDou-3 in different outdoor scenarios is intuitively demonstrated. The blue bars in the left figure represent the actual positioning error, while the orange bars represent the theoretical upper limit of error calculated based on HDOP (Horizontal Precision Factor) (HDOP × 2.5). Satellites refer to the number of visible satellites. The test data is shown in the table below:

[0110]

[0111] Figure 12 This is a typical experimental data (indoor scene) diagram of UWB positioning provided according to an embodiment of this application.

[0112] like Figure 12 As shown, a three-dimensional coordinate system is used. The horizontal axis represents distance (in meters), the vertical axis represents the number of anchor points, and the vertical axis displays the positioning error (in meters). Different colored dots in the figure represent the impact of different environmental factors on UWB positioning accuracy: Green dots: represent line-of-sight (LOS) conditions, where the UWB signal can directly reach the receiver without obstacles, typically resulting in a small positioning error. Orange dots: represent non-line-of-sight (NLOS) conditions, where the signal may be reflected or blocked by obstacles, leading to increased positioning error. Red dots: represent the impact of metallic interference on the signal; reflection and absorption by metallic objects significantly increase positioning error.

[0113] The test data is shown in the table below:

[0114] Scene Distance (m) Number of anchor points Error (m) Line of sight (LOS) 5 4 0.12 Line of sight (LOS) 20 4 0.18 Line of sight (LOS) 50 4 0.35 Non-line-of-sight (NLOS) 5 4 0.28 Non-line-of-sight (NLOS) 10 4 0.42 Non-line-of-sight (NLOS) 10 6 0.25 Metal interference 8 4 0.85 Metal interference 8 8 0.36

[0115] pass Figure 11 and 12 The comparison shows the complementary advantages of BeiDou and UWB technologies: BeiDou provides high-precision positioning outdoors, while UWB performs well indoors, maintaining high positioning accuracy even under conditions of obstruction and interference. The method in this application embodiment can achieve seamless switching between the two positioning methods, thereby realizing high-precision and continuous indoor and outdoor positioning services.

[0116] Figure 13 This is a radar chart showing the performance of a UWB positioning module according to an embodiment of this application, such as... Figure 13 As shown, a radar chart was used to comprehensively evaluate the performance of the UWB positioning module (a hardware unit that uses ultra-wideband radio technology for precise location determination) across various performance metrics. Accuracy: Measures the positioning accuracy of the UWB positioning module under ideal conditions (such as line-of-sight (LOS) environments). Synchronization: Reflects the clock synchronization capability between anchor points in the UWB system. Range: Indicates the effective coverage area of ​​UWB positioning. Update Rate: The frequency of UWB positioning data updates. Power Consumption: The power consumption of the UWB positioning module in different operating modes.

[0117] Figure 14 This is a schematic diagram of a system-level test result for seamless indoor-outdoor switching according to an embodiment of this application, as shown below. Figure 14The diagram illustrates the performance of the seamless switching positioning system when switching between BeiDou and UWB satellite positioning in different scenarios, including switching errors and latency. The maximum positioning error (red bar) and average switching latency (green line) are represented by red bars and green lines, respectively. The maximum error (red bar) is the maximum positioning error recorded during the system's switch from BeiDou to UWB positioning and vice versa. The average error (blue bar) represents the average positioning error during system switching across different test periods. The switching latency (green line) refers to the time from when the system detects the need to switch positioning modes to when it completes the calculation of the new positioning mode and outputs the location information.

[0118] Figure 15 This is a schematic diagram of another indoor-outdoor seamless switching system-level test results provided in an embodiment of this application, such as... Figure 15 The diagram illustrates the performance of the seamless switching positioning system when switching between BeiDou satellite positioning and UWB positioning in different scenarios, including power consumption and switching distance. Power consumption increment (cyan bar): represents the increase in system power consumption during positioning mode switching. Switching distance (purple line): the typical distance for the system to switch from outdoor BeiDou positioning to indoor UWB positioning (i.e., from a satellite navigation system used for outdoor positioning to an ultra-wideband system used for indoor positioning), or from indoor UWB positioning to outdoor BeiDou positioning. In some scenarios, such as building entrances and underground parking garages, the length of the switching distance directly affects the system's response speed and efficiency. Ideally, the system should switch positioning modes quickly and accurately when entering or leaving an indoor environment.

[0119] Figure 16 This is a schematic diagram illustrating an implementation example of a seamless switching positioning system for port AGVs provided in this application. Figure 16 The image depicts an example of a seamless positioning system for AGVs (Automated Guided Vehicles) in a port, showcasing in detail the on-site implementation and application of various positioning modules and technologies. The port environment is complex, encompassing multiple functional areas such as container yards, customs-controlled areas, and terminal operation areas. UWB anchor points (red dots A0 to A6) are densely deployed in key areas (such as the container yard and the entrance to the controlled area) to ensure UWB signal coverage and positioning accuracy. The AGV path (green line segment) indicates the typical travel route of the AGV within the port, covering the transition zone from outdoors to indoors and back. The switching point (yellow square) indicates the specific location for switching from BeiDou satellite positioning to UWB positioning.

[0120] This application also provides a schematic diagram of the structure of a positioning device for indoor / outdoor switching processes, as shown in the embodiment. Figure 17 As shown, it includes:

[0121] The detection module 1702 is used to detect the signal quality of the satellite navigation system used for positioning of the target object outdoors at preset time intervals when the target object enters the electronic fence, and to obtain the first position information of the target object fed back by the satellite navigation system. The signal quality includes carrier-to-noise ratio, number of visible satellites, and position accuracy factor. The range of the electronic fence includes the range of the indoor entrance within a preset distance.

[0122] The first determining module 1704 is used to activate the ultra-wideband system for indoor positioning when the signal quality does not meet the signal quality requirements, and to determine the first target position information of the target object in each preset time period. The first target position information is either the second position information determined based on the data fed back by the ultra-wideband system or the third position information determined by dead reckoning through the inertial measurement unit.

[0123] The second determining module 1706 is used to determine the second target location information of the target object for each preset time period, based at least on the first location information, the first target location information, the weight of the satellite navigation system, and the weight of the ultra-wideband system. The second target location information is used to reflect the location of the target object during the process of switching from outdoors to indoors in the corresponding preset time period.

[0124] It should be noted that, Figure 17 The positioning device shown in the indoor / outdoor switching process is used to perform... Figure 2 The positioning method shown in the indoor-outdoor switching process, therefore Figure 2 The explanations and descriptions in the positioning method for the indoor-outdoor switching process also apply to the positioning device for the indoor-outdoor switching process, and will not be repeated here.

[0125] It should be noted that each module in the positioning device during the above-mentioned indoor-outdoor switching process can be a program module (e.g., a set of program instructions to implement a specific function) or a hardware module. For the latter, it can take the following forms, but is not limited to them: each of the above modules is represented by a processor, or the functions of each of the above modules are implemented by a processor.

[0126] This application also provides a non-volatile storage medium, which includes a stored program, wherein the program controls the device where the non-volatile storage medium is located to execute the positioning method for the indoor / outdoor switching process of any of the above embodiments during program execution.

[0127] This application also provides an electronic device, which includes a processor for running a program, wherein the positioning method for the indoor / outdoor switching process of any of the above embodiments is executed during program execution.

[0128] According to another aspect of the embodiments of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the positioning method for the indoor-outdoor switching process of any of the above embodiments.

[0129] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0130] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0131] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0132] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0133] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to related technologies, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0134] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A positioning method for indoor / outdoor switching processes, characterized in that, include: When a target object enters the electronic fence, the signal quality of the satellite navigation system used for positioning of the target object outdoors is detected at preset time intervals, and the first position information of the target object fed back by the satellite navigation system is obtained. The signal quality includes carrier-to-noise ratio, number of visible satellites, and position accuracy factor. The range of the electronic fence includes a range of preset distance from the indoor entrance. If the signal quality does not meet the signal quality requirements, the ultra-wideband system for indoor positioning is activated, and in each preset time period, the first target location information of the target object is determined, wherein the first target location information is a second location information determined based on the data fed back by the ultra-wideband system or a third location information determined by dead reckoning through the inertial measurement unit. For each preset time period, the second target location information of the target object is determined at least based on the first location information, the first target location information, the weight of the satellite navigation system, and the weight of the ultra-wideband system. The second target location information is used to reflect the location of the target object during the process of switching from outdoors to indoors in the corresponding preset time period.

2. The method according to claim 1, characterized in that, The signal quality requirements are that the carrier-to-noise ratio is greater than or equal to a first preset threshold, the number of visible satellites is greater than or equal to a second preset threshold, and the position accuracy factor is less than a third preset threshold.

3. The method according to claim 1, characterized in that, The method further includes: when the target object enters the electronic fence, preloading an ultra-wideband anchor point topology map of the ultra-wideband system in the indoor environment, wherein the ultra-wideband anchor point topology map is used to indicate the location information and signal coverage range of all anchor points of the ultra-wideband system in the indoor environment.

4. The method according to claim 3, characterized in that, The determination of the first target location information of the target object includes: Determine the number of valid anchor points in the ultra-bandwidth anchor point topology map; When the number of effective anchor points is greater than or equal to a fourth preset threshold, the data fed back by the ultra-wideband system is processed by the time difference of arrival calculation to obtain the second location information, and the second location information is determined as the first target location information. The data fed back by the ultra-wideband system includes at least the time when each effective anchor point receives the pulse signal emitted by the target object. If the number of effective anchor points is less than the fourth preset threshold, the third location information is determined as the first target location information.

5. The method according to claim 1, characterized in that, The weights of the satellite navigation system are updated in each preset time period, and the weights of the satellite navigation system in each preset time period are determined in the following way: Obtain the first preset coefficient corresponding to the carrier-to-noise ratio, the second preset coefficient corresponding to the position accuracy factor, and the preset baseline value, wherein the preset baseline value is used to map the carrier-to-noise ratio to the range of 0 to 1; The weights of the satellite navigation system are determined based on the carrier-to-noise ratio, the position accuracy factor, the first preset coefficient, the second preset coefficient, and the preset baseline value.

6. The method according to claim 4, characterized in that, The weights of the ultra-wideband system are updated in each preset time period, and the weights of the ultra-wideband system in each preset time period are determined in the following way: Determine the geometric accuracy attenuation factor of the ultra-wideband system; The geometric factor is determined at least based on the geometric precision attenuation factor, wherein the geometric factor is used to quantify the geometric distribution of the plurality of effective anchor points; The weights of the ultra-wideband system are determined at least based on the geometric factors and the number of effective anchor points.

7. The method according to claim 1, characterized in that, The method further includes: if, during any preset time period, the weight of the satellite navigation system is less than a first preset weight threshold and the weight of the ultra-wideband system is greater than a second preset weight threshold, determining that the positioning system used by the target object is switched from the satellite navigation system to the ultra-wideband system, and turning off the receiver used to detect the signal quality of the satellite navigation system.

8. A positioning device for indoor / outdoor switching processes, characterized in that, include: The detection module is used to detect the signal quality of the satellite navigation system used for positioning of the target object outdoors at preset time intervals when the target object enters the electronic fence, and to obtain the first position information of the target object fed back by the satellite navigation system. The signal quality includes carrier-to-noise ratio, number of visible satellites, and position accuracy factor. The range of the electronic fence includes a range of preset distance from the indoor entrance. The first determining module is used to activate the ultra-wideband system for indoor positioning when the signal quality does not meet the signal quality requirements, and to determine the first target location information of the target object in each preset time period, wherein the first target location information is a second location information determined based on the data fed back by the ultra-wideband system or a third location information determined by dead reckoning through an inertial measurement unit. The second determining module is used to determine, for each preset time period, at least based on the first location information, the first target location information, the weight of the satellite navigation system, and the weight of the ultra-wideband system, the second target location information is used to reflect the location of the target object during the process of switching from outdoors to indoors in the corresponding preset time period.

9. A non-volatile storage medium, characterized in that, The non-volatile storage medium stores a program, wherein when the program is executed, it controls the device containing the non-volatile storage medium to perform the positioning method for the indoor-outdoor switching process as described in any one of claims 1 to 7.

10. An electronic device, characterized in that, include: A memory and a processor, the processor being configured to run a program stored in the memory, wherein the program, when running, executes the positioning method for the indoor-outdoor switching process as described in any one of claims 1 to 7.

11. A computer program product comprising computer instructions, characterized in that, When the computer instructions are executed by the processor, they implement the positioning method for the indoor-outdoor switching process as described in any one of claims 1 to 7.

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