Indoor and outdoor seamless positioning method and related device

Abstract

The invention provides an indoor and outdoor seamless positioning method and a related device, and the method comprises the steps: determining the original observation information of a multi-source sensor, and carrying out the independent calculation based on the original observation information, and obtaining an initial positioning result; fusing the initial positioning results to obtain fused positioning information; and scene switching is carried out on the fused positioning information based on the environment signal to obtain a seamless positioning result. According to the invention, by fusing the data of the Beidou, UWB, foot inertial navigation and other multi-source sensors and combining an environment adaptive switching mechanism, high-precision, continuous and seamless positioning in indoor and outdoor complex environments is realized, and the positioning precision and operation safety of electric power operators are remarkably improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of navigation positioning, and in particular, to an indoor-outdoor seamless positioning method and related device. BACKGROUND

[0002] This section is intended to provide background or context to the embodiments of the disclosure recited in the claims. The description herein does not constitute admission that the prior art is prior art nor does it constitute an admission of any description in this section as prior art to an application.

[0003] In the power operation environment, positioning technology is an important support means to ensure the safety of operation personnel and improve the operation efficiency, and is facing increasingly complex application requirements. Especially in the scene involving frequent movement of personnel in indoor, outdoor and transition areas, it is of great significance to the construction of intelligent power operation system to realize seamless positioning with high precision and strong continuity.

[0004] However, in the related art, there are problems such as multi-source data cooperation, different environmental adaptability, poor signal stability, and insufficient positioning accuracy in transition areas. SUMMARY

[0005] Therefore, the purpose of the present disclosure is to provide an indoor-outdoor seamless positioning method and related device, which at least solves one of the technical problems in the related art to some extent.

[0006] To achieve the above purpose, in an example embodiment of the present disclosure, a first aspect provides an indoor-outdoor seamless positioning method, which comprises: determining original observation information of a multi-source sensor, independently solving based on the original observation information to obtain an initial positioning result; fusing the initial positioning result to obtain fused positioning information; performing scene switching on the fused positioning information based on an environmental signal to obtain a seamless positioning result.

[0007] In some example embodiments, the original observation information includes satellite navigation observation values, ultra-wideband ranging information, and foot inertial measurement data.

[0008] In some example embodiments, the initial positioning result includes satellite positioning results, ultra-wideband positioning results, and foot inertial navigation calculation results.

[0009] In some example embodiments, the independently solving based on the original observation information to obtain an initial positioning result comprises: performing positioning calculation based on the satellite navigation observation values to obtain the satellite positioning results; performing state calculation based on the ultra-wideband ranging information to obtain the ultra-wideband positioning results; performing inertial navigation calculation based on the foot inertial measurement data to obtain the foot inertial navigation calculation result.

[0010] In some example embodiments, the fusing of the initial positioning result to obtain the fused positioning information comprises: determining zero speed information of the foot inertial measurement data, taking the satellite positioning result, the ultra-wideband positioning result and the zero speed information as observation values, constructing based on the observation values to obtain an observation equation; performing error estimation on the foot inertial navigation calculation result based on an extended Kalman filter to obtain a navigation parameter error; correcting the navigation parameter error to obtain the fused positioning information.

[0011] Based on the same inventive concept, the second aspect of the example embodiments of the present disclosure provides an indoor and outdoor seamless positioning device, comprising: an initial positioning result determination module configured to determine original observation information of a multi-source sensor, independently calculate based on the original observation information to obtain an initial positioning result; a fused positioning information determination module configured to fuse the initial positioning result to obtain fused positioning information; a seamless positioning result determination module configured to perform scene switching on the fused positioning information based on an environment signal to obtain a seamless positioning result.

[0012] In some example embodiments, the initial positioning result determination module is specifically configured to: the original observation information comprises satellite navigation observation values, ultra-wideband ranging information and foot inertial measurement data; the initial positioning result comprises a satellite positioning result, an ultra-wideband positioning result and a foot inertial navigation calculation result; the independently calculating based on the original observation information to obtain an initial positioning result comprises: performing positioning calculation based on the satellite navigation observation values to obtain the satellite positioning result; performing state calculation based on the ultra-wideband ranging information to obtain the ultra-wideband positioning result; performing inertial navigation calculation based on the foot inertial measurement data to obtain the foot inertial navigation calculation result.

[0013] In some example embodiments, the fused positioning information determination module is specifically configured to: determining zero speed information of the foot inertial measurement data, taking the satellite positioning result, the ultra-wideband positioning result and the zero speed information as observation values, constructing based on the observation values to obtain an observation equation; perform error estimation on the foot inertial navigation calculation result based on an extended Kalman filter to obtain a navigation parameter error; correct the navigation parameter error to obtain the fusion positioning information.

[0014] Based on the same inventive concept, a third aspect of the embodiments of the present disclosure provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of the first aspect when executing the program.

[0015] Based on the same inventive concept, a fourth aspect of the embodiments of the present disclosure provides a non-transitory computer-readable storage medium, which stores computer instructions for causing a computer to execute the method of the first aspect.

[0016] Based on the same inventive concept, a fifth aspect of the embodiments of the present disclosure provides a computer program product, comprising computer program instructions, which, when executed on a computer, cause the computer to execute the method of the first aspect.

[0017] As can be seen from the above, the indoor and outdoor seamless positioning method and related device provided by the embodiments of the present disclosure, the method comprises: determining original observation information of a multi-source sensor, independently solving based on the original observation information to obtain an initial positioning result; fusing the initial positioning result to obtain fusion positioning information; switching scenes based on the fusion positioning information based on an environment signal to obtain a seamless positioning result. The present disclosure can fuse BeiDou, UWB and foot inertial navigation and other multi-source sensor data, and combine an environment adaptive switching mechanism to realize high-precision, continuous and seamless positioning in an indoor and outdoor complex environment, and significantly improve the positioning accuracy and operation safety of power operation personnel. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the present disclosure or the related art, the drawings needed to be used in the embodiments or related art descriptions will be briefly introduced. Obviously, the drawings in the following description are only embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0019] Figure 1 An application scenario schematic diagram of the indoor and outdoor seamless positioning method provided by the embodiments of the present disclosure; Figure 2 A flowchart schematic diagram of the indoor and outdoor seamless positioning method provided by the embodiments of the present disclosure; Figure 3A system architecture schematic diagram of the indoor and outdoor seamless positioning method provided for the exemplary embodiments of the present disclosure; Figure 4 A structure schematic diagram of the indoor and outdoor seamless positioning device provided for the exemplary embodiments of the present disclosure; Figure 5 A structure schematic diagram of the electronic device hardware provided for the exemplary embodiments of the present disclosure. DETAILED DESCRIPTION

[0020] It can be understood that, before using the technical solutions disclosed in the embodiments of the present application, the type, use range, use scenario, etc. of the personal information involved in the present application should be informed to the user and the authorization of the user should be obtained through appropriate means according to relevant laws and regulations.

[0021] For example, in response to receiving the active request of the user, prompt information is sent to the user to explicitly prompt the user that the operation requested to be performed will require obtaining and using the personal information of the user. Thus, the user can voluntarily choose whether to provide the personal information to the electronic device, application program, server or storage medium, etc. software or hardware performing the operation of the technical solutions of the present application according to the prompt information.

[0022] As an optional but non-limiting implementation manner, in response to receiving the active request of the user, the manner of sending prompt information to the user may, for example, be a pop-up window manner, and the prompt information may be presented in the form of text in the pop-up window. In addition, the pop-up window may also carry selection controls for the user to select "agree" or "disagree" to provide personal information to the electronic device.

[0023] It can be understood that the above notification and obtaining of user authorization process is only illustrative, and does not limit the implementation manner of the present application, and other manners meeting the relevant laws and regulations can also be applied to the implementation manner of the present application.

[0024] It can be understood that the data (including but not limited to the data itself, the acquisition or use of the data) involved in the present technical solution should comply with the requirements of the relevant laws and regulations and the relevant provisions.

[0025] In order to make the purpose, technical solutions and advantages of the present disclosure clearer and more apparent, the principles and spirits of the present disclosure will be described below with reference to several exemplary embodiments. It should be understood that these embodiments are only given to enable those skilled in the art to better understand and implement the present disclosure, and do not limit the scope of the present disclosure in any way. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0026] In this document, it needs to be understood that any number of elements in the drawings is used for example and not limitation, and any naming is only used for distinction and does not have any limiting meaning.

[0027] It should be noted that, unless otherwise defined, technical terms or scientific terms used in the embodiments of the present disclosure should be understood as the usual meaning understood by persons having ordinary skills in the art to which the present disclosure belongs. The terms "first", "second" and the like used in the embodiments of the present disclosure do not represent any order, number or importance, but are only used to distinguish different components. The terms "include" or "contain" and the like mean that the elements or objects before the terms cover the elements or objects listed after the terms and their equivalents, and do not exclude other elements or objects. The terms "connect" or "connected" and the like are not limited to physical or mechanical connection, but can include electrical connection, whether direct or indirect. The terms "up", "down", "left", "right" and the like are only used to represent relative positional relationship, and when the absolute position of the described object changes, the relative positional relationship may also change accordingly. The article "a" or "an" before an element does not exclude the existence of multiple such elements.

[0028] The principles and spirits of the present disclosure will be explained in detail below with reference to several representative embodiments of the present disclosure.

[0029] As described in the background, in the related art, there are problems such as multi-source data collaboration, different environmental adaptability, poor signal stability, and insufficient positioning accuracy in transition areas. Specifically, in the power operation environment, positioning technology, as an important support means to ensure the safety of operation personnel and improve operation efficiency, is facing increasingly complex application demands. Especially in scenarios involving frequent movement of personnel in indoor, outdoor and transition areas, achieving high-precision, strong continuity and seamless positioning is of great significance to the construction of intelligent power operation system. However, due to the performance differences of various positioning technologies in different environments, there is currently no mature and stable fusion positioning solution, and relevant research and engineering practice still face many technical challenges.

[0030] Existing mainstream positioning technologies have their own advantages, but it is difficult for them to meet the overall demand of seamless high-precision positioning in power operation scenarios. Global navigation satellite systems represented by Beidou satellite navigation system can provide relatively reliable positioning services in open environments, and can further improve accuracy in specific areas through ground-based and satellite-based enhancement means, but its signal is easily blocked by buildings, and there are obvious blind areas in indoor or complex structure environment, which is difficult to meet the continuity requirement. Ultra-wide band (UWB) technology performs well in indoor positioning, has high positioning accuracy and strong anti-multipath interference ability, and is suitable for indoor scenes with complex structure or complex electromagnetic environment; but its coverage is limited, and it is difficult to adapt to large-scale site deployment, and its outdoor application also faces problems such as cost and environmental adaptability. Inertial measurement unit (IMU) has the advantage of providing continuous position information without external signals, and can effectively compensate for the shortcomings of Beidou and UWB in a short time or transition area, but due to the accumulation of its own error over time, if there is no external reference for correction, long-term use is difficult to guarantee the positioning accuracy. In summary, although Beidou, UWB and inertial navigation technologies have obvious advantages in their respective application environments, they still need to solve the problems of multi-source data collaboration, environmental adaptability, signal stability and positioning accuracy in transition areas in the fusion application. Therefore, how to realize efficient complementation and information fusion among different technologies, and build an indoor and outdoor seamless positioning system suitable for complex power operation environment, is still a key technical bottleneck that needs to be broken through in the current intelligent power operation field.

[0031] To solve the above problems, the present disclosure provides an indoor and outdoor seamless positioning method and related device scheme, the method comprising: The original observation information of the multi-source sensor is determined, independent solving is performed based on the original observation information, and an initial positioning result is obtained; the initial positioning result is fused to obtain fused positioning information; and scene switching is performed on the fused positioning information based on an environment signal to obtain seamless positioning result. The present disclosure is suitable for the application requirement of high-precision positioning of personnel in indoor and outdoor mixed environments such as power operation. In view of the problems of insufficient positioning accuracy and discontinuous positioning in the prior art in a complex environment, the device fuses the BeiDou Navigation Satellite System (BDS), the Inertial Measurement Unit (IMU) and the Ultra-Wideband (UWB) technology, and combines a motion mode constraint optimization mechanism to realize the indoor and outdoor seamless positioning function with continuity and high precision. Specifically, the present disclosure includes a wearable device, a data processing module and an information fusion module. The wearable device is arranged on the head and foot of the human body, and includes a head BeiDou positioning module, a UWB ranging module and a Bluetooth communication module, and a foot IMU module and a Bluetooth communication module. The data processing module is used for multi-thread processing of the BeiDou observation information, the foot inertial measurement unit (IMU) output information and the ultra-wideband ranging (UWB) data collected by the wearable device, and obtaining independent positioning results of GNSS, IMU and UWB respectively. The information fusion module fuses the BeiDou positioning result or the UWB positioning result with the IMU calculation result and the zero-speed detection information based on the Kalman filtering algorithm, and outputs the seamless positioning result with high precision and continuity suitable for complex indoor and outdoor environments.

[0032] After introducing the basic principles of the present disclosure, the various non-limiting embodiments of the present disclosure will be specifically introduced below.

[0033] Reference Figure 1 , which is a schematic diagram of an application scene of an indoor and outdoor seamless positioning method provided by an exemplary embodiment of the present disclosure.

[0034] In the application scene, the terminal device 101 and the server 102 are included. The terminal device 101 and the server 102 can be connected through a wired or wireless communication network to realize data interaction.

[0035] The terminal device 101 can be an electronic device close to a user side with data transmission, multimedia input / output functions, including but not limited to a desktop computer, a mobile phone, a mobile computer, a tablet computer, a media player, a smart wearable device, a personal digital assistant (PDA), or other electronic devices capable of realizing the above functions, etc. The electronic device can include a processor and a display screen with touch input function, the display screen being used to present a graphical user interface, the graphical user interface being capable of displaying an application interface, the processor being used to process application data, generate a graphical user interface, and control the display of the graphical user interface on the display screen.

[0036] The server 102 can be a stand-alone physical server, a server cluster or a distributed system composed of multiple physical servers, or a cloud server providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN (Content Delivery Network), and basic cloud computing services such as big data and artificial intelligence platforms.

[0037] In some example embodiments, the indoor-outdoor seamless positioning method can run on the terminal device 101 or the server 102.

[0038] When the indoor-outdoor seamless positioning method runs on the server 102, the server 102 is used to provide indoor-outdoor seamless positioning services for a user of the terminal device 101.

[0039] The server 102 determines the original observation information of the multi-source sensor, and independently solves based on the original observation information to obtain an initial positioning result. The server 102 fuses the initial positioning result to obtain fused positioning information. After the server 102 performs scene switching on the fused positioning information based on environmental signals to obtain a seamless positioning result, the server 102 transmits the seamless positioning result to the terminal device 101.

[0040] It should be noted that the above application scenarios are only shown for the purpose of facilitating the understanding of the spirit and principles of the present disclosure, and the embodiments of the present disclosure are not limited in this respect. On the contrary, the embodiments of the present disclosure can be applied to any applicable scenario.

[0041] Reference Figure 2 , an indoor-outdoor seamless positioning method, the method comprising the following steps: Step S210, determining the original observation information of the multi-source sensor, and independently solving based on the original observation information to obtain an initial positioning result.

[0042] In some embodiments, the original observation information includes satellite navigation observation values, ultra-wideband ranging information, and foot inertial measurement data.

[0043] In implementation, the satellite navigation observation values, the ultra-wideband ranging information, and the foot inertial measurement data are obtained in the following manner: The wearable devices worn on the head and the foot of the worker respectively collect the following multi-source sensor original observation data: In which, the reference Figure 3 The Beidou positioning module receives B1C and B2a frequency signals, collects pseudo-range and carrier phase observation values (i.e. satellite navigation observation values), the UWB module obtains ranging data between multiple UWB anchor points deployed in the room (i.e. ultra-wideband ranging information), supports time difference of arrival (TDoA) and time of flight (ToF) modes, the IMU module obtains original data of the foot three-axis accelerometer and the gyroscope (i.e. foot inertial measurement data), and the Bluetooth communication module is used for realizing data synchronization and real-time transmission among the sensing modules.

[0044] In some embodiments, the original observation information includes satellite navigation observation values, ultra-wideband ranging information, and foot inertial measurement data.

[0045] In some embodiments, the independent solving based on the original observation information to obtain the initial positioning result includes: Positioning solving based on the satellite navigation observation values to obtain the satellite positioning result; State calculation based on the ultra-wideband ranging information to obtain the ultra-wideband positioning result; Inertial navigation solving based on the foot inertial measurement data to obtain the foot inertial navigation calculation result.

[0046] In implementation, the positioning solving based on the satellite navigation observation values to obtain the satellite positioning result is in the following manner: In which, the reference Figure 3 The Beidou positioning module performs high-precision Beidou positioning solving based on the differential positioning technology to obtain the satellite positioning result, and if the differential correction data is unavailable, it degenerates into a pseudo-range single-point positioning mode to output absolute coordinate information as the main positioning source in an outdoor environment.

[0047] In implementation, the state calculation based on the ultra-wideband ranging information to obtain the ultra-wideband positioning result is in the following manner: The UWB module calculates the relative position between the worker and the anchor point based on the ranging data in the area where the Beidou signal is unavailable or unattainable to obtain the ultra-wideband positioning result as an auxiliary positioning source.

[0048] In implementation, the manner of obtaining the foot inertial navigation calculation result based on the foot inertial measurement data includes: The IMU module performs state calculation based on an inertial navigation mechanism to obtain a foot inertial navigation calculation result, outputs personnel posture, speed and position information, and combines a zero-speed detection algorithm to construct a zero-speed constraint observation to improve system steady-state accuracy.

[0049] In step S220, the initial positioning result is fused to obtain fused positioning information.

[0050] In some embodiments, the fusing of the initial positioning result to obtain fused positioning information includes: Determining zero-speed information of the foot inertial measurement data, taking the satellite positioning result, the ultra-wideband positioning result and the zero-speed information as observation values, correcting the foot inertial navigation calculation result based on the observation values to obtain the fused positioning information.

[0051] In implementation, the manner of determining the zero-speed information of the foot inertial measurement data, taking the satellite positioning result, the ultra-wideband positioning result and the zero-speed information as observation values, correcting the foot inertial navigation calculation result based on the observation values to obtain the fused positioning information includes: Reference Figure 3 The information fusion module corrects the navigation state error of the foot inertial navigation calculation result calculated by the IMU based on an Extended Kalman Filter (EKF) algorithm, taking the satellite positioning result or the ultra-wideband positioning result and the zero-speed information as observation, to obtain a final high-precision and continuous pedestrian positioning result. The fusion process automatically switches the fusion scheme (Beidou+IMU or UWB+IMU) according to the current environment state to ensure the continuity and robustness of the system positioning.

[0052] In some embodiments, the correcting of the foot inertial navigation calculation result based on the observation values to obtain the fused positioning information includes: Constructing based on the observation values to obtain an observation equation; Estimating the error of the foot inertial navigation calculation result based on an Extended Kalman Filter to obtain a navigation parameter error; Correcting the navigation parameter error to obtain the fused positioning information.

[0053] In implementation, the manner of constructing based on the observation values to obtain an observation equation, estimating the error of the foot inertial navigation calculation result based on an Extended Kalman Filter to obtain a navigation parameter error, and correcting the navigation parameter error to obtain the fused positioning information includes: ReferenceFigure 3 The data processing module obtains the independent positioning results from the BeiDou, IMU, and UWB modules respectively, and inputs them into the information fusion module. The specific fusion process is as follows: In the geocentric coordinate system ( The state equation of the extended Kalman filter continuous-time system under the given conditions is:

[0054] The relevant symbols and their physical meanings are explained below: in, Indicates from the carrier coordinate system ( Transform from (system) to Earth-centered Earth-fixed coordinate system ( The attitude transformation matrix of the system; The specific force vector is measured by the accelerometer in the carrier coordinate system; The symbol "" represents the antisymmetric matrix form corresponding to the vector; The local gravitational acceleration vector in the Earth-centered Earth-fixed coordinate system ( Projection representation in (system); and These are the driving white noises for the gyroscope and accelerometer, respectively. and These are the relevant times for the corresponding first-order Gaussian-Markov processes.

[0055] The physical meaning of subscripts and superscripts is explained in detail below: (1) The superscript in the symbol " "The reference coordinate system used to indicate the motion of this vector or variable is the geocentric coordinate system." (system), that is, the vector in Defined in the system, it is used to describe the motion state of the carrier; (2) The superscript in the symbol " "The motion reference coordinate system used for this vector or variable is the carrier coordinate system ( Tie); (3) Represents the carrier coordinate system ( (system) relative to the inertial coordinate system ( The rotational angular velocity of the system, and with The system is a projected coordinate system; (4) Represents the geocentric coordinate system ( (system) relative to the inertial coordinate system ( The rotational angular velocity of the system, and with The system is a projected coordinate system; Through the above symbol convention, the position, velocity, attitude and other parameters in the navigation state can be consistently modeled and expressed in multiple coordinate systems, thereby providing a mathematical basis for subsequent state estimation and filter fusion.

[0056] System state quantity of extended Kalman filter are defined as follows:

[0057] wherein, is a position error, is a velocity error, is an attitude error, is a gyro zero bias error, is an accelerometer zero bias error, wherein the position error, the velocity error and the attitude error are navigation parameter errors, and the system state quantity is based on the IMU.

[0058] The above continuous-time system state equation is expressed in a matrix form as follows:

[0059] After discretization of the system state equation, the following is obtained:

[0060] wherein, is a state transition matrix, is a driving white noise, is a variance intensity of the driving white noise, and the state transition matrix is expressed as: The covariance matrix of the driving white noise is expressed as:

[0061] The Beidou position observation model is:

[0062] wherein, is a difference between the IMU estimated position and the Beidou positioning module output positioning result, i.e.

[0063] ; is a Beidou positioning error; is a rod arm vector from the Beidou antenna phase center to the IMU, which can be measured in advance. The UWB position observation model is:

[0064] wherein,

[0065] ​​The difference between the position calculated by the IMU and the positioning result output by the UWB module is ; The UWB positioning error is The UWB antenna to the IMU is a lever vector, which can be measured in advance.

[0066] The zero speed detection observation model is:

[0067] Among them, The difference between the IMU calculated speed and the speed detected by the zero speed detection is ; The artificial added noise is .

[0068] The observation equation of the extended Kalman filter will be based on the above Beidou position observation model, UWB position observation model and zero speed detection observation model, defined as follows:

[0069] Among them, The observation vector is The observation matrix is The observation noise is , and the covariance matrix is , which is specifically expressed as:

[0070] In the case of given initial position, speed and attitude of the pedestrian, the state vector and covariance matrix at the next time are obtained by recursive according to the time update and observation update formula of the extended Kalman filter:

[0071] Among them, And The one-step prediction value and state estimation value are And The one-step prediction error covariance matrix and state error covariance matrix are The filter gain matrix is

[0072] Each time information fusion obtains the pedestrian navigation result, and corrects the IMU sensor error, and then obtains the fusion positioning information, yi, which improves the navigation accuracy.

[0073] Step S230, scene switching of the fusion positioning information based on the environment signal is obtained. Seamless positioning result.

[0074] In specific implementation, the way to obtain seamless positioning result by scene switching of the fusion positioning information based on the environment signal is: The device is provided with an environment sensing and adaptive switching mechanism to realize seamless connection of positioning modes: Reference Figure 3 , the number of visible Beidou satellites in the sensor data, UWB ranging success rate and other signal quality indicators are used for environment judgment; in the Beidou signal good area, the fusion strategy dominated by Beidou is preferred, and in the indoor area, the UWB dominant fusion scheme is automatically transitioned to obtain seamless positioning results, ensuring the continuity and robustness of the positioning results; The seamless positioning results output by the fusion module are uniformly managed and published by the system, and are called by application modules such as upper task scheduling, path planning, and operation record, suitable for high-precision personnel positioning services in complex environments such as power inspection, emergency rescue, and underground pipe gallery operation.

[0075] It should be noted that the method of the embodiments of the present disclosure can be executed by a single device, such as a computer or a server. The method of the present embodiment can also be applied to a distributed scenario, completed by multiple devices cooperating with each other. In this distributed scenario, one of the multiple devices can only execute one or more steps in the method of the present disclosure, and the multiple devices can interact with each other to complete the method.

[0076] It should be noted that some embodiments of the present disclosure have been described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different than that described above and still achieve desirable results. In addition, the processes depicted in the figures do not necessarily require the particular order shown, or sequential order, to achieve the desired results. In certain implementations, multitasking and parallel processing can be advantageous.

[0077] Based on the same inventive concept, the present disclosure also provides an indoor and outdoor seamless positioning device corresponding to any of the above-mentioned embodiment methods.

[0078] Reference Figure 4 , the indoor and outdoor seamless positioning device comprises: An initial positioning result determination module 410 is configured to determine the original observation information of the multi-source sensor, and independently solve based on the original observation information to obtain an initial positioning result; A fusion positioning information determination module 420 is configured to fuse the initial positioning result to obtain fusion positioning information; A seamless positioning result determination module 430 is configured to perform scene switching on the fusion positioning information based on environmental signals to obtain a seamless positioning result.

[0079] In the example embodiment, the initial positioning result determination module 410 is specifically configured to: The original observation information includes satellite navigation observation values, ultra-wideband ranging information and foot inertial measurement data. The initial positioning result includes satellite positioning results, ultra-wideband positioning results and foot inertial navigation calculation results. The independent solution based on the original observation information to obtain the initial positioning result includes: Positioning solution based on the satellite navigation observation values to obtain the satellite positioning results; State calculation based on the ultra-wideband ranging information to obtain the ultra-wideband positioning results; Inertial navigation solution based on the foot inertial measurement data to obtain the foot inertial navigation calculation results.

[0080] In the example embodiment, the fusion positioning information determination module 420 is specifically configured to: Determine the zero-speed information of the foot inertial measurement data, take the satellite positioning results, ultra-wideband positioning results and the zero-speed information as observation values, construct based on the observation values to obtain observation equations; Error estimation of the foot inertial navigation calculation results based on an extended Kalman filter to obtain navigation parameter errors; Correct the navigation parameter errors to obtain the fusion positioning information.

[0081] In the example embodiment, the seamless positioning result determination module 430 is specifically configured to: Scene switching of the fusion positioning information based on environment signals to obtain the seamless positioning results.

[0082] For the convenience of description, the above device is described as various modules respectively described in terms of functions. Of course, the functions of each module can be implemented in one or more software and / or hardware when implementing the present disclosure.

[0083] The device of the above embodiment is used to implement the corresponding indoor and outdoor seamless positioning method in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be described here.

[0084] Based on the same inventive concept, the present disclosure also provides an electronic device corresponding to any of the above method embodiments, which includes a memory, a processor and a computer program stored in the memory and executable on the processor, and the processor implements the indoor and outdoor seamless positioning method of any of the above embodiments when executing the program.

[0085] Figure 5A more specific electronic device hardware structure schematic diagram provided by the embodiment is shown, and the device can include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 for internal communication.

[0086] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits, etc., for executing related programs to implement the technical solutions provided by the embodiments of the present specification.

[0087] The memory 1020 can be implemented by a ROM (Read Only Memory), a RAM (Random Access Memory), a static storage device, a dynamic storage device, etc. The memory 1020 can store an operating system and other application programs, and when the technical solutions provided by the embodiments of the present specification are implemented by software or firmware, the related program codes are stored in the memory 1020 and called and executed by the processor 1010.

[0088] The input / output interface 1030 is used to connect input / output modules to realize information input and output. The input / output modules can be configured as components in the device (not shown in the figure) or externally connected to the device to provide corresponding functions. The input device can include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device can include a display, a speaker, a vibrator, an indicator light, etc.

[0089] The communication interface 1040 is used to connect a communication module (not shown in the figure) to realize the communication interaction between the device and other devices. The communication module can realize communication through a wired manner (such as USB, network cable, etc.) or through a wireless manner (such as mobile network, WIFI, Bluetooth, etc.).

[0090] The bus 1050 includes a channel for transmitting information between various components (such as the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040) of the device.

[0091] It should be noted that although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device can also include other components necessary for normal operation. In addition, those skilled in the art can understand that the above device can also only contain the components necessary to implement the embodiments of the present application, and does not necessarily contain all the components shown in the figure.

[0092] The electronic device of the above embodiment is used to implement the corresponding indoor and outdoor seamless positioning method in any of the preceding embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0093] Based on the same inventive concept, the disclosure also provides a non-transitory computer readable storage medium storing computer instructions for causing the computer to perform the indoor and outdoor seamless positioning method according to any of the above embodiments.

[0094] The computer readable medium of the present embodiment includes permanent and non-permanent, removable and non-removable media, which can be realized by any method or technology to store information. The information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0095] The above non-transitory computer readable storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic storage (such as floppy disk, hard disk, magnetic tape, magneto-optical disk (MO) and the like), optical storage (such as CD, DVD, BD, HVD and the like), and semiconductor memory (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid state disk (SSD)) and the like.

[0096] The storage medium of the above embodiment stores computer instructions for causing the computer to perform the indoor and outdoor seamless positioning method according to any of the above exemplary method embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0097] Based on the same inventive concept, corresponding to the indoor-outdoor seamless positioning method described in any of the above embodiments, the present disclosure also provides a computer program product comprising computer program instructions. In some embodiments, the computer program instructions can be executed by one or more processors of a computer to cause the computer and / or the processors to perform the indoor-outdoor seamless positioning method described above. Corresponding to the execution subject of each step in each embodiment of the indoor-outdoor seamless positioning method, the processor performing the corresponding step can belong to the corresponding execution subject.

[0098] The computer program product of the above embodiments is used to cause the computer and / or the processor to perform the indoor-outdoor seamless positioning method as described in any of the above embodiments, and has the beneficial effects of the corresponding method embodiments, which are not repeated here.

[0099] Those skilled in the art know that the embodiments of the present disclosure can be implemented as a system, a method, or a computer program product. Therefore, the present disclosure can be embodied in the form of entire hardware, entire software (including firmware, resident software, microcode, etc.), or a combination of hardware and software, which are generally referred to as "circuitry", "module" or "system" herein. In addition, in some embodiments, the present disclosure can also be embodied in the form of a computer program product in one or more computer readable media, which contains computer readable program codes.

[0100] Any combination of one or more computer readable medium can be employed. The computer readable medium can be a computer readable signal medium or a computer readable storage medium. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any suitable combination of the above. More specific examples (non-exhaustive list) of the computer readable storage medium can include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, device or apparatus.

[0101] A computer readable signal medium can include a propagated data signal with computer executable instructions. A propagated signal can be an electromagnetic signal, an optical signal, and / or any other suitable type of signal. A computer readable medium can include any suitable medium that is accessible by a computer. Examples of a computer readable medium include a random access memory (RAM), a read-only memory (ROM), a compact disk (CD-ROM), a floppy disk, a hard disk, an optical disk, a magnetic tape, and / or another suitable medium. Combinations of the above should also be included within the scope of computer readable media.

[0102] The program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0103] Computer program code for carrying out operations of the present disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, application specific circuitry, or field programmable gate array (FPGA) circuitry can execute the program code. Generally, program

[0104] It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. Such computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0105] These computer program instructions can also be stored in a computer readable medium that can direct a computer, a programmable data processing apparatus, and / or other

[0106] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0107] Further, although the operations of the method of the present disclosure are described in a particular, sequential order, this order is not meant to be a limitation. For example, some operations can be performed in an order different than that described. Further, some operations can be performed in parallel, in combination with, or in place of, one another. In addition, some operations can be omitted. Moreover, where appropriate, aspects of the disclosure can be implemented by various means, for example, hardware, software, firmware, or a combination thereof. In one embodiment, one or more computer programs might be embodied in machine-executable code, e.g., code for execution by a processor or a controller.

[0108] The flow diagrams and the block diagrams in the drawings are illustrative of possible architectures, functions, and operations for systems, methods, and computer program products according to various embodiments of the present disclosure. It will be understood that each block of the flow diagrams and / or block diagrams, and combinations of blocks in the flow diagrams and / or block diagrams, can be implemented by various means, such as hardware, software, firmware, or a combination thereof. Also, it will be appreciated that each block and / or combination of blocks can be implemented by special purpose hardware-based computer systems which are specifically programmed, constructed, and / or configured to carry out one or more computer processes. In this regard, each block in the flow diagrams and / or block diagrams can represent a module, segment, or portion of code which comprises one or more executable instructions to implement the specified logical function(s). It should also be noted that the functions of one or more blocks in the flow diagrams and / or block diagrams, and combinations of blocks in the flow diagrams and / or block diagrams, can also be implemented by special purpose hardware-based computer systems which are specifically programmed, constructed, and / or configured to carry out one or more computer processes.

[0109] It should be noted that, although the foregoing details refer to several modules or units of the device for action execution, such a division is not mandatory. Indeed, according to an embodiment of the application, the features and functions of two or more modules or units described above can be embodied in one module or unit. Conversely, the features and functions of one module or unit described above can be further divided into several modules or units embodied.

[0110] Those skilled in the art should understand that the above discussion of any embodiment is merely exemplary, and is not intended to be limiting of the scope of the application (including the claims) to these examples. Any of the above embodiments, or techniques from different embodiments, can be combined in any order, steps can be implemented in any order, and there are many other variations of the different aspects of the application as described above, which are within the scope of the application, and which are not provided in detail in order to keep the description concise. The same reference numerals in different embodiments designate the same components.

[0111] In addition, to simplify the description and discussion, and so as not to make the embodiments of the application difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components can or can not be shown in the provided drawings. Also, devices can be shown in block diagram form in order to avoid making the embodiments of the application difficult to understand, and this also takes into account the fact that the details regarding implementation of these block diagram devices are highly dependent on the platform in which the embodiments of the application are to be implemented (i.e., these details should be well within the understanding of one of skill in the art). Where specific details (e.g., circuitry) are set forth in order to describe an illustrative embodiment of the application, it should be understood that the embodiment of the application can be practiced without these specific details (i.e., other implementation) or with variation of these specific details. Therefore, the description should not be viewed as limiting, but rather as merely illustrating the described embodiments of the application.

[0112] While the application has been described in connection with specific embodiments thereof, many alternatives, modifications, and variations will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) can use the embodiments discussed.

[0113] The embodiments of the application are intended to cover all such alternatives, modifications, and variations as come within the scope of the broadest possible interpretation of the appended claims. Accordingly, any and all such modifications, variations, and equivalents that fall within the spirit and scope of the application are intended to be embraced by the claims.

[0114] While the spirit and principles of the disclosure have been described with reference to several specific embodiments, it is to be understood that the disclosure is not limited to the disclosed specific embodiments, and that the division into aspects is not meant to imply that features from the aspects cannot be combined to benefit from, and that the division is merely for convenience of description. The disclosure is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. The scope of the appended claims covers all such modifications and equivalents.

Claims

1. A seamless indoor-outdoor positioning method, characterized by, The method comprises the following steps: determining original observation information of a multi-source sensor, independently solving based on the original observation information to obtain an initial positioning result; fusing the initial positioning result to obtain fused positioning information; performing scene switching on the fused positioning information based on an environment signal to obtain a seamless positioning result.

2. The method of claim 1, wherein, The original observation information comprises satellite navigation observation values, ultra-wideband ranging information and foot inertial measurement data.

3. The method of claim 2, wherein, The initial positioning result comprises a satellite positioning result, an ultra-wideband positioning result and a foot inertial navigation calculation result.

4. The method of claim 3, wherein, The independently solving based on the original observation information to obtain an initial positioning result comprises: performing positioning calculation based on the satellite navigation observation values to obtain the satellite positioning result; performing state calculation based on the ultra-wideband ranging information to obtain the ultra-wideband positioning result; performing inertial navigation calculation based on the foot inertial measurement data to obtain the foot inertial navigation calculation result.

5. The method of claim 2, wherein, The fusing the initial positioning result to obtain fused positioning information comprises: determining zero-speed information of the foot inertial measurement data, taking the satellite positioning result, the ultra-wideband positioning result and the zero-speed information as observation values, and correcting the foot inertial navigation calculation result based on the observation values to obtain the fused positioning information.

6. The method of claim 5, wherein, The correcting the foot inertial navigation calculation result based on the observation values to obtain the fused positioning information comprises: constructing based on the observation values to obtain an observation equation; performing error estimation on the foot inertial navigation calculation result based on an extended Kalman filter to obtain navigation parameter errors; correcting the navigation parameter errors to obtain the fused positioning information.

7. An indoor-outdoor seamless positioning apparatus, characterized by The method comprises the following steps: an initial positioning result determination module configured to determine original observation information of a multi-source sensor, independently solve based on the original observation information to obtain an initial positioning result; a fused positioning information determination module configured to fuse the initial positioning result to obtain fused positioning information; a seamless positioning result determination module configured to perform scene switching on the fused positioning information based on an environment signal to obtain a seamless positioning result.

8. The apparatus of claim 7, wherein, The initial positioning result determination module is specifically configured to: the original observation information comprises satellite navigation observation values, ultra-wideband ranging information and foot inertial measurement data; the initial positioning result comprises a satellite positioning result, an ultra-wideband positioning result and a foot inertial navigation calculation result; the independently solving based on the original observation information to obtain an initial positioning result comprises: performing positioning calculation based on the satellite navigation observation values to obtain the satellite positioning result; performing state calculation based on the ultra-wideband ranging information to obtain the ultra-wideband positioning result; performing inertial navigation calculation based on the foot inertial measurement data to obtain the foot inertial navigation calculation result.

9. The apparatus of claim 8, wherein, The fused positioning information determination module is specifically configured to: determine zero-speed information of the foot inertial measurement data, take the satellite positioning result, the ultra-wideband positioning result and the zero-speed information as observation values, and construct based on the observation values to obtain an observation equation; performing error estimation on the foot inertial navigation result based on an extended Kalman filter to obtain a navigation parameter error; correcting the navigation parameter error to obtain the fusion positioning information.

10. An electronic device, comprising: The computer program is stored in the memory and executable on the processor, and the processor executes the program to implement the method in any one of claims 1 to 6.

11. A non-transitory computer-readable storage medium, comprising: The non-transitory computer readable storage medium stores computer instructions for causing a computer to execute the method in any one of claims 1 to 6.

12. A computer program product, characterised in that, The computer program instructions, when executed on a computer, cause the computer to execute the method in any one of claims 1 to 6.

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