A GNSS and UWB dual-mode cooperative fusion positioning SoC and environment switching system

Abstract

The application provides a GNSS and UWB dual-mode cooperative fusion positioning SoC and environment switching system, which is used for combining various positioning technologies to provide a positioning mode with both precision and applicability for a positioning object. Specifically, the application considers the differentiated characteristics of GNSS signal detection positioning and UWB positioning, adopts a GNSS signal detection and processing sublayer to perform first mode positioning, simultaneously adopts a UWB first fusion processing sublayer, cooperates with a UWB second fusion processing sublayer, initiates UWB repositioning correction concurrently while performing second mode positioning, realizes cooperative information processing of GNSS signal detection positioning and multi-end access of a fusion data structure based on block fusion operation on multiple different fields of shared data, realizes secondary fusion and cooperation of positioning data through dual-mode three-end positioning, adapts to various positioning application scenarios such as buildings, municipal administration, indoor and outdoor office, and provides convenience for specific adaptability positioning requirements in specific places.

Description

Technical Field

[0001] This invention belongs to the field of next-generation information technology, and in particular relates to a GNSS and UWB dual-mode collaborative fusion positioning SoC and environment switching system. Background Technology

[0002] With the development of technologies such as navigation, e-commerce, and control systems, the application of positioning technology is becoming increasingly sophisticated, and the demand for high-precision positioning is becoming stronger. Positioning with wide applicability, good stability, and high accuracy can bring many benefits to data processing.

[0003] There are various existing positioning technologies, such as GNSS positioning technology represented by GPS and BeiDou. GNSS, or Global Navigation Satellite System, is essentially a technology system that relies on a constellation of space satellites to achieve ranging and positioning. Currently operational systems include the US's GPS, Russia's GLONASS, China's BeiDou, and the EU's Galileo. While these systems differ in signal systems and constellation configurations, their underlying positioning principles are similar. In urban canyon environments, the obstruction of satellite signals by tall buildings can drastically reduce the number of visible satellites, while multipath interference caused by reflections from glass curtain walls or water surfaces can introduce significant ranging errors. To mitigate these problems, auxiliary methods are often used in engineering, such as ground-based augmentation systems that broadcast signals to users through a network of reference stations. GNSS has mature applications in surveying, transportation and logistics, and precision agricultural operations, but pure GNSS solutions struggle to cover indoor, underground, or densely obstructed environments.

[0004] Ultra-wideband (UWB) technology does not rely on satellites in outer space but instead uses a network of base stations deployed in a localized area to determine tag location by measuring the arrival time or time difference of radio frequency pulses between the tag and the base station. Compared to narrowband technologies such as Wi-Fi or Bluetooth, UWB pulses can reduce ranging drift caused by multipath propagation. Furthermore, UWB signals have extremely low power spectral density, typically submerged below background noise, reducing interference with other wireless services.

[0005] However, the applicant found in their research that while some basic discussions on fusion positioning exist, the collaboration between GNSS and UWB technologies generally stops at using UWB on top of GNSS, or focusing on one method for different scenarios while using the other as an auxiliary method. These approaches do not fully consider the accuracy based on UWB, nor the secondary fusion of UWB relocation on the basis of organic fusion and collaborative positioning, nor do they consider using reconfigurable, reusable, and shared data structures to collaboratively process fused data, resulting in a decrease in system synergy and insufficient fusion positioning effectiveness.

[0006] This invention proposes a GNSS and UWB dual-mode collaborative fusion positioning SoC and environment switching system, which combines multiple positioning technologies to provide a positioning method that is both accurate and applicable. Specifically, this invention considers the differentiated characteristics of GNSS signal detection positioning and UWB positioning. It employs a GNSS signal detection and processing sublayer to perform first-mode positioning, while simultaneously using a UWB first fusion processing sublayer. Based on the collaboration with a UWB second fusion processing sublayer, UWB relocation correction is initiated concurrently while performing second-mode positioning. Based on the block fusion operation of multiple different fields of shared data, it realizes collaborative information processing of GNSS signal detection positioning and multi-terminal access to the fused data structure. Through dual-mode three-terminal positioning, it achieves secondary fusion and collaboration of positioning data, adapting to various positioning application scenarios such as buildings, municipalities, and indoor and outdoor offices, and providing convenience for the specific positioning needs of specific locations. Summary of the Invention

[0007] The present invention aims to provide a GNSS and UWB dual-mode collaborative fusion positioning SoC and environment switching system that is superior to the existing technology.

[0008] To achieve the above objectives, the technical solution of the present invention is as follows: A GNSS and UWB dual-mode collaborative fusion positioning environment switching system, characterized in that the system includes at least: The GNSS signal detection and processing sublayer performs coarse positioning of the positioning object based on the GNSS signal and updates the first permission part field of the collaborative fusion data structure; The first UWB fusion processing sublayer performs UWB positioning of the positioning object based on the UWB signal and updates the second permission part field of the collaborative fusion data structure; The first UWB fusion processing sublayer is also used to generate and send UWB collaborative information to the second UWB fusion processing sublayer; Shared authentication middleware manages multi-terminal access to collaborative and integrated data structures based on system-authorized shared access information. The collaborative data structure includes at least two permission fields and two permission fields, and sets the default access object for each field. The UWB second fusion processing sublayer receives UWB collaboration information and modifies the configuration of the first permission field based on the UWB collaboration information; and the environment switching positioning decision module accesses the updated collaborative fusion data structure and provides fusion positioning information based on environment switching based on the collaborative fusion data structure, and outputs it to the user layer.

[0009] Preferably, the GNSS signal detection and processing sublayer performs coarse positioning of the positioning object based on the GNSS signal and updates the first permission part field of the collaborative fusion data structure, specifically including: Coarse positioning of the target object is performed based on GNSS signals to obtain the first GNSS positioning data payload. The first GNSS positioning data payload contains relevant process information and positioning information of GNSS positioning. It is encapsulated into the first GNSS positioning information structure. The collaborative fusion data structure is accessed based on the shared authentication middleware to update the first permission part fields.

[0010] Preferably, the structure encapsulated as the first GNSS positioning information includes at least: The relevant process information of GNSS positioning includes the operation data and process result information generated during the execution of GNSS positioning, and the positioning information includes the positioning data of the positioning object obtained by the execution of GNSS positioning. The relevant process information of GNSS positioning and the positioning information are encapsulated into independent first process information fields and coarse positioning information fields, and multiple fields are combined to form the first GNSS positioning information structure. The data structure for accessing collaborative fusion based on shared authentication middleware, which updates the first permission field, includes at least the following: The GNSS signal detection and processing sublayer sends an operation subject change request and a first GNSS positioning information structure to the shared authentication middleware. After receiving the request, the shared authentication middleware confirms that the system lock is not located in the GNSS signal detection and processing sublayer, and then switches to a dedicated route to connect to the collaborative fusion data structure side. Using itself as the read / write subject of the collaborative fusion data structure, it updates the first permission part field of the collaborative fusion data structure based on the first GNSS positioning information structure. The first permission part field includes a corresponding first process information field and a coarse positioning information field. Updating the first permission part field of the collaborative fusion data structure includes at least updating the first process information field and coarse positioning information field of the collaborative fusion data structure using the first process information field and coarse positioning information field of the first GNSS positioning information structure.

[0011] Preferably, the step of performing UWB positioning of the positioning object based on the UWB signal and updating the second permission part field of the collaborative fusion data structure includes at least: performing UWB positioning of the positioning object based on the UWB signal, obtaining the first UWB positioning data payload, encapsulating it into a first UWB positioning information structure, accessing the collaborative fusion data structure based on the shared authentication middleware, and updating the second permission part field. The first UWB positioning information structure encapsulated therein includes at least: The relevant process information of UWB positioning includes the operation data and process result information generated during the execution of UWB positioning, and the positioning information includes the positioning data of the positioning object obtained by the execution of UWB positioning. The relevant process information of UWB positioning and the positioning information are respectively encapsulated into an independent second process information field and a UWB positioning information field, and the multiple fields are combined to form a first UWB positioning information structure. The updated second permission field in the collaborative fusion data structure based on shared authentication middleware includes at least the following: The UWB signal detection and processing sublayer sends an operation subject change request and a first UWB positioning information structure to the shared authentication middleware. After receiving the request, the shared authentication middleware confirms that the system lock is not located in the first UWB fusion processing sublayer, and then switches to a dedicated route to connect to the collaborative fusion data structure side. It uses itself as the read / write subject of the collaborative fusion data structure and updates the second permission part field of the collaborative fusion data structure based on the first UWB positioning information structure. The second permission part field includes a corresponding second process information field and a UWB positioning information field. Updating the second permission part field of the collaborative fusion data structure includes at least updating the second process information field and the UWB positioning information field of the collaborative fusion data structure using the first process information field and the UWB positioning information field of the first UWB positioning information structure.

[0012] Preferably, the first UWB fusion processing sublayer is further configured to generate and send UWB coordination information to the second UWB fusion processing sublayer, including at least: The first UWB fusion processing sublayer is also used to generate UWB coordination information and send it to the second UWB fusion processing sublayer so that the second UWB fusion processing sublayer can modify the configuration of the first permission part field. The modification occurs in the same positioning event, after the GNSS signal detection and processing sublayer updates the first permission part field and is controlled by the clock. The first UWB fusion processing sublayer, based on the high accuracy of UWB positioning, requests the first process information field and coarse positioning information field of the collaborative fusion data structure from the shared authentication middleware. Based on the positioning data of the positioning object obtained by performing GNSS positioning given by the first process information field and coarse positioning information field, it performs UWB independent repositioning, saves the corrected data structure of the coarse positioning information field in the form of offset, and sends it to the second UWB fusion processing sublayer as UWB collaborative information.

[0013] Preferably, the shared authentication middleware, based on system-authorized shared access information, manages multi-terminal access to the collaborative and integrated data structure, and includes at least: Access to the collaborative data structure is concurrent and interactive. After an access request is initiated, the shared authentication middleware acts as an isolation middleware to directly connect to the collaborative data structure for reading operations. The system-authorized shared access information, including the default access object information of the collaborative data structure, serves as the basis for the shared authentication middleware's external interaction. Based on this, it is determined whether the peer that initiated the access request has access permission during the multi-terminal access process.

[0014] Preferably, the collaborative fusion data structure includes at least a first permission field and a second permission field, and sets default access objects for each field. Specifically, the collaborative fusion data structure includes at least a first permission field and a second permission field. The default access object for the first permission field is the GNSS signal detection and processing sublayer and the UWB second fusion processing sublayer. The default access object for the second permission field is the UWB first fusion processing sublayer. The default access object can be dynamically adjusted based on the system administrator's configuration.

[0015] Preferably, the second UWB fusion processing sublayer receives UWB collaboration information and modifies the configuration of the first permission field based on the UWB collaboration information, including at least: The UWB second fusion processing sublayer receives UWB cooperative information, determines the correction for the coarse positioning information field from the correction data structure of the coarse positioning information field stored in offset mode, performs the correction, and generates a UWB comparison positioning information field based on the corrected positioning information. The UWB comparison positioning information field stores the corrected positioning information. Replace the coarse location information field of the first permission section field with the UWB comparison location information field, and use it as the modified first permission section field.

[0016] Preferably, the environment switching positioning decision module accesses the updated collaborative fusion data structure and provides fused positioning information based on environment switching based on the collaborative fusion data structure, specifically including: The environment switching positioning decision module accesses the updated collaborative fusion data structure, obtains the coarse positioning information field and the UWB positioning information field from the modified first permission part fields, and calculates the final collaborative positioning, that is, the fused positioning information based on environment switching, using the system's preset weight algorithm with a specific weighting method, and outputs it to the user layer.

[0017] Meanwhile, the present invention also proposes a GNSS and UWB dual-mode collaborative fusion positioning SoC chip, comprising: a processor for calling and running a computer program from a memory, so that a device equipped with the chip performs the corresponding functions of the GNSS and UWB dual-mode collaborative fusion positioning SoC and environment switching system as described in any of the above.

[0018] Simultaneously, the present invention also proposes a computer-readable storage medium storing a program for electronic data processing, wherein the program causes a terminal to perform the corresponding functions of the GNSS and UWB dual-mode collaborative fusion positioning SoC and environment switching system as described in any of the preceding claims.

[0019] Meanwhile, the present invention also proposes a computer program product, which includes computer instructions that, when executed by a processor, perform the corresponding functions of the GNSS and UWB dual-mode collaborative fusion positioning SoC and environment switching system as described above.

[0020] This invention proposes a GNSS and UWB dual-mode collaborative fusion positioning SoC and environment switching system, which combines multiple positioning technologies to provide a positioning method that is both accurate and applicable. Specifically, this invention considers the differentiated characteristics of GNSS signal detection positioning and UWB positioning. It employs a GNSS signal detection and processing sublayer to perform first-mode positioning, while simultaneously using a UWB first fusion processing sublayer. Based on the collaboration with a UWB second fusion processing sublayer, UWB relocation correction is initiated concurrently while performing second-mode positioning. Based on the block fusion operation of multiple different fields of shared data, it realizes collaborative information processing of GNSS signal detection positioning and multi-terminal access to the fused data structure. Through dual-mode three-terminal positioning, it achieves secondary fusion and collaboration of positioning data, adapting to various positioning application scenarios such as buildings, municipalities, and indoor and outdoor offices, and providing convenience for the specific positioning needs of specific locations. Attached Figure Description

[0021] Figure 1 This is a basic example diagram of an environment switching system for GNSS and UWB dual-mode collaborative fusion positioning shown in this invention; Figure 2 This is a basic example diagram of the positioning object and GNSS signal detection and processing sublayer and the UWB first fusion processing sublayer in the GNSS and UWB dual-mode collaborative fusion positioning environment switching system shown in this invention; Figure 3 This is an example diagram showing the interconnection between the shared authentication middleware, the GNSS signal detection and processing sublayer, and the UWB first fusion processing sublayer in the GNSS and UWB dual-mode collaborative fusion positioning environment switching system claimed in this invention. Figure 4 This is one embodiment of the interconnection between the first UWB fusion processing sublayer and the second UWB fusion processing sublayer in the GNSS and UWB dual-mode cooperative fusion positioning environment switching system claimed in this invention; Figure 5This is one of the specific embodiments of data processing in the environment switching positioning decision module of the GNSS and UWB dual-mode collaborative fusion positioning environment switching system for which the present invention is claimed. Detailed Implementation

[0022] The following describes in detail several embodiments and beneficial effects of the GNSS and UWB dual-mode collaborative fusion positioning SoC and environment switching system claimed in this invention, in order to facilitate a more detailed examination and breakdown of this invention.

[0023] To better understand the technical solution of the present invention, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0024] It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0025] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0026] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0027] It should be understood that although terms such as "first," "second," etc., may be used to describe methods and corresponding apparatus in embodiments of the present invention, these terms should not be limited to. These terms are only used to distinguish the terms from each other. For example, without departing from the scope of embodiments of the present invention, UWB first fusion processing sublayer, first GNSS positioning data payload, etc., may also be referred to as second fusion processing sublayer, second GNSS positioning data payload, etc., and second fusion processing sublayer, second GNSS positioning data payload, etc., may also be referred to as first fusion processing sublayer, first GNSS positioning data payload.

[0028] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0029] As per the instruction manual Figure 1 -Appendix Figure 5 The diagram shown is a basic example of an environment switching system for GNSS and UWB dual-mode collaborative fusion as described in this invention. As a preferred embodiment that can be superimposed, each node or module can preferably interconnect with other nodes or modules for data and command transmission. Of course, as another preferred embodiment that can be superimposed, some nodes may not have interconnection with some other nodes, or may be allowed to disable or enable interconnection with other nodes.

[0030] As per the instruction manual Figure 1 As shown, Figure 1 This is a basic example diagram of a GNSS and UWB dual-mode cooperative fusion positioning environment switching system shown in this invention. The GNSS and UWB dual-mode cooperative fusion positioning environment switching system claimed in this invention is characterized in that the system includes at least: The GNSS signal detection and processing sublayer performs coarse positioning of the positioning object based on the GNSS signal and updates the first permission part field of the collaborative fusion data structure; The first UWB fusion processing sublayer performs UWB positioning of the positioning object based on the UWB signal and updates the second permission part field of the collaborative fusion data structure; The first UWB fusion processing sublayer is also used to generate and send UWB collaborative information to the second UWB fusion processing sublayer; Shared authentication middleware manages multi-terminal access to collaborative and integrated data structures based on system-authorized shared access information. The collaborative data structure includes at least two permission fields and two permission fields, and sets the default access object for each field. The UWB second fusion processing sublayer receives UWB collaboration information and modifies the configuration of the first permission field based on the UWB collaboration information; The system also includes an environment switching positioning decision module, which accesses the updated collaborative fusion data structure and provides fusion positioning information based on environment switching, which is then output to the user layer.

[0031] As per the instruction manual Figure 2 As shown, Figure 2This is a basic example diagram of the positioning object, GNSS signal detection and processing sublayer, and UWB first fusion processing sublayer in the GNSS and UWB dual-mode collaborative fusion positioning environment switching system shown in this invention. As a preferred, overlayable embodiment, the GNSS signal detection and processing sublayer performs coarse positioning of the positioning object based on the GNSS signal and updates the first permission portion field of the collaborative fusion data structure, specifically including: Coarse positioning of the target object is performed based on GNSS signals to obtain the first GNSS positioning data payload. The first GNSS positioning data payload contains relevant process information and positioning information of GNSS positioning. It is encapsulated into the first GNSS positioning information structure. The collaborative fusion data structure is accessed based on the shared authentication middleware to update the first permission part fields.

[0032] As a preferred embodiment that can be superimposed, the first GNSS positioning information structure encapsulated includes at least: The relevant process information of GNSS positioning includes the operation data and process result information generated during the execution of GNSS positioning, and the positioning information includes the positioning data of the positioning object obtained by the execution of GNSS positioning. The relevant process information of GNSS positioning and the positioning information are encapsulated into independent first process information fields and coarse positioning information fields, and multiple fields are combined to form the first GNSS positioning information structure. As per the instruction manual Figure 3 As shown, Figure 3 This is an example diagram illustrating the interconnection between the shared authentication middleware, the GNSS signal detection and processing sublayer, and the UWB first fusion processing sublayer in the environment switching system for GNSS and UWB dual-mode collaborative fusion positioning, as shown in this invention. The step of accessing the collaborative fusion data structure based on the shared authentication middleware and updating the first permission field includes at least: The GNSS signal detection and processing sublayer sends an operation subject change request and a first GNSS positioning information structure to the shared authentication middleware. After receiving the request, the shared authentication middleware confirms that the system lock is not located in the GNSS signal detection and processing sublayer, and then switches to a dedicated route to connect to the collaborative fusion data structure side. Using itself as the read / write subject of the collaborative fusion data structure, it updates the first permission part field of the collaborative fusion data structure based on the first GNSS positioning information structure. The first permission part field includes a corresponding first process information field and a coarse positioning information field. Updating the first permission part field of the collaborative fusion data structure includes at least updating the first process information field and coarse positioning information field of the collaborative fusion data structure using the first process information field and coarse positioning information field of the first GNSS positioning information structure.

[0033] As a preferred embodiment that can be superimposed, the step of performing UWB positioning of the positioning object based on UWB signals and updating the second permission part field of the collaborative fusion data structure includes at least: performing UWB positioning of the positioning object based on UWB signals, obtaining a first UWB positioning data payload, encapsulating it into a first UWB positioning information structure, accessing the collaborative fusion data structure based on the shared authentication middleware, and updating the second permission part field. As a preferred embodiment that can be superimposed, the first UWB positioning information structure encapsulated includes at least: The relevant process information of UWB positioning includes the operation data and process result information generated during the execution of UWB positioning, and the positioning information includes the positioning data of the positioning object obtained by the execution of UWB positioning. The relevant process information of UWB positioning and the positioning information are respectively encapsulated into an independent second process information field and a UWB positioning information field, and the multiple fields are combined to form a first UWB positioning information structure. The updated second permission field in the collaborative fusion data structure based on shared authentication middleware includes at least the following: The UWB signal detection and processing sublayer sends an operation subject change request and a first UWB positioning information structure to the shared authentication middleware. After receiving the request, the shared authentication middleware confirms that the system lock is not located in the first UWB fusion processing sublayer, and then switches to a dedicated route to connect to the collaborative fusion data structure side. It uses itself as the read / write subject of the collaborative fusion data structure and updates the second permission part field of the collaborative fusion data structure based on the first UWB positioning information structure. The second permission part field includes a corresponding second process information field and a UWB positioning information field. Updating the second permission part field of the collaborative fusion data structure includes at least updating the second process information field and the UWB positioning information field of the collaborative fusion data structure using the first process information field and the UWB positioning information field of the first UWB positioning information structure.

[0034] As per the instruction manual Figure 4 As shown, Figure 4 This is one embodiment of the interconnection between the first UWB fusion processing sublayer and the second UWB fusion processing sublayer in the environment switching system for GNSS and UWB dual-mode cooperative fusion positioning shown in this invention. As a preferred, superimposed embodiment, the first UWB fusion processing sublayer is further used to generate and send UWB cooperative information to the second UWB fusion processing sublayer, including at least: The first UWB fusion processing sublayer is also used to generate UWB coordination information and send it to the second UWB fusion processing sublayer so that the second UWB fusion processing sublayer can modify the configuration of the first permission part field. The modification occurs in the same positioning event, after the GNSS signal detection and processing sublayer updates the first permission part field and is controlled by the clock. The first UWB fusion processing sublayer, based on the high accuracy of UWB positioning, requests the first process information field and coarse positioning information field of the collaborative fusion data structure from the shared authentication middleware. Based on the positioning data of the positioning object obtained by performing GNSS positioning given by the first process information field and coarse positioning information field, it performs UWB independent repositioning, saves the corrected data structure of the coarse positioning information field in the form of offset, and sends it to the second UWB fusion processing sublayer as UWB collaborative information.

[0035] As a preferred, superimposed embodiment, the shared authentication middleware, based on system-authorized shared access information, manages multi-terminal access to the collaborative and integrated data structure, and includes at least: Access to the collaborative data structure is concurrent and interactive. After an access request is initiated, the shared authentication middleware acts as an isolation middleware to directly connect to the collaborative data structure for reading operations. The system-authorized shared access information, including the default access object information of the collaborative data structure, serves as the basis for the shared authentication middleware's external interaction. Based on this, it is determined whether the peer that initiated the access request has access permission during the multi-terminal access process.

[0036] As a preferred embodiment that can be overlaid, the collaborative fusion data structure includes at least a first permission field and a second permission field, and sets default access objects for each field. Specifically, the collaborative fusion data structure includes at least a first permission field and a second permission field. The default access object for the first permission field is the GNSS signal detection and processing sublayer and the UWB second fusion processing sublayer. The default access object for the second permission field is the UWB first fusion processing sublayer. The default access object can be dynamically adjusted based on the system administrator's configuration.

[0037] As a preferred embodiment that can be overlaid, the second UWB fusion processing sublayer receives UWB collaboration information and modifies the configuration of the first permission field based on the UWB collaboration information, including at least: The UWB second fusion processing sublayer receives UWB cooperative information, determines the correction for the coarse positioning information field from the correction data structure of the coarse positioning information field stored in offset mode, performs the correction, and generates a UWB comparison positioning information field based on the corrected positioning information. The UWB comparison positioning information field stores the corrected positioning information. Replace the coarse location information field of the first permission section field with the UWB comparison location information field, and use it as the modified first permission section field.

[0038] As per the instruction manual Figure 5 As shown, Figure 5 This is one specific embodiment of the data processing of the environment handover positioning decision module in the GNSS and UWB dual-mode collaborative fusion positioning environment handover system shown in this invention. As a preferred, superimposed embodiment, the environment handover positioning decision module accesses the updated collaborative fusion data structure and provides fusion positioning information based on environment handover based on the collaborative fusion data structure, specifically including: The environment switching positioning decision module accesses the updated collaborative fusion data structure, obtains the coarse positioning information field and the UWB positioning information field from the modified first permission part fields, and calculates the final collaborative positioning, that is, the fused positioning information based on environment switching, using the system's preset weight algorithm with a specific weighting method, and outputs it to the user layer.

[0039] To further differentiate it from existing technologies, as a preferred embodiment that can be superimposed, the step of obtaining the coarse positioning information field and the UWB positioning information field from the modified first permission part fields, and calculating the final collaborative positioning, i.e., the fused positioning information based on environment switching, using a system-preset weighting algorithm with a specific weighting method, and outputting it to the user layer, may also include: for example, the positioning data of the coarse positioning information field is a one-dimensional vector α, used to represent the spatial positioning of the positioning object obtained by the repositioning processing based on the UWB second fusion processing sub-layer; at the same time, the positioning data of the UWB positioning information field is a one-dimensional vector β, also used to represent the spatial positioning of the positioning object obtained by using UWB positioning. Based on the system's preset weight parameter K for performing comprehensive positioning processing, where K is a value greater than 0 and less than 1, K is used to scale each value in the one-dimensional vector α, and (1-K) is used to scale each value in the one-dimensional vector α. Then, the scaled one-dimensional vector α and the one-dimensional vector β are added together to obtain the fused positioning information based on environment switching through weight balancing, which is then output to the user layer. As another preferred embodiment that can be superimposed, for example, the one-dimensional vector α is {77,35,58}, the one-dimensional vector β is {79,40,60}, and the system's preset weight parameter K for performing integrated positioning processing is 0.7. Then, the fused positioning information = {77*0.7,35*0.7,58*0.7} + {77*0.3,40*0.3,60*0.3} = {77,36.5,58.6}, and the fused positioning information based on environment switching is obtained.

[0040] Meanwhile, the present invention also proposes a SoC chip for GNSS and UWB dual-mode collaborative fusion positioning, comprising: a processor for calling and running a computer program from a memory, so that a device equipped with the chip performs the corresponding functions of the GNSS and UWB dual-mode collaborative fusion positioning environment switching system as described in any of the above.

[0041] Simultaneously, the present invention also proposes a computer-readable storage medium storing a program for electronic data processing, wherein the program causes a terminal to perform the corresponding functions of the GNSS and UWB dual-mode collaborative fusion positioning SoC and environment switching system as described in any of the preceding claims.

[0042] Meanwhile, the present invention also proposes a computer program product, which includes computer instructions that, when executed by a processor, perform the corresponding functions of the GNSS and UWB dual-mode collaborative fusion positioning SoC and environment switching system as described above.

[0043] This invention proposes a GNSS and UWB dual-mode collaborative fusion positioning SoC and environment switching system, which combines multiple positioning technologies to provide a positioning method that is both accurate and applicable. Specifically, this invention considers the differentiated characteristics of GNSS signal detection positioning and UWB positioning. It employs a GNSS signal detection and processing sublayer to perform first-mode positioning, while simultaneously using a UWB first fusion processing sublayer. Based on the collaboration with a UWB second fusion processing sublayer, UWB relocation correction is initiated concurrently while performing second-mode positioning. Based on the block fusion operation of multiple different fields of shared data, it realizes collaborative information processing of GNSS signal detection positioning and multi-terminal access to the fused data structure. Through dual-mode three-terminal positioning, it achieves secondary fusion and collaboration of positioning data, adapting to various positioning application scenarios such as buildings, municipalities, and indoor and outdoor offices, and providing convenience for the specific positioning needs of specific locations.

[0044] In all the above embodiments, in order to achieve certain special data transmission and read / write function requirements, the above methods and corresponding devices can be expanded by adding devices, modules, components, hardware, pin connections or memory, processor differences during operation.

[0045] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the methods, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0046] In the several embodiments provided by this invention, it should be understood that the disclosed methods, apparatuses, and approaches can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of method steps is only a logical or functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another method, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, apparatuses, or units, and may be electrical, mechanical, or other forms.

[0047] The units described as separate components of the method and apparatus may or may not be logically or physically separate, and may not be physical units. That is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0048] Furthermore, the method steps and their implementations, as well as the functional units, in the various embodiments of the present invention 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 described above can be implemented in hardware or in the form of hardware plus software functional units.

[0049] The aforementioned methods and apparatus can be implemented as integrated units in the form of software functional units, which can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), NVRAM, magnetic disks, or optical disks.

[0050] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0051] It should be noted that the above embodiments are only used to more clearly explain and illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An environment switching system for GNSS and UWB dual-mode collaborative fusion positioning, characterized in that, The system includes at least: The GNSS signal detection and processing sublayer performs coarse positioning of the positioning object based on the GNSS signal and updates the first permission part field of the collaborative fusion data structure; The first UWB fusion processing sublayer performs UWB positioning of the positioning object based on the UWB signal and updates the second permission part field of the collaborative fusion data structure; The first UWB fusion processing sublayer is also used to generate and send UWB collaborative information to the second UWB fusion processing sublayer; Shared authentication middleware manages multi-terminal access to collaborative and integrated data structures based on system-authorized shared access information. The collaborative data structure includes at least two permission fields and two permission fields, and sets the default access object for each field. The UWB second fusion processing sublayer receives UWB collaboration information and modifies the configuration of the first permission field based on the UWB collaboration information; and the environment switching positioning decision module accesses the updated collaborative fusion data structure and provides fusion positioning information based on environment switching based on the collaborative fusion data structure, and outputs it to the user layer.

2. The GNSS and UWB dual-mode collaborative fusion positioning environment switching system as described in claim 1, characterized in that, The GNSS signal detection and processing sublayer performs coarse positioning of the positioning object based on the GNSS signal and updates the first permission part field of the collaborative fusion data structure, specifically including: Coarse positioning of the target object is performed based on GNSS signals to obtain the first GNSS positioning data payload. The first GNSS positioning data payload contains relevant process information and positioning information of GNSS positioning. It is encapsulated into the first GNSS positioning information structure. The collaborative fusion data structure is accessed based on the shared authentication middleware to update the first permission part fields.

3. The GNSS and UWB dual-mode collaborative fusion positioning environment switching system as described in claim 2, characterized in that, in, The first GNSS positioning information structure encapsulated at least includes: The relevant process information of GNSS positioning includes the operation data and process result information generated during the execution of GNSS positioning, and the positioning information includes the positioning data of the positioning object obtained by the execution of GNSS positioning. The relevant process information of GNSS positioning and the positioning information are encapsulated into independent first process information fields and coarse positioning information fields, and multiple fields are combined to form the first GNSS positioning information structure. The data structure for accessing collaborative fusion based on shared authentication middleware, which updates the first permission field, includes at least the following: The GNSS signal detection and processing sublayer sends an operation subject change request and a first GNSS positioning information structure to the shared authentication middleware. After receiving the request, the shared authentication middleware confirms that the system lock is not located in the GNSS signal detection and processing sublayer, and then switches to a dedicated route to connect to the collaborative fusion data structure side. Using itself as the read / write subject of the collaborative fusion data structure, it updates the first permission part field of the collaborative fusion data structure based on the first GNSS positioning information structure. The first permission part field includes a corresponding first process information field and a coarse positioning information field. Updating the first permission part field of the collaborative fusion data structure includes at least updating the first process information field and coarse positioning information field of the collaborative fusion data structure using the first process information field and coarse positioning information field of the first GNSS positioning information structure.

4. The GNSS and UWB dual-mode collaborative fusion positioning environment switching system as described in claim 3, characterized in that, The step of performing UWB positioning of the positioning object based on UWB signals and updating the second permission part field of the collaborative fusion data structure includes at least: performing UWB positioning of the positioning object based on UWB signals, obtaining the first UWB positioning data payload, encapsulating it into a first UWB positioning information structure, accessing the collaborative fusion data structure based on the shared authentication middleware, and updating the second permission part field. The first UWB positioning information structure encapsulated therein includes at least: The relevant process information of UWB positioning includes the operation data and process result information generated during the execution of UWB positioning, and the positioning information includes the positioning data of the positioning object obtained by the execution of UWB positioning. The relevant process information of UWB positioning and the positioning information are respectively encapsulated into an independent second process information field and a UWB positioning information field, and the multiple fields are combined to form a first UWB positioning information structure. The updated second permission field in the collaborative fusion data structure based on shared authentication middleware includes at least the following: The UWB signal detection and processing sublayer sends an operation subject change request and a first UWB positioning information structure to the shared authentication middleware. After receiving the request, the shared authentication middleware confirms that the system lock is not located in the first UWB fusion processing sublayer, and then switches to a dedicated route to connect to the collaborative fusion data structure side. It uses itself as the read / write subject of the collaborative fusion data structure and updates the second permission part field of the collaborative fusion data structure based on the first UWB positioning information structure. The second permission part field includes a corresponding second process information field and a UWB positioning information field. Updating the second permission part field of the collaborative fusion data structure includes at least updating the second process information field and the UWB positioning information field of the collaborative fusion data structure using the first process information field and the UWB positioning information field of the first UWB positioning information structure.

5. The GNSS and UWB dual-mode collaborative fusion positioning environment switching system as described in claim 4, characterized in that: The first UWB fusion processing sublayer is also used to generate and send UWB coordination information to the second UWB fusion processing sublayer, including at least: The first UWB fusion processing sublayer is also used to generate UWB coordination information and send it to the second UWB fusion processing sublayer so that the second UWB fusion processing sublayer can modify the configuration of the first permission part field. The modification occurs in the same positioning event, after the GNSS signal detection and processing sublayer updates the first permission part field and is controlled by the clock. The first UWB fusion processing sublayer, based on the high accuracy of UWB positioning, requests the first process information field and coarse positioning information field of the collaborative fusion data structure from the shared authentication middleware. Based on the positioning data of the positioning object obtained by performing GNSS positioning given by the first process information field and coarse positioning information field, it performs UWB independent repositioning, saves the corrected data structure of the coarse positioning information field in the form of offset, and sends it to the second UWB fusion processing sublayer as UWB collaborative information.

6. The GNSS and UWB dual-mode collaborative fusion positioning environment switching system as described in claim 5, characterized in that: The shared authentication middleware, based on system-authorized shared access information, manages multi-terminal access to the collaborative and integrated data structure, and includes at least: Access to the collaborative data structure is concurrent and interactive. After an access request is initiated, the shared authentication middleware acts as an isolation middleware to directly connect to the collaborative data structure for reading operations. The system-authorized shared access information, including the default access object information of the collaborative data structure, serves as the basis for the shared authentication middleware's external interaction. Based on this, it is determined whether the peer that initiated the access request has access permission during the multi-terminal access process.

7. The GNSS and UWB dual-mode collaborative fusion positioning environment switching system as described in claim 6, characterized in that: The collaborative fusion data structure includes at least a first permission field and a second permission field, and sets default access objects for each field. Specifically, the collaborative fusion data structure includes at least a first permission field and a second permission field. The default access object for the first permission field is the GNSS signal detection and processing sublayer and the UWB second fusion processing sublayer. The default access object for the second permission field is the UWB first fusion processing sublayer. The default access object can be dynamically adjusted based on the system administrator's configuration.

8. The GNSS and UWB dual-mode collaborative fusion positioning environment switching system as described in claim 6 or 7, characterized in that: The second UWB fusion processing sublayer receives UWB collaboration information and modifies the configuration of the first permission field based on the UWB collaboration information, including at least: The UWB second fusion processing sublayer receives UWB cooperative information, determines the correction for the coarse positioning information field from the correction data structure of the coarse positioning information field stored in offset mode, performs the correction, and generates a UWB comparison positioning information field based on the corrected positioning information. The UWB comparison positioning information field stores the corrected positioning information. Replace the coarse location information field of the first permission section field with the UWB comparison location information field, and use it as the modified first permission section field.

9. The GNSS and UWB dual-mode collaborative fusion positioning environment switching system as described in claim 8, characterized in that: The environment switching positioning decision module accesses the updated collaborative fusion data structure and provides fused positioning information based on environment switching, specifically including: The environment switching positioning decision module accesses the updated collaborative fusion data structure, obtains the coarse positioning information field and the UWB positioning information field from the modified first permission part fields, and calculates the final collaborative positioning, that is, the fused positioning information based on environment switching, using the system's preset weight algorithm with a specific weighting method, and outputs it to the user layer.

10. A SoC chip for dual-mode collaborative positioning of GNSS and UWB, comprising: A processor for retrieving and running a computer program from memory, causing a device equipped with the chip to perform the corresponding functions of the GNSS and UWB dual-mode cooperative fusion positioning environment switching system as described in any one of claims 1 to 9.

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