CN109725338A - Indoor and outdoor integrated positioning system based on UWB and GPS - Google Patents
Indoor and outdoor integrated positioning system based on UWB and GPS Download PDFInfo
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Abstract
本发明提供基于UWB及GPS的室内室外一体化定位系统，在室内通过部署在监测区域的标签和锚节点通过UWB信号组网通信，测距数据传输至服务器进行结算、定位；在室外通过移动终端获取当前位置信息，移动终端将GPS经纬度位置信息有关数据传输到控制中心，从而实现定位。在室外通过在观测过程中实时地获得GPS经纬度定位结果，无需存储观测数据，但在用户移动终端和基准站之间实时地传输观测数据或观测量的修正数据实现实时定位。实现室内外无缝衔接定位，根据用户所在的场景不同自动切换室外定位和室内定位。定位过程中，根据接收和探测的信号情况对需要定位环境进行判断，结合预设的切换方式进行定位方案的无缝切换。
The invention provides an indoor-outdoor integrated positioning system based on UWB and GPS. Indoors, the tags and anchor nodes deployed in the monitoring area are used for network communication through UWB signals, and the ranging data is transmitted to the server for settlement and positioning; outdoor through the mobile terminal After obtaining the current position information, the mobile terminal transmits the data related to the GPS latitude and longitude position information to the control center, thereby realizing positioning. Outdoors, by obtaining the GPS latitude and longitude positioning results in real time during the observation process, there is no need to store the observation data, but real-time positioning is realized by transmitting the observation data or the correction data of the observation amount between the user's mobile terminal and the reference station in real time. Realize seamless indoor and outdoor positioning, and automatically switch between outdoor positioning and indoor positioning according to the user's scene. During the positioning process, the required positioning environment is judged according to the received and detected signal conditions, and the positioning scheme is seamlessly switched in combination with the preset switching mode.
Description
Technical field
The invention belongs to Internet of Things applied technical field more particularly to a kind of indoor and outdoor integrations based on UWB and GPS
Positioning system.
Background technique
GPS positioning technology is widely used among production and living.But in some cases, GPS positioning technology has limitation
Property, for example be just difficult to when being located at indoor by positioning object to receive satellite-signal, the positioning accuracy of GPS in rice magnitude, for
Certain to need the case where being accurately positioned, the precision of GPS is also far from enough.
Indoor orientation method based on UWB technology has many advantages, such as positioning accuracy height, strong antijamming capability, low in energy consumption, but
It is its high construction cost, is limited in large-scale application.
Inertial navigation technology is the posture and motion feature that carrier is obtained using inertial sensor data, then is integrated etc.
Mathematical computations obtain the location and navigation technology of carrier coordinate.It is wide because its is at low cost, precision is high, small feature affected by environment
The general positioning scene applied to mobile object cooperates pedestrian since current most smart phone is equipped with inertial sensor
Inertial navigation algorithm can be used for auxiliary positioning.
From it is outdoor move towards interior when, due to close to building, what part satellite-signal can not be received or receive
It is the signal after satellite refraction or diffraction, while received satellite number gradually decreases, so that position error is gradually increased.Phase
Instead, when people move towards outdoor from interior, the UWB signal received is gradually faint, and positioning is affected, and reaches room
The outer time is longer, and inertial navigation cumulative errors are bigger.
Therefore positioning system can not be adapted to outdoor positioning and indoor positioning simultaneously at present, can not position indoors and outdoor
Seamless switching is carried out between positioning, when user being caused to carry out transition between indoor and outdoor, the feelings of positioning mistake often occurs
Condition.
Summary of the invention
In view of this, the present invention provides a kind of indoor and outdoor integration positioning system based on UWB and GPS, to solve mesh
Prelocalization system can not carry out switching effectively and quickly between indoor positioning and outdoor positioning, cause user indoors with room
When carrying out transition between outer, often there is the technical problem of positioning mistake.
In order to which some aspects of the embodiment to disclosure have a basic understanding, simple summary is shown below.It should
Summarized section is not extensive overview, nor to determine key/critical component or describe the protection scope of these embodiments.
Its sole purpose is that some concepts are presented with simple form, in this, as the preamble of following detailed description.
The present invention adopts the following technical scheme:
In some alternative embodiments, a kind of indoor and outdoor integration positioning system based on UWB and GPS is provided, is wrapped
It includes: indoor locating system, for being positioned based on UWB location technology to mobile terminal；Outdoor positioning system, for being based on
GPS positioning technology positions the mobile terminal；Switching module, for judging the mobile terminal whether in outdoor and room
It is switched between interior, and when the mobile terminal enters outdoor by interior, controls the outdoor positioning system instead of institute
It states indoor locating system to be positioned, when the mobile terminal is entered the room by outdoor, controls the indoor locating system generation
It is positioned for the outdoor positioning system.
In some alternative embodiments, the switching module includes: the first judging unit, described mobile whole for obtaining
Current position coordinates are held, judge the spatial relationship of the spatial position of current position coordinates and indoor entrance mark and tag slot,
Judge whether the mobile terminal has the trend entered the room by outdoor according to distance value variation tendency；First switching is single
Member is that the mobile terminal has the trend entered the room by outdoor for the judging result when first judging unit, together
When the position error of Shi Suoshu outdoor positioning system increases to threshold value, the indoor locating system is controlled instead of the outdoor positioning
System is positioned.
In some alternative embodiments, the switching module further include: second judgment unit, for obtaining the movement
The current position coordinates of terminal judge that the space of the spatial position of current position coordinates and indoor outlet mark and tag slot is closed
System judges whether the mobile terminal has according to distance value variation tendency and enters outdoor trend by indoor；Second switching
Unit has for the mobile terminal for the judging result when the second judgment unit and enters outdoor trend by indoor,
When the position error of the indoor locating system increases to threshold value simultaneously, controls the outdoor positioning system and replace the interior fixed
Position system is positioned.
In some alternative embodiments, the indoor locating system includes: label, server indoor positioning module and cloth
Set several anchor nodes of area to be targeted indoors；
Anchor node is connected by cable with server indoor positioning module, and according to the server indoor positioning module
The control instruction of transmission is communicated to obtain ranging information with the label, and ranging information is sent to the room server
Interior locating module；
Label is corresponded with mobile terminal, while being communicated with each anchor node；
Server indoor positioning module, the ranging information for uploading according to the anchor node is positioned, and works as ranging
When information content is inadequate, auxiliary positioning is carried out based on data measured by the sensor group built in mobile terminal.
In some alternative embodiments, label passes through for label with mobile terminal with the one-to-one mode of mobile terminal
Bluetooth module is wirelessly connected, and the positioning to mobile terminal is to position to label corresponding with mobile terminal.
In some alternative embodiments, the outdoor positioning system includes: base station net and control centre；
Base station net, for the capture of GPS signal, tracking, acquisition and transmission, base station net is outdoor to be positioned by being distributed in
Several continuous operation communication base stations composition in region, communication base station is for acquiring GPS original observed data, as data source；
Control centre, the real time settlement for completing GPS original observed data are handled, and differential correcting information generates, to shifting
Dynamic terminal is positioned.
In some alternative embodiments, the indoor and outdoor integration positioning system based on UWB and GPS, is also wrapped
It includes: treatment on special problems module, for determining mark when the anchor node assert result difference to the position of label twice in succession
The position of label is located in Men Nei and boundary outdoors, the survey that the server indoor positioning module uploads the anchor node at this time
It is not recorded away from information.
The utility model has the advantages that realizing indoor positioning based on GPS positioning, inertial navigation positioning and UWB positioning brought by of the invention
And outdoor positioning seamless access and conversion, smooth, high-precision switching is completed in position fixing process；According to the signal for receiving and detecting
Situation judges localizing environment, realizes and combines preset switching mode to automatically switch room according to the scene difference where user
Outer positioning and indoor positioning；Switching frequency is few, speed is fast, while positioning accuracy is high.
For the above and related purposes, one or more embodiments include being particularly described below and in claim
In the feature that particularly points out.Certain illustrative aspects are described in detail in the following description and the annexed drawings, and its instruction is only
Some modes in the utilizable various modes of the principle of each embodiment.Other benefits and novel features will be under
The detailed description in face is considered in conjunction with the accompanying and becomes obvious, the disclosed embodiments be all such aspects to be included and they
Be equal.
Detailed description of the invention
Fig. 1 is the schematic diagram of the indoor and outdoor integration positioning system the present invention is based on UWB and GPS；
Fig. 2 is the schematic diagram of indoor area to be targeted of the invention.
Specific embodiment
The following description and drawings fully show specific embodiments of the present invention, to enable those skilled in the art to
Practice them.Other embodiments may include structure, logic, it is electrical, process and other change.Embodiment
Only represent possible variation.Unless explicitly requested, otherwise individual components and functionality is optional, and the sequence operated can be with
Variation.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.This hair
The range of bright embodiment includes equivalent obtained by the entire scope of claims and all of claims
Object.
As shown in Figure 1, in some illustrative embodiments, providing a kind of indoor and outdoor integration based on UWB and GPS
Positioning system, comprising: indoor locating system, outdoor positioning system and switching module.
Indoor locating system, for being positioned based on UWB location technology to mobile terminal, comprising: label, room server
Interior locating module and several anchor nodes for arranging area to be targeted indoors.Arrange the anchor node and mark of area to be targeted indoors
Label are transmitted to room server through wire communication module by UWB signal group-net communication, the flight time of anchor node, i.e. ranging information
Interior locating module carries out collaborative sensing, acquisition and the location information for positioning network's coverage area interior label point.Wire communication module
It is chosen as cable.
Anchor node is connected by cable with server indoor positioning module, and is sent according to server indoor positioning module
Control instruction communicated with label to obtain ranging information, and ranging information is sent to server indoor positioning module.
The quantity for the anchor node disposed in indoor area to be targeted is at least four, and anchor node location information has been tested really in advance
It is fixed, single anchor node using anchor node hardware plate as hardware carrier, hardware include: STM32F407ZGT6 microprocessor chip,
DW1000 chip, network communication module.Each anchor node is sent to server indoor positioning module after obtaining ranging information, by servicing
The position coordinates of label at this time are calculated in device indoor positioning module.
Label is corresponded with mobile terminal, while being communicated with each anchor node.Single label is with tag location plate
For hardware carrier, hardware includes: STM32F407ZGT6 microprocessor chip, DW1000 chip and inertial navigation chip.Each tag location
Plate is communicated by DW1000 chip with anchor node, measure with each anchor node distance, and then by server indoor positioning module
The position coordinates of label at this time are calculated.
As shown in Fig. 2, arranging several anchor nodes in area to be targeted indoors, anchor node is indicated with letter A in Fig. 2,
Quantity is at least four, and the location information of anchor node has tested determination in advance.Also there are several labels in indoor area to be targeted,
Label is indicated with tee in Fig. 2.
Server indoor positioning module, the ranging information for uploading according to anchor node is positioned, and works as ranging information
When quantity is inadequate, auxiliary positioning is carried out based on data measured by the sensor group built in mobile terminal, and be used for label model
And the position of the control of anchor node, tag location plate is calculated, is stored the location information of each tag location plate with database form.
Label is fixed on by positioning target, carries mobile terminal by positioning target, the clock in label generates pulse
Pulse signal is simultaneously radiate by the ultra wide band transmitting antenna in label by signal.It is set up in indoor area to be targeted edge
Base station, i.e. anchor node can receive the pulse signal of label sending by its internal ultra-wideband receiver antenna, and anchor node passes through
Cable or optical fiber can give the pulse signal transmission received to server indoor positioning module, pass through server indoor positioning
Location algorithm in module calculates the position coordinates of outgoing label.
Outdoor positioning system, for being positioned based on GPS positioning technology to mobile terminal, comprising: base station net, control
Center, data communication module and user's application module.
Base station net, for the capture of GPS signal, tracking, acquisition and transmission.Base station net is outdoor to be positioned by being distributed in
Several continuous operation communication base stations composition in region, communication base station is for acquiring GPS original observed data, the number as system
According to source.
Control centre is the core of system, is made of the network equipment, server, system software etc., for completing
The real time settlement of GPS original observed data is handled, and differential correcting information generates, and is positioned to mobile terminal, while realization pair
The monitoring management of network and user.
Data communication module, for by the data transmission of base station to control centre.
User's application module, for providing positioning accuracy service.
Mobile terminal supports a variety of embedded OS platforms, containing GPS module, GPRS module, realizes positioning.Label
It is the positioning of label and mobile terminal by bluetooth module wireless connection, to mobile terminal with the one-to-one mode of mobile terminal
It is to be positioned to label corresponding with mobile terminal, mobile terminal can be mobile phone.When indoor positioning, it is based on mobile terminal
Sensor group measured by data carry out auxiliary positioning, that is, combine UWB positioning with inertial navigation position；When outdoor positioning, mobile phone is opened
GPS module is opened, the latitude and longitude information of itself is obtained, that is, the latitude and longitude information of corresponding label is obtained, by built in mobile phone
GPRS module gives longitude and latitude data transmission to outdoor positioning system, and it is aobvious to carry out quickly positioning by the server of outdoor positioning system
Show.
Switching module of the invention, for judging whether the mobile terminal switches between outdoor and interior, and
And when the mobile terminal enters outdoor by interior, controls the outdoor positioning system and carried out instead of the indoor locating system
Positioning controls the indoor locating system instead of the outdoor positioning system when the mobile terminal is entered the room by outdoor
It is positioned.
Switching module includes:
First judging unit judges current position coordinates and room for obtaining the current position coordinates of the mobile terminal
Whether the spatial relationship of the spatial position of interior entrance mark and tag slot, judge the mobile terminal according to distance value variation tendency
With the trend entered the room by outdoor.Since the position of satellite is accurate it is found that in GPS observation, satellite can be obtained to carrying
The current distance of the observer of mobile terminal, to obtain the position (X, Y, Z) of observation point.Similarly, indoor entrance mark, mark
The spatial position in area can also be obtained by satellite reception GPS data.Pass through three groups of GPS datas and indoor inlet GPS data
Situation of change, when horizontal distance difference is when gradually becoming smaller, judgement is moved to indoor direction.
First switching subelement is that the mobile terminal has by room for the judging result when first judging unit
The trend entered the room outside, while when the position error of the outdoor positioning system increases to threshold value, control the indoor positioning
System replaces the outdoor positioning system to be positioned.
Second judgment unit judges current position coordinates and room for obtaining the current position coordinates of the mobile terminal
Whether the spatial relationship of the spatial position of inner outlet mark and tag slot, judge the mobile terminal according to distance value variation tendency
With by the indoor trend for entering outdoor.
Second switching subelement is that the mobile terminal has by room for the judging result when the second judgment unit
It is interior to enter outdoor trend, while when the position error of the indoor locating system increases to threshold value, control the outdoor positioning
System replaces the indoor locating system to be positioned.
By obtaining GPS longitude and latitude positioning result in real time in observation process, without storing observation data, but in movement
The amendment data that observation data or observed quantity must be transmitted between terminal and base station in real time realize positioning in real time.
When switching module specific works, process is divided into two parts:
First part, i.e., it is outdoor to indoor positioning switching: outdoor positioning system obtain be currently based on GPS positioning technology into
The position coordinates of row positioning.Judge the spatial relationship of the spatial position of current position coordinates and indoor entrance mark and tag slot,
Three groups of data are recorded, judge whether the mobile terminal has the trend entered the room by outdoor according to distance value variation tendency.
From it is outdoor move towards interior when, since close to building, what part satellite-signal can not be received or receive is the satellite
Signal after refraction or diffraction, is positioned such that error will be gradually increased, while received satellite number gradually decreases, and works as error amount
Switching inertial navigation positioning when increasing to a certain range, carries out transition using inertial navigation positioning at this time, systematic error can be made to substantially reduce.
Such as continue to indoor operation, when label can receive 1 UWB signal or more, then opens indoor locating system, it is outdoor fixed to close
Position system completes the outdoor automatic switchover for arriving indoor positioning.It may not received when indoor locating system starts positioning enough
Ranging information quantity carry out calculating positioning, at this time using inertial navigation position carry out auxiliary positioning, when ranging information quantity is enough,
It can complete to position based on the ranging information of anchor node.
The position error of outdoor positioning system is obtained by comparing measured value and actual position value is calculated, error amount
For the absolute value of measured value and true value difference.
Second part, i.e., indoor to switch to outdoor positioning: indoor locating system obtains current position coordinates.Judgement is current
The spatial relationship of position and indoor outlet mark, the spatial position of tag slot, records three groups of data, according to distance value variation tendency
Judge whether the mobile terminal has and enters outdoor trend by indoor.When label can not receive UWB signal, analysis UWB letter
Type when number losing or be blocked, using the accelerometer based on inertial navigation three directions increment information as UWB lossing signal
Compensation, in this case, the positioning result based on UWB location technology be mainly to inertial navigation position provide last moment positioning
Information, as the initial position message of this moment inertial navigation, then using inertial navigation three directions acceleration increment information come
Estimate the more specific location information of this moment motion carrier.When walking on to outdoor, the signal of the satellite received gradually increases
By force, star number gradually increases, and placement error value gradually becomes smaller, and the time for reaching outdoor at the same time is longer, and inertial navigation cumulative errors are got over
Greatly.When judging target to be positioned, oneself enters outdoor, then positioning system outside opening chamber, closes indoor locating system, completes interior and arrives
The automatic switchover of outdoor positioning.
The cumulative errors of inertial navigation calculating position: inertial navigation used at present is connected by three laser gyroes and three accelerometer victories
INS Platform is formed together, and for experiencing angular acceleration and linear acceleration, phase is calculated using internal processing circuitry
The parameter of pass, such as current location data.The constant error of accelerometer will cause the position directly proportional to the time square to be missed again
Difference, this is a kind of error of diverging, is constantly increased at any time.This general error cannot be greater than 3+3T, and T is the time, than like flying
Location error after row 1 hour cannot be greater than 9 nautical miles after cannot being greater than 6 nautical miles, 2 hours, and so on.If inertial navigation position is floated
It moves and exceeds this standard, then it is considered that the reliability decrease of inertial navigation, preferably more alternatively.
The present invention is based on the indoor and outdoor integration positioning systems of UWB and GPS, further includes: treatment on special problems module is used
In when the anchor node assert result difference to the position of label twice in succession, determining that the position of label is located at Men Nei and outdoors
Boundary on, the ranging information that the server indoor positioning module uploads the anchor node at this time not records.
If Men Nei and boundary outdoors are less than range accuracy, and the position of label to be positioned is located at Men Nei and outdoors
In boundary, then the testing result of anchor node be easy to appear in door between the case where jumping back and forth outdoors, thus can be to positioning
Accuracy interferes.In order to guarantee the accuracy of judgement, the appearance of such case is avoided, is examined using treatment on special problems module
Considering when continuously acquiring two or two or more same position information just determination is condition in Men Nei or outdoors, in this way, such as
Fruit anchor node assert that different situations occurs in result to the position of label to be positioned twice in succession, as judge in door or outdoors
As a result it jumps back and forth, then anchor node assert that the position of label to be positioned is located in Men Nei and boundary outdoors, and anchor node is not remembered
Record.
It should also be appreciated by one skilled in the art that various illustrative logical boxs, mould in conjunction with the embodiments herein description
Electronic hardware, computer software or combinations thereof may be implemented into block, circuit and algorithm steps.In order to clearly demonstrate hardware and
Interchangeability between software surrounds its function to various illustrative components, frame, module, circuit and step above and carries out
It is generally described.Hardware is implemented as this function and is also implemented as software, depends on specific application and to entire
The design constraint that system is applied.Those skilled in the art can be directed to each specific application, be realized in a manner of flexible
Described function, still, this realization decision should not be construed as a departure from the scope of protection of this disclosure.
Claims (7)
1. the indoor and outdoor integration positioning system based on UWB and GPS characterized by comprising
Indoor locating system, for being positioned based on UWB location technology to mobile terminal；
Outdoor positioning system, for being positioned based on GPS positioning technology to the mobile terminal；
Switching module for judging whether the mobile terminal switches between outdoor and interior, and works as the movement
When terminal enters outdoor by interior, controls the outdoor positioning system and positioned instead of the indoor locating system, when described
When mobile terminal is entered the room by outdoor, controls the indoor locating system and positioned instead of the outdoor positioning system.
2. the indoor and outdoor integration positioning system according to claim 1 based on UWB and GPS, which is characterized in that described
Switching module includes:
First judging unit judges that current position coordinates enter with interior for obtaining the current position coordinates of the mobile terminal
The spatial relationship of the spatial position of mouth mark and tag slot, judges whether the mobile terminal has according to distance value variation tendency
The trend entered the room by outdoor；
First switching subelement, for when first judging unit judging result be the mobile terminal have by outdoor into
Enter indoor trend, while when the position error of the outdoor positioning system increases to threshold value, controlling the indoor locating system
It is positioned instead of the outdoor positioning system.
3. the indoor and outdoor integration positioning system according to claim 2 based on UWB and GPS, which is characterized in that described
Switching module further include:
Second judgment unit judges that current position coordinates go out with interior for obtaining the current position coordinates of the mobile terminal
The spatial relationship of the spatial position of mouth mark and tag slot, judges whether the mobile terminal has according to distance value variation tendency
Enter outdoor trend by indoor；
Second switching subelement, for when the second judgment unit judging result be the mobile terminal have by interior into
Enter outdoor trend, while when the position error of the indoor locating system increases to threshold value, controlling the outdoor positioning system
It is positioned instead of the indoor locating system.
4. the indoor and outdoor integration positioning system according to claim 3 based on UWB and GPS, which is characterized in that described
Indoor locating system includes: label, server indoor positioning module and several anchor nodes for arranging area to be targeted indoors；
Anchor node is connected by cable with server indoor positioning module, and is sent according to the server indoor positioning module
Control instruction communicated with the label to obtain ranging information, and it is default that ranging information is sent to the room server
Position module；
Label is corresponded with mobile terminal, while being communicated with each anchor node；
Server indoor positioning module, the ranging information for uploading according to the anchor node is positioned, and works as ranging information
When quantity is inadequate, auxiliary positioning is carried out based on data measured by the sensor group built in mobile terminal.
5. the indoor and outdoor integration positioning system according to claim 4 based on UWB and GPS, which is characterized in that its
In, label and the one-to-one mode of mobile terminal are that label and mobile terminal are wirelessly connected by bluetooth module, eventually to movement
The positioning at end is to position to label corresponding with mobile terminal.
6. the indoor and outdoor integration positioning system according to claim 4 based on UWB and GPS, which is characterized in that described
Outdoor positioning system includes: base station net and control centre；
Base station net, for the capture of GPS signal, tracking, acquisition and transmission, base station net is by being distributed in outdoor area to be targeted
Interior several continuous operation communication base stations composition, communication base station is for acquiring GPS original observed data, as data source；
Control centre, the real time settlement for completing GPS original observed data are handled, and differential correcting information generates, to mobile whole
End is positioned.
7. the indoor and outdoor integration positioning system according to claim 6 based on UWB and GPS, which is characterized in that also wrap
It includes: treatment on special problems module, for determining mark when the anchor node assert result difference to the position of label twice in succession
The position of label is located in Men Nei and boundary outdoors, the survey that the server indoor positioning module uploads the anchor node at this time
It is not recorded away from information.
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