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CN112198542A - A seamless handover method under different positioning modes based on Beidou - Google Patents

A seamless handover method under different positioning modes based on Beidou Download PDF

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Publication number
CN112198542A
CN112198542A CN202011166453.3A CN202011166453A CN112198542A CN 112198542 A CN112198542 A CN 112198542A CN 202011166453 A CN202011166453 A CN 202011166453A CN 112198542 A CN112198542 A CN 112198542A
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satellite
terminal
value
handover
formula
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Inventor
陈端云
唐元春
夏炳森
林文钦
徐丽红
林红阳
张林垚
陈力
周钊正
张章煌
游敏毅
陈卓琳
刘志伟
董衍旭
李翠
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State Grid Fujian Electric Power Co Ltd
Economic and Technological Research Institute of State Grid Fujian Electric Power Co Ltd
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State Grid Fujian Electric Power Co Ltd
Economic and Technological Research Institute of State Grid Fujian Electric Power Co Ltd
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Priority to CN202011166453.3A priority Critical patent/CN112198542A/en
Publication of CN112198542A publication Critical patent/CN112198542A/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system

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  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

本发明涉及一种基于北斗的不同定位模式下的无缝切换方法，包括步骤：终端周期性地扫描环境，进行信号采集；对采集到的信号进行处理，进行运动趋势估计以及切换时延更新；通过代价函数的计算以及稳定周期切换的评估，终端选择最佳的网络进行切换。本发明能够实现平滑的切换。

Figure 202011166453

The invention relates to a seamless handover method under different positioning modes based on Beidou, comprising the steps of: a terminal periodically scans the environment to collect signals; processes the collected signals, performs motion trend estimation and handover delay update; Through the calculation of the cost function and the evaluation of the stable periodic handover, the terminal selects the best network for handover. The present invention can realize smooth switching.

Figure 202011166453

Description

Seamless switching method based on Beidou under different positioning modes
Technical Field
The invention relates to the technical field of positioning, in particular to a seamless switching method based on Beidou in different positioning modes.
Background
In 2012, the Beidou satellite navigation system in China completes regional networking, covers Asia-Pacific areas, and provides global position service in 2020 according to the overall system plan. The development of the position service industry based on the Beidou satellite navigation system draws extensive attention, and the method has positive and significant significance for promoting the rapid development of the Beidou satellite navigation system in China. Along with the continuous improvement of living standard, people put higher demands on the requirements of positioning precision, reliability, availability and the like of position services, and the demands of all-weather, full-space and high-precision position services are increasingly strong. The increasing maturity of seamless positioning technology combining Beidou satellite positioning navigation system and indoor positioning technology promotes the realization and application of indoor and outdoor seamless position service. The core of indoor and outdoor seamless positioning is to ensure smooth transition and connection in indoor and outdoor scenes, including the all-round connection of coordinate systems, positioning algorithms, positioning accuracy and positioning range in two scenes, so that people can obtain better position service experience. The key for realizing seamless positioning of indoor and outdoor scenes is to establish a set of switching mechanism with strong reliability, smooth transition and seamless connection by combining an outdoor Beidou satellite positioning technology and an indoor WiFi and Bluetooth mixed positioning technology.
Disclosure of Invention
In view of this, the present invention provides a seamless handover method based on the big dipper under different positioning modes, which can implement smooth handover.
The invention is realized by adopting the following scheme: a seamless switching method based on Beidou in different positioning modes specifically comprises the following steps:
the terminal periodically scans the environment and acquires signals;
processing the acquired signals, and performing motion trend estimation and switching time delay updating;
and selecting the optimal network for switching by the terminal through the calculation of the cost function and the evaluation of the stable periodic switching.
Further, the terminal periodically scans the environment, and the signal acquisition specifically includes the following steps:
the terminal periodically scans information including signal strength, MAC addresses and SNR of the WiFi beacon nodes and the Beidou satellite;
and carrying out normalization processing on the acquired signal intensity, then solving an average value, and enabling the satellite or beacon with the average value larger than a set threshold value to serve as the undetermined satellite or beacon.
Further, the processing the acquired signal, the motion trend estimation and the switching delay updating specifically include the following steps:
let the coordinate value of satellite j be (X)j,Yj,Zj) The coordinate value of the Beidou reference station i is (X)i,Yi,Zi) Then reference stationThe pseudorange observation equation and pseudorange correction for i to satellite j are:
Figure BDA0002745937320000021
Figure BDA0002745937320000022
Figure BDA0002745937320000023
in the formula (I), the compound is shown in the specification,
Figure BDA0002745937320000024
representing the pseudorange observation equations of the satellites to the reference station i,
Figure BDA0002745937320000025
representing the geometric distance, T, of the base station i to the satellite jiRepresenting the satellite receiver clock error of the reference station i,
Figure BDA0002745937320000026
indicating the pseudorange correction, t, of the reference station i to the satellite jiFor adding the clock error of the satellite receiver, tjIs the clock error of the satellite or satellites,
Figure BDA0002745937320000031
in order to correct for the refraction of the ionosphere,
Figure BDA0002745937320000032
for tropospheric refraction correction, c is the speed of light, εiObserving noise for pseudo range;
order to
Figure BDA0002745937320000033
Transforming equation (1) to:
RSSI＝A-10nlog(d)；(4)
in the formula, PtIndicating the transmission power of the beacon node, f indicatesCarrier frequency, N represents the number of obstacles, XσRepresenting a slow fading residual value;
the pseudorange equation for terminal to satellite j is:
Figure BDA0002745937320000034
in the formula (I), the compound is shown in the specification,
Figure BDA0002745937320000035
indicating the pseudorange correction value for satellite j for the mobile terminal,
Figure BDA0002745937320000036
representing the geometric distance, t, of the mobile terminal M to the satellite jMIndicating that the mobile terminal receiver is poor,
Figure BDA0002745937320000037
denotes the ionospheric refraction correction, T, of the satellite j at the reference station ijRepresenting the clock error, I, of satellite jjDenotes the tropospheric refraction correction, ε, of satellite jMRepresenting pseudo-range observation noise;
Figure BDA0002745937320000038
dithe distance between the mobile terminal and the reference station i is obtained;
according to the formula (4) and the formula (5), the distance from the terminal to the WIFI and the satellite is obtained, the acquisition period of the terminal is T, the distance of N values is obtained through N signal values of the acquired constellation or beacon, and the average speed value of the terminal is as follows:
Figure BDA0002745937320000039
in the formula (d)iRepresenting the distance between the mobile terminal and the reference station i;
the inter-positioning switching delay function value is:
Figure BDA0002745937320000041
t in the formula (7)minMinimum allowed time for handover execution, TmaxTo the maximum allowable time, VmaxIs the maximum speed of the terminal, V/VmaxAnd the self-adaptive factor is used for adjusting the time delay of the switching by adjusting the self-adaptive factor, and n represents a reference factor.
Further, the step of selecting the optimal network for handover by the terminal through the calculation of the cost function and the evaluation of the stable periodic handover specifically includes the following steps:
selecting a signal-to-noise ratio, a signal intensity and terminal power consumption as parameters for selecting a positioning mode; the normalized cost function is expressed as follows:
Figure BDA0002745937320000042
in the formula, CostiAs a cost function of the i-th mode, RiIs a normalized value of signal intensity, SiIs a normalized value of the signal-to-noise ratio, PiIs a normalized value of the electrical quantity of the terminal, wR，wS，wPIs the weight coefficient:
the stability period switch evaluation period is calculated as follows:
according to a formula (8), calculating a switching cost function, and sequencing function values, wherein the smaller the function value is, the lower the electric quantity of the terminal is, the larger the signal intensity is, and the more accurate the positioning is; let Cost function under current location be CostcurrentThe function value in the object mode is CosttargetAnd r is a ratio calculated as follows:
Figure BDA0002745937320000043
the larger the value of r is, the smaller the value of the target cost function is, so that the time for switching the positioning mode by the terminal needs to be shortened; let the time interval T of the m-th and m + 1-th evaluationpComprises the following steps:
Figure BDA0002745937320000051
Δ T is the switching delay, NpRepresenting the number of evaluations;
if at the NthpDuring secondary evaluation, if the r value is always greater than 1, the evaluation is finished, an instruction for switching the positioning mode is sent immediately, and the time T of the stable period issThe following were used:
Figure BDA0002745937320000052
further, the weight coefficient satisfies the following relationship:
wR+ws+wp＝1(9)。
compared with the prior art, the invention has the following beneficial effects: the method improves the cost function based on the state of the terminal, combines a stable period evaluation and judgment algorithm, realizes seamless switching between the Beidou and the Wi Fi network, and realizes smooth transition of indoor and outdoor positioning switching.
Drawings
Fig. 1 is a schematic diagram of handover types according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a handover process according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart of a decision algorithm according to an embodiment of the present invention.
Detailed Description
The invention is further explained below with reference to the drawings and the embodiments.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The indoor positioning adopts a Bluetooth or WiFi mode, the relation between the characteristics of indoor signal quality, strength and error rate and the geographic position is large, and when a plurality of devices are deployed indoors, the coordinate values of the test points are obtained by solving the signal characteristic matrix and the equation set of the geographic position. When the terminal is outdoors, the Beidou signal is adopted for positioning, and when the terminal is switched to be indoors, the WiFi signal is adopted for positioning. Handover means a process of switching from a signal of one network to a signal of another network, and handover can be classified according to the condition of handover, as shown in fig. 1. Handover between networks of the same kind is called horizontal handover and handover between networks of different kinds is called vertical handover. For example, the handover between beidou and WiFi is called vertical handover. Horizontal handover is generally performed according to signal strength, but in vertical handover, the signal strength is not the only factor to be considered, for example, in the beidou system, positioning accuracy, the number of visible satellites and the like also need to be considered, and in the WiFi wireless network, jitter and the like caused by multipath interference also need to be considered. In the network, if disconnection is performed before connection, hard handover is performed. The terminal is connected and then disconnected, and the soft handover is performed.
As shown in fig. 2, the handover process is generally divided into three steps, as shown in fig. 2.
The method comprises the following steps: and initiating the switching. In the overlapping area, switching is initiated, the received signal strength changes under the same network to cause switching, and in different networks, switching is caused due to load balancing, terminal-like signal strength and the like.
Step two: and (6) switching and judging. And comprehensively considering the condition of the overlapped coverage area, and switching to the most appropriate network according to a switching judgment mechanism. Factors considered comprehensively include the type of service, quality of service, system performance, mobile terminal characteristics, etc.
Step three: and executing the switching. The terminal is handed over from one network to another network and the process of allocating resources is performed as a handover. In order to guarantee smooth transition of handover, a suitable handover strategy needs to be proposed.
In order to realize accurate switching judgment, the method is suitable for the switching problem of the terminal in the scenes of Beidou positioning, WiFi positioning and Beidou and WiFI fusion positioning in different scenes, can be switched to an optimal network in order to ensure that the terminal is in an overlapped coverage area of WiFi and Beidou, avoids resource waste caused by frequent switching, and provides a new judgment algorithm according to signal information received by the terminal by combining the characteristics and signal characteristics of the terminal, wherein the judgment process specifically comprises the following steps as shown in figure 3:
the terminal periodically scans the environment and acquires signals;
processing the acquired signals, and performing motion trend estimation and switching time delay updating;
and selecting the optimal network for switching by the terminal through the calculation of the cost function and the evaluation of the stable periodic switching.
In this embodiment, the terminal periodically scans the environment, and the signal acquisition specifically includes the following steps:
the terminal periodically scans information including signal strength, MAC addresses and SNR of the WiFi beacon nodes and the Beidou satellite;
and carrying out normalization processing on the acquired signal intensity, and then solving an average value, wherein the average value is larger than a set threshold value or the beacon is a pending satellite or beacon.
In this embodiment, the processing the acquired signal, the motion trend estimation and the switching delay updating specifically include the following steps:
let the coordinate value of satellite j be (X)j,Yj,Zj) The coordinate value of the Beidou reference station i is (X)i,Yi,Zi) Then the pseudorange observation equation and the pseudorange correction value for the reference station i to the satellite j are:
Figure BDA0002745937320000081
Figure BDA0002745937320000082
Figure BDA0002745937320000083
in the formula (I), the compound is shown in the specification,
Figure BDA0002745937320000084
representing the pseudorange observation equations of the satellites to the reference station i,
Figure BDA0002745937320000085
representing the geometric distance, T, of the base station i to the satellite jiRepresenting the satellite receiver clock error of the reference station i,
Figure BDA0002745937320000086
indicating the pseudorange correction, t, of the reference station i to the satellite jiFor adding the clock error of the satellite receiver, tjIs the clock error of the satellite or satellites,
Figure BDA0002745937320000087
in order to correct for the refraction of the ionosphere,
Figure BDA0002745937320000088
for tropospheric refraction correction, c is the speed of light, εiObserving noise for pseudo range; order to
Figure BDA0002745937320000089
Transforming equation (1) to:
RSSI＝A-10nlog(d)；(4)
in the formula, PtRepresenting the transmission power of the beacon, f the carrier frequency, N the number of obstacles, XσRepresenting a slow fading residual value;
the pseudorange equation for terminal to satellite j is:
Figure BDA00027459373200000810
in the formula (I), the compound is shown in the specification,
Figure BDA00027459373200000811
indicating the pseudorange correction value for satellite j for the mobile terminal,
Figure BDA00027459373200000812
representing the geometric distance, t, of the mobile terminal M to the satellite jMIndicating that the mobile terminal receiver is poor,
Figure BDA00027459373200000813
indicating ionospheric refraction correction, T, of a satellite j at a reference station ijRepresenting the clock error, I, of satellite jjDenotes the tropospheric refraction correction, ε, of satellite jMRepresenting pseudo-range observation noise;
Figure BDA0002745937320000091
wherein d isiThe distance between the mobile terminal and the reference station i is obtained;
according to the formula (4) and the formula (5), the distance from the terminal to the WIFI and the satellite is obtained, the acquisition period of the terminal is T, the distance of N values is obtained through N signal values of the acquired constellation or beacon, and the average speed value of the terminal is as follows:
Figure BDA0002745937320000092
in the formula (d)iRepresenting the distance between the mobile terminal and the reference station i; the inter-positioning switching delay function value is:
Figure BDA0002745937320000093
t in the formula (7)minMinimum allowed time for handover execution, TmaxTo the maximum allowable time, VmaxIs the most terminalHigh speed, V/VmaxAnd the self-adaptive factor is used for adjusting the time delay of the switching by adjusting the self-adaptive factor, and n represents a reference factor.
In this embodiment, the step of selecting, by the terminal, the optimal network for handover through the calculation of the cost function and the evaluation of the stable periodic handover specifically includes the following steps:
selecting a signal-to-noise ratio, a signal intensity and terminal power consumption as parameters for selecting a positioning mode; the parameters of the Beidou and the WiFI need to be normalized and then compared, and the normalized cost function expression is as follows:
Figure BDA0002745937320000094
in the formula, CostiAs a cost function of the i-th positioning mode, RiIs a normalized value of signal intensity, SiIs a normalized value of the signal-to-noise ratio, PiIs a normalized value of the electrical quantity of the terminal, wR，wS，wPIs the weight coefficient:
the stability period switch evaluation period is calculated as follows:
according to a formula (8), calculating a switching cost function, and sequencing function values, wherein the smaller the function value is, the lower the electric quantity of the terminal is, the larger the signal intensity is, and the more accurate the positioning is; let Cost function under current location be CostcurrentThe function value in the object mode is CosttargetAnd r is a ratio calculated as follows:
Figure BDA0002745937320000101
the larger the value of r is, the smaller the value of the target cost function is, so that the time for switching the positioning mode by the terminal needs to be shortened; let the time interval T of the m-th and m + 1-th evaluationpComprises the following steps:
Figure BDA0002745937320000102
Δ T is the switching delay, NpRepresenting the number of evaluations;
if at the NthpDuring secondary evaluation, if the r value is always greater than 1, the evaluation is finished, an instruction for switching the positioning mode is sent immediately, and the time T of the stable period issThe following were used:
Figure BDA0002745937320000103
in the present embodiment, the weight coefficient satisfies the following relationship:
wR+ws+wp＝1(9)。
the foregoing is directed to preferred embodiments of the present invention, other and further embodiments of the invention may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow. However, any simple modification, equivalent change and modification of the above embodiments according to the technical essence of the present invention are within the protection scope of the technical solution of the present invention.

Claims (5)

1.一种基于北斗的不同定位模式下的无缝切换方法，其特征在于，包括以下步骤：1. a seamless handover method based on the different positioning modes of Big Dipper, is characterized in that, comprises the following steps: 终端周期性地扫描环境，进行信号采集；The terminal periodically scans the environment for signal acquisition; 对采集到的信号进行处理，进行运动趋势估计以及切换时延更新；Process the collected signals, estimate the motion trend and update the switching delay; 通过代价函数的计算以及稳定周期切换的评估，终端选择最佳的网络进行切换。Through the calculation of the cost function and the evaluation of the stable periodic handover, the terminal selects the best network for handover. 2.根据权利要求1所述的一种基于北斗的不同定位模式下的无缝切换方法，其特征在于，所述终端周期性地扫描环境，进行信号采集具体包括以下步骤：2. The seamless handover method based on a Beidou-based different positioning mode according to claim 1, wherein the terminal periodically scans the environment, and the signal acquisition specifically comprises the following steps: 终端周期性扫描WiFi信标节点和北斗卫星的包括信号强度、MAC地址、SNR在内的信息；The terminal periodically scans WiFi beacon nodes and Beidou satellites for information including signal strength, MAC address, and SNR; 对采集的信号强度进行归一化处理后求解平均值，令平均值大于设定阈值的卫星或信标作为待定卫星或信标。After normalizing the collected signal strength, the average value is calculated, and the satellites or beacons whose average value is greater than the set threshold are regarded as undetermined satellites or beacons. 3.根据权利要求1所述的一种基于北斗的不同定位模式下的无缝切换方法，其特征在于，所述对采集到的信号进行处理，进行运动趋势估计以及切换时延更新具体包括以下步骤：3. the seamless handover method under a kind of Beidou-based different positioning modes according to claim 1, is characterized in that, the described signal that collects is processed, carries out motion trend estimation and handover time delay update specifically comprises following: step: 令卫星j的坐标值为(Xj,Yj,Zj)，北斗基准站i的坐标值为(Xi,Yi,Zi)，则基准站i到卫星j的伪距观测方程和伪距改正值为：Let the coordinate value of satellite j be (X j , Y j , Z j ), and the coordinate value of Beidou base station i will be (X i , Y i , Z i ), then the pseudo-range observation equation from base station i to satellite j is sum The pseudorange correction value is:
Figure FDA0002745937310000011
Figure FDA0002745937310000011
Figure FDA0002745937310000012
Figure FDA0002745937310000012
Figure FDA0002745937310000021
Figure FDA0002745937310000021
 式中，
Figure FDA0002745937310000022
表示卫星到基准站i的伪距观测方程，
Figure FDA0002745937310000023
表示基站i到卫星j的几何距离，Ti表示基准站i的卫星接收机钟差，
Figure FDA0002745937310000024
表示基准站i对卫星j的伪距改正值，ti为加卫星接收机钟差，tj为卫星的钟差，
Figure FDA0002745937310000025
为电离层折射改正，
Figure FDA0002745937310000026
为对流层折射改正，c为光速，εi为伪距观测噪声；In the formula,
Figure FDA0002745937310000022
represents the pseudorange observation equation from the satellite to the base station i,
Figure FDA0002745937310000023
Represents the geometric distance from base station i to satellite j, T i represents the satellite receiver clock error of base station i,
Figure FDA0002745937310000024
represents the pseudorange correction value of the base station i to the satellite j, t i is the clock error of the satellite receiver, t j is the clock error of the satellite,
Figure FDA0002745937310000025
is corrected for ionospheric refraction,
Figure FDA0002745937310000026
is the tropospheric refraction correction, c is the speed of light, and ε i is the pseudorange observation noise; 令
Figure FDA0002745937310000027
将公式(1)变换为：make
Figure FDA0002745937310000027
Transform formula (1) into: RSSI＝A-10nlog(d)； (4)RSSI=A-10nlog(d); (4) 式中，Pt表示信标节点的发射功率，f表示载波频率，N表示障碍物的数量，Xσ表示慢衰落余量值；In the formula, P t represents the transmit power of the beacon node, f represents the carrier frequency, N represents the number of obstacles, and X σ represents the slow fading margin value; 终端对卫星j的伪距方程为：The pseudorange equation of terminal to satellite j is:
Figure FDA0002745937310000028
Figure FDA0002745937310000028
 式中，
Figure FDA0002745937310000029
表示移动终端对卫星j的伪距修正值，
Figure FDA00027459373100000210
表示移动终端M到卫星j的几何距离，tM表示移动终端接收机种差，
Figure FDA00027459373100000211
表示基准站i上卫星j的电离层折射改正，Tj表示卫星j的钟差，Ij表示卫星j的对流层折射改正，εM表示伪距观测噪声；
Figure FDA00027459373100000212
di为移动终端到基准站i之间的距离；In the formula,
Figure FDA0002745937310000029
represents the pseudorange correction value of the mobile terminal to satellite j,
Figure FDA00027459373100000210
represents the geometric distance from the mobile terminal M to the satellite j, t M represents the mobile terminal receiver species difference,
Figure FDA00027459373100000211
is the ionospheric refraction correction of satellite j at base station i, T j is the clock error of satellite j, I j is the tropospheric refraction correction of satellite j, ε M is the pseudorange observation noise;
Figure FDA00027459373100000212
d i is the distance between the mobile terminal and the reference station i; 根据公式(4)与公式(5)，得到终端到WIFI和卫星的距离，并令终端的采集周期为T，采集的星座或者信标的N个信号值，得出N个值的距离，终端的速度平均值为：According to formula (4) and formula (5), the distance from the terminal to the WIFI and the satellite is obtained, and the collection period of the terminal is T, and the N signal values of the collected constellation or beacon are obtained to obtain the distance of the N values. The average speed is:
Figure FDA0002745937310000031
Figure FDA0002745937310000031
 式中，di表示移动终端到基准站i之间的距离；In the formula, d i represents the distance between the mobile terminal and the reference station i; 定位间切换时延函数值为：The switching delay function value between positioning is:
Figure FDA0002745937310000032
Figure FDA0002745937310000032
 公式(7)中的Tmin为切换执行的最小允许时间，Tmax为最大允许时间，Vmax为终端的最大速度，V/Vmax自适应因子，通过调整自适应因子来调整切换的时延，n表示参考因子。In formula (7), T min is the minimum allowable time for handover execution, T max is the maximum allowable time, V max is the maximum speed of the terminal, and V/V max is an adaptive factor. The delay of handover can be adjusted by adjusting the adaptive factor. , n represents the reference factor. 4.根据权利要求1所述的一种基于北斗的不同定位模式下的无缝切换方法，其特征在于，所述通过代价函数的计算以及稳定周期切换的评估，终端选择最佳的网络进行切换具体包括以下步骤：4. the seamless handover method under a kind of Beidou-based different positioning modes according to claim 1, is characterized in that, described by the calculation of cost function and the evaluation of stable period handover, the terminal selects the best network to handover Specifically include the following steps: 选取信噪比、信号轻度和终端耗电量为定位模式选择的参数；归一化的代价函数表达式如下：The signal-to-noise ratio, signal intensity and terminal power consumption are selected as the parameters selected by the positioning mode; the normalized cost function expression is as follows:
Figure FDA0002745937310000033
Figure FDA0002745937310000033
 式中，Costi为第i种定位模式代价函数，Ri是信号强度的归一化值，Si是信噪比的归一化值，Pi是终端的电量的归一化值，wR，wS，wP是权重系数：In the formula, Cost i is the cost function of the i-th positioning mode, R i is the normalized value of the signal strength, S i is the normalized value of the signal-to-noise ratio, P i is the normalized value of the power of the terminal, w R , w S , w P are the weight coefficients: 稳定周期切换评估周期计算如下：The stable period switching evaluation period is calculated as follows: 根据公式(8)，计算出切换代价函数，对函数值进行排序，函数值越小，终端的电量越低，信号强度越大，因此定位越准；令当前定位下的代价函数为Costcurrent，目标模式下的函数值为Costtarget，r为比值，计算如下：According to formula (8), the switching cost function is calculated, and the function values are sorted. The smaller the function value, the lower the power of the terminal and the greater the signal strength, so the positioning is more accurate; let the cost function under the current positioning be Cost current , The function value in target mode is Cost target , r is the ratio, and the calculation is as follows:
Figure FDA0002745937310000041
Figure FDA0002745937310000041
 r的值越大，目标代价函数值越小，因此需要缩短终端切换定位模式的时间；The larger the value of r is, the smaller the objective cost function value is, so it is necessary to shorten the time for the terminal to switch the positioning mode; 令第m次和第m+1次评估的时间间隔Tp为：Let the time interval T p of the mth and m+1th evaluations be:
Figure FDA0002745937310000042
Figure FDA0002745937310000042
 ΔT是切换时延，Np表示评估的次数；ΔT is the handover delay, and N p represents the number of evaluations; 若在第Np次评估时，r值始终大于1，则评估结束，马上发出定位模式切换的指令，稳定周期的时间Ts如下：If the value of r is always greater than 1 in the N p -th evaluation, the evaluation is over, and the command to switch the positioning mode is issued immediately. The time T s of the stabilization period is as follows:
Figure FDA0002745937310000043
Figure FDA0002745937310000043
 5.根据权利要求4所述的一种基于北斗的不同定位模式下的无缝切换方法，其特征在于，权重系数满足以下关系：5. the seamless handover method under a kind of Beidou-based different positioning modes according to claim 4, is characterized in that, the weight coefficient satisfies following relation: wR+ws+wp＝1 (9)。w R +w s +w p =1 (9).
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