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Indoor and outdoor positioning method and indoor and outdoor positioning system

A technology for indoor and outdoor positioning and positioning accuracy, applied in the field of sensors, can solve the problems of difficult to achieve seamless integration of indoor and outdoor positioning, limited use of UWB positioning systems, and obstacles to the promotion of indoor positioning, so as to improve scalability and reliability. The effect of breaking through bottlenecks and reducing system costs

Inactive Publication Date: 2016-08-24
WUHAN UNIV
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AI Technical Summary

Problems solved by technology

This mode greatly restricts the scope of use of the current UWB positioning system, which creates obstacles to the promotion and use of indoor positioning, and it is not easy to realize the seamless combination of indoor and outdoor positioning.
In addition, the positioning calculation is concentrated on the positioning server, which reduces the reliability of the positioning system and limits the number of users.

Method used

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  • Indoor and outdoor positioning method and indoor and outdoor positioning system
  • Indoor and outdoor positioning method and indoor and outdoor positioning system

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Embodiment Construction

[0031] The technical solution of the present invention will be described in detail below in conjunction with the drawings and embodiments.

[0032] The principle of UWB positioning is that a UWB device with an unknown location (usually called a Tag) measures the distance from a device with a known location (usually called an Anchor). When the Tag obtains the distance between two or more Anchors After the distance, you can get its own plane position by solving the equation. When the Tag gets the distance from three or more Anchors, you can get its own three-dimensional position by solving the equation.

[0033] The location method that the present invention proposes is:

[0034] Firstly, the current UWB positioning system is improved and expanded as follows:

[0035] 1. Not only UWB positioning device is installed on each node, but also GNSS and IMU are installed, which can realize combined positioning. see figure 1 , each node in the embodiment includes a CPU, a GNSS receiv...

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Abstract

An indoor and outdoor positioning method and an indoor and outdoor positioning system are provided. The indoor and outdoor positioning method is characterized in that a plurality of nodes are set, and each node includes a CPU, a GNSS receiver, an IMU, and a UWB positioning module; for each node, the attribute is set as Tag before the node gets the position thereof, and the attribute is set as Anchor after the node gets the position thereof, which provides a reference position for the positioning of the other nodes; information transmitted between an Anchor node and a Tag node includes ranging information and the position information of the Anchor node; and the nodes of which the attribute is set as Tag are compared in GNSS, UWB and IMU positioning results and positioning accuracy according to a preset Anchor node, the node of highest positioning accuracy is selected, whether the positioning accuracy is over-limit is judged, and if the positioning accuracy is not over-limit, the Tag is converted into Anchor to provide positioning service for other Tags. The scope of positioning is expanded, the system cost is reduced, the reliability and the system scalability are improved, and the privacy of positioning users is protected.

Description

technical field [0001] The invention belongs to the field of sensors, and invents an indoor and outdoor combined positioning technology integrating multi-sensor technology. Background technique [0002] Outdoor positioning technology is quite mature, and GNSS-based positioning technology can meet the positioning requirements from meter level to millimeter level or even higher precision. Due to the needs of various industries and consumer groups such as the Internet of Things, fire protection, police, tourism, etc., indoor positioning technology has become a hot research topic today. There are many technical platforms available for indoor positioning technology, and currently it can achieve a balance between accuracy and cost. A better balance is UWB positioning technology. However, the current UWB positioning technology has great limitations. For example, a certain number of anchors must be deployed in the positioning area, and the coordinates of these anchors must be accur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S19/49
CPCG01S19/49
Inventor 张涛
Owner WUHAN UNIV
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