High-precision three-dimensional real scene indoor and outdoor integrated positioning method and device

Abstract

The invention discloses a high-precision three-dimensional real scene indoor and outdoor integrated positioning method and device. The method comprises the steps that the GPS positioning result is introduced to the indoor, multiple reference points of which the GPS coordinates are measurable are selected in the indoor, and a platform coordinate system is established with the reference points acting as the origins of coordinates; a laser three-dimensional scanner is introduced to the reference points so that indoor three-dimensional point cloud information is acquired, and high-precision indoor scene reconstruction is completed; an optimized coordinate transformation model is constructed according to the relationship between the platform coordinate system and a scanner coordinate system to unify the point cloud to the platform coordinate system; and coordinate transformation is further performed on an ultra-wideband indoor positioning system coordinate system and the coordinate data so that indoor target positioning is completed. The beneficial effects of the positioning method and device are that the point cloud data are introduced on the basis of the indoor positioning system, the high-precision visual indoor three-dimensional scene with geodetic coordinates is obtained by using the optimized coordinate transformation model, and the indoor positioning precision can be the decimeter level; and integration of indoor and outdoor positioning can be realized, and a browsable spatial information management system is provided.

Description

technical field [0001] The invention relates to the technical field of communication navigation positioning and location services, in particular to a three-dimensional real scene indoor and outdoor integrated positioning method based on a three-dimensional laser scanner and GPS signals, which is beneficial to improving indoor positioning accuracy and realizing indoor three-dimensional real scene visualization. Background technique [0002] The traditional outdoor positioning system is based on satellite positioning. At present, the widely used satellite positioning systems mainly include the GPS system, the Beidou satellite navigation system independently developed by my country, and the Russian GLONASS system. In the outdoor satellite positioning system, the GNSS receiver module receives signals from more than four satellites, and realizes terminal positioning through pseudo-range positioning or carrier phase. However, positioning systems such as Beidou and GPS use the pri...

AI Technical Summary

Problems solved by technology

However, the existing UWB indoor positioning system still has the following technical defects: 1) The positioning accuracy still cannot reach a high standard; 2) The positioning results are presented on a two-dimensional map, which cannot show the specific details of the actual building interior

However, although the collected point cloud data contains the position information of each point in the room, these position information are all position coordinates in the scanner coordinate system, which cannot be practically applied to indoor positioning.

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