CN-115629410-B - Street direction positioning method, system and product in urban complex environment

CN115629410BCN 115629410 BCN115629410 BCN 115629410BCN-115629410-B

Abstract

The invention relates to a street direction positioning method, a street direction positioning system and a street direction positioning product in a complex urban environment. The method comprises the steps of establishing a three-dimensional model in a target area, extracting building feature points and road feature points in the three-dimensional model, receiving GNSS original data, generating a plurality of candidate positions in a road range according to the road feature points and the GNSS original data, generating a sky shielding graph of each candidate position according to the building feature points and the candidate positions, scoring each candidate position according to the GNSS original data and the sky shielding graph, determining a shadow matching result according to a scoring result, acquiring acceleration of an accelerometer and angular velocity of a gyroscope in a mobile phone of a pedestrian, determining a PDR step size and a PDR course angle according to the acceleration and the angular velocity, and determining a positioning result along a street direction according to the PDR step size and the PDR course angle constraint shadow matching result. The invention can improve the positioning precision of the traditional GNSS in the environment and make up the problem of street errors of the single shadow matching technology.

Inventors

LI ZENGKE
HU YIFAN
JI DALI
WANG QIANXIN

Assignees

中国矿业大学

Dates

Publication Date: 20260512
Application Date: 20221108

Claims (10)

1. The street direction positioning method in the urban complex environment is characterized by comprising the following steps: establishing a three-dimensional model in a target area, and extracting building characteristic points and road characteristic points in the three-dimensional model; receiving GNSS original data, and generating a plurality of candidate positions in a road range according to the road feature points and the GNSS original data; Generating a sky shielding map of each candidate position according to the building characteristic points and the candidate positions; Scoring each candidate position according to the GNSS original data and the sky occlusion map, and determining a shadow matching result according to a scoring result; acquiring acceleration of an accelerometer and angular velocity of a gyroscope in a mobile phone of a pedestrian, and determining a PDR step length and a PDR course angle according to the acceleration and the angular velocity; determining a positioning result along the street direction according to the PDR step length and the PDR course angle constraint shadow matching result; Taking the result with higher score in a plurality of epochs as a starting point, taking the epoch shadow matching result as an end point, and taking the step length result as the distance constraint along the street direction on the basis of the direction; wherein P is the final position of the current epoch; is the last epoch position; the position obtained by matching the current epoch shadows; In steps.
2. The method for positioning in a street direction in a complex urban environment according to claim 1, wherein said receiving GNSS raw data and generating a plurality of candidate locations within a road range according to said road feature points and said GNSS raw data comprises: Calculating initial position coordinates of the current epoch by using the pseudo range and broadcast ephemeris of the GNSS original data and using a least square method, wherein the initial position coordinates are space geodetic coordinates; converting the initial position coordinates into initial position Gaussian projection coordinates; And generating a plurality of candidate positions in a road range according to the road characteristic points by taking the Gaussian projection coordinates of the initial positions as circle centers and the set length as radius, and converting the Gaussian projection coordinates of each candidate position into space geodetic coordinates.
3. The method for locating in a complex urban environment along a street direction according to claim 2, wherein the generating a sky occlusion map of each candidate location according to the building feature points and the candidate location specifically comprises: For each candidate position, converting the position coordinates of the building feature points and satellite positions calculated by broadcast ephemeris into station coordinates taking the candidate position as a station in a space geodetic coordinate system; and calculating the building shielding condition of each candidate position and the distribution condition of each satellite in the sky relative to the candidate positions according to the station coordinates, and generating a sky shielding diagram of each candidate position.
4. The method for positioning in a street direction in a complex urban environment according to claim 3, wherein said scoring each candidate position according to said GNSS raw data and said sky occlusion map, and determining a shadow matching result according to the scoring result, specifically comprises: Calculating a satellite altitude angle and an azimuth angle according to the building shielding condition and the distribution condition; For each candidate position, obtaining a building, a satellite and a shielding situation type among the candidate positions, wherein the shielding situation type comprises a non-shielding situation and a shielding situation; Determining satellite signals between a building, a satellite and the candidate positions according to the occlusion situation type, wherein the satellite signals between the building, the satellite and the candidate positions are regarded as direct signals under the non-occlusion situation; Determining satellite scores of any one satellite with the relative candidate positions according to the direct signal relation, the satellite altitude angle and the azimuth angle, wherein the satellite scores comprise direct satellite scores and non-direct satellite scores; and arranging the satellite scores in the order from large to small, carrying out weighted average processing on coordinates of candidate positions corresponding to the satellite scores of the preset number, and determining a shadow matching result.
5. A street-oriented positioning system in a complex urban environment, comprising: the system comprises a building characteristic point and road characteristic point extraction module, a target area extraction module and a road characteristic point extraction module, wherein the building characteristic point and road characteristic point extraction module is used for establishing a three-dimensional model in the target area and extracting building characteristic points and road characteristic points in the three-dimensional model; The candidate position generation module is used for receiving GNSS original data and generating a plurality of candidate positions in a road range according to the road feature points and the GNSS original data; The sky shielding diagram generation module is used for generating a sky shielding diagram of each candidate position according to the building characteristic points and the candidate positions; The shadow matching result determining module is used for scoring each candidate position according to the GNSS original data and the sky shielding picture, and determining a shadow matching result according to the scoring result; the system comprises a PDR step length and PDR course angle determining module, a step length determining module and a step length determining module, wherein the PDR step length and PDR course angle determining module is used for acquiring the acceleration of an accelerometer and the angular velocity of a gyroscope in a mobile phone of a pedestrian and determining the PDR step length and the PDR course angle according to the acceleration and the angular velocity; the street direction positioning result determining module is used for determining a street direction positioning result according to the PDR step length and the PDR course angle constraint shadow matching result; Taking the result with higher score in a plurality of epochs as a starting point, taking the epoch shadow matching result as an end point, and taking the step length result as the distance constraint along the street direction on the basis of the direction; wherein P is the final position of the current epoch; is the last epoch position; the position obtained by matching the current epoch shadows; In steps.
6. The system for locating a position along a street in a complex urban environment according to claim 5, wherein said candidate location generation module comprises: The initial position coordinate calculation unit is used for calculating the initial position coordinate of the current epoch by using the pseudo range and the broadcast ephemeris of the GNSS original data and utilizing a least square method, wherein the initial position coordinate is a space geodetic coordinate; the coordinate conversion unit is used for converting the initial position coordinate into an initial position Gaussian projection coordinate; And the candidate position generation unit is used for generating a plurality of candidate positions in a road range according to the road characteristic points by taking the Gaussian projection coordinates of the initial positions as circle centers and taking the set length as a radius, and converting the Gaussian projection coordinates of each candidate position into space geodetic coordinates.
7. The system for locating in a complex urban environment along street direction according to claim 6, wherein said sky occlusion map generating module comprises: A station center coordinate determining unit, configured to convert, for each of the candidate positions, a position coordinate of the building feature point and a satellite position calculated by the broadcast ephemeris into a station center coordinate with the candidate position as a station center in a space geodetic coordinate system; And the sky shielding diagram generating unit is used for calculating the building shielding condition of each candidate position and the distribution condition of each satellite in the sky relative to the candidate position according to the station coordinates and generating a sky shielding diagram of each candidate position.
8. The system for locating in a complex urban environment along street direction according to claim 7, wherein said shadow matching result determining module comprises: The satellite altitude and azimuth calculation unit is used for calculating the satellite altitude and azimuth according to the building shielding condition and the distribution condition; The system comprises a shielding situation type acquisition unit, a shielding situation type acquisition unit and a shielding situation detection unit, wherein the shielding situation type acquisition unit is used for acquiring shielding situation types among a building, a satellite and the candidate positions for each candidate position; The system comprises a direct signal relation determining unit, a non-direct signal determining unit and a receiving unit, wherein the direct signal relation determining unit is used for determining satellite signals among a building, a satellite and the candidate positions according to the type of the shielding condition; The satellite fraction determining unit is used for determining the satellite fraction of any satellite with any candidate position relative to the satellite according to the direct signal relation, the satellite altitude angle and the azimuth angle, wherein the satellite fraction comprises a direct satellite fraction and a non-direct satellite fraction; and the shadow matching result unit is used for arranging the satellite scores in sequence from large to small, carrying out weighted average processing on coordinates of candidate positions corresponding to the satellite scores of the preset number, and determining a shadow matching result.
9. An electronic device comprising a memory for storing a computer program and a processor that runs the computer program to cause the electronic device to perform the street-oriented positioning method in a complex urban environment as claimed in any one of claims 1-4.
10. A computer-readable storage medium, characterized in that it stores a computer program, which when executed by a processor implements the street-oriented positioning method in a complex urban environment as claimed in any one of claims 1-4.

Description

Street direction positioning method, system and product in urban complex environment Technical Field The invention relates to the field of global navigation satellite system (GlobalNavigation SATELLITE SYSTEM, GNSS) positioning, in particular to a street direction positioning method, system and product in a complex urban environment. Background With the current development of society, location-based services (LBS) are widely used in various industries such as vehicle-pedestrian navigation, travel industry, emergency call service, logistics transportation industry, etc., and these reality are required to put higher demands on LSB development. In the positioning service with the meter-level precision, which can be provided by the global navigation satellite system (GlobalNavigation SATELLITE SYSTEM, GNSS) in an open area, the positioning precision of the mobile phone end is about 5m, and the positioning precision of a low-cost receiver such as ublox series is about 3m, but in the complex environment of a modern city, the satellite signals of the GNSS can be reflected, refracted and diffracted to lead to the signals finally entering the receiver to have direct signals (Line OfSight, LOS), non-direct signals (NonLine OfSight, NLOS), multipath signals and other GNSS satellite signals, and the error caused by the positioning service can reach tens of meters or hundreds of meters at maximum, which has huge influence on navigation positioning in the complex environment of the city and severely restricts the development of navigation service related technologies in the environment. Various software and hardware settings of a high-cost receiver such as a geodetic receiver can better avoid multipath and reflected signals, and the input signal quality cannot be improved from the hardware level due to the limitation of equipment volume at the low-cost receiver and the mobile phone end. However, in a complex urban environment, the low-cost receiver and the mobile phone terminal positioning occupy main application scenes, and the user also has higher precision requirements under the condition. The single shadow matching technology can solve the problem of positioning error in the street crossing direction in the urban complex environment, but the method has larger positioning error in the street crossing direction based on the technology. Disclosure of Invention The invention aims to provide a street direction positioning method, a street direction positioning system and a street direction positioning product in a complex urban environment, so as to solve the problem of large street direction error of a single shadow matching technology. In order to achieve the above object, the present invention provides the following solutions: A method for positioning along street direction in urban complex environment comprises the following steps: establishing a three-dimensional model in a target area, and extracting building characteristic points and road characteristic points in the three-dimensional model; receiving GNSS original data, and generating a plurality of candidate positions in a road range according to the road feature points and the GNSS original data; Generating a sky shielding map of each candidate position according to the building characteristic points and the candidate positions; Scoring each candidate position according to the GNSS original data and the sky occlusion map, and determining a shadow matching result according to a scoring result; acquiring acceleration of an accelerometer and angular velocity of a gyroscope in a mobile phone of a pedestrian, and determining a PDR step length and a PDR course angle according to the acceleration and the angular velocity; and determining a positioning result along the street direction according to the PDR step length and the PDR course angle constraint shadow matching result. Optionally, the receiving GNSS raw data and generating a plurality of candidate positions within a road range according to the road feature points and the GNSS raw data specifically includes: Calculating initial position coordinates of a current epoch by using a least square method by adopting pseudo-range and broadcast ephemeris of the GNSS original data, wherein the initial position coordinates are space geodetic coordinates; converting the initial position coordinates into initial position Gaussian projection coordinates; And generating a plurality of candidate positions in a road range according to the road characteristic points by taking the Gaussian projection coordinates of the initial positions as circle centers and the set length as radius, and converting the Gaussian projection coordinates of each candidate position into space geodetic coordinates. Optionally, the generating a sky shielding map of each candidate location according to the building feature point and the candidate location specifically includes: For each candidate position, converting the position coordinates of the buildin