CN-122017910-A - Indoor high-precision positioning method realized by reverse thrust after indoor Bluetooth beacon rough positioning

CN122017910ACN 122017910 ACN122017910 ACN 122017910ACN-122017910-A

Abstract

The invention discloses an indoor high-precision positioning method realized by back-pushing after indoor Bluetooth beacon rough positioning, which comprises the steps of obtaining navigation auxiliary data sent by a Bluetooth beacon system, calculating and obtaining a summary rough positioning position of a terminal by utilizing signal intensity data of a received broadcast message from the Bluetooth beacon system, calculating a terminal receiver clock error based on the navigation auxiliary data after the terminal is in time synchronization with the Bluetooth beacon system, reversely calculating a virtual pseudo range from the terminal to a satellite based on the navigation auxiliary data, the summary rough positioning position and the terminal receiver clock error, receiving a position system information block from a network side by the terminal, analyzing and obtaining RTK differential data, carrying out differential positioning calculation by utilizing the virtual pseudo range, the RTK differential data and the summary rough positioning position, and outputting indoor positioning coordinates. The invention uses the Bluetooth facility to relay satellite data and construct a virtual observation value, and realizes the low-cost extension of the outdoor RTK high-precision positioning algorithm to indoor scenes on the premise of no need of pseudolite hardware.

Inventors

DENG YE
NIU CHUN
XU SHENGYU
BAI LU
ZHAO PEI
GUO BAO
HAN YUNBO
LI XIAOHUI
YANG YAOZONG
WANG CHEN

Assignees

中国移动通信集团设计院有限公司
中国移动通信集团有限公司

Dates

Publication Date: 20260512
Application Date: 20260202

Claims (10)

1. The indoor high-precision positioning method realized by reverse thrust after the indoor Bluetooth beacon coarse positioning is characterized by being applied to a terminal side and comprising the following steps of: navigation auxiliary data sent by a Bluetooth beacon system are obtained, and the rough positioning position of the summary of the terminal is obtained by calculating the signal intensity data of the received broadcast message from the Bluetooth beacon system; After the time synchronization of the terminal and the Bluetooth beacon system is completed, calculating the clock error of the terminal receiver based on the navigation auxiliary data, and reversely calculating the virtual pseudo range from the terminal to the satellite based on the navigation auxiliary data, the rough positioning position and the clock error of the terminal receiver; and the terminal receives the position system information block from the network side, analyzes and obtains RTK differential data, performs differential positioning calculation by using the virtual pseudo-range, the RTK differential data and the rough positioning position, and outputs indoor positioning coordinates.
2. The indoor high-precision positioning method realized by reverse thrust after indoor bluetooth beacon coarse positioning according to claim 1, wherein the navigation assistance data specifically comprises ephemeris data, orbit correction data, clock correction data and bluetooth system receiver clock error; The step of obtaining navigation auxiliary data sent by the Bluetooth beacon system specifically comprises the following steps: after the terminal sends a scanning request to the Bluetooth beacon system, receiving a scanning response message sent by the Bluetooth beacon system; the scanning response message carries ephemeris data, orbit correction data, clock correction data and clock error of a Bluetooth system receiver, which are obtained by analyzing satellite signals through a connected global navigation satellite system receiver.
3. The indoor high-precision positioning method implemented by reverse thrust after coarse positioning of an indoor bluetooth beacon according to claim 1, wherein the step of calculating the clock error of the terminal receiver based on the navigation assistance data further comprises the step of calculating the delay value of the terminal relative to the bluetooth beacon system: The terminal sends a scanning request to the Bluetooth beacon system and records a time stamp of the moment when the terminal sends the request; The terminal receives a scanning response message fed back by the Bluetooth beacon system aiming at the scanning request, and records a time stamp of the receiving response time of the terminal; the scanning response message comprises a time stamp of a beacon receiving request time recorded by the Bluetooth beacon system and a time stamp of a beacon transmitting response time; the terminal receives the scanning response message and records the timestamp of the receiving response time of the terminal; the terminal calculates the time delay value through a time delay calculation formula by utilizing the time stamp of the terminal sending request time, the time stamp of the beacon receiving request time, the time stamp of the beacon sending response time and the time stamp of the terminal receiving response time.
4. The indoor high-precision positioning method implemented by reverse thrust after coarse positioning of an indoor bluetooth beacon according to claim 3, wherein the step of calculating the clock error of a terminal receiver is specifically as follows: the terminal extracts the clock error of the Bluetooth system receiver from the scanning response message; and the terminal calculates the clock difference of the terminal receiver by using the clock difference and the time delay value of the Bluetooth system receiver through a terminal clock difference formula.
5. The indoor high-precision positioning method implemented by reverse thrust after indoor bluetooth beacon coarse positioning according to claim 2, wherein the step of reversely calculating the virtual pseudo range from the terminal to the satellite based on the navigation assistance data, the summary coarse positioning position and the clock difference of the terminal receiver further comprises the step of calculating satellite space coordinates and satellite clock difference: the terminal analyzes and acquires ephemeris data, orbit correction data and clock correction data from the scanning response message; The terminal calculates satellite space coordinates of the selected satellite at the signal transmitting moment through a satellite orbit calculation algorithm based on the ephemeris data and the orbit correction data; The terminal obtains satellite clock differences of the selected satellites based on the clock correction data.
6. The indoor high-precision positioning method implemented by reverse thrust after coarse positioning of an indoor bluetooth beacon according to claim 1, wherein the steps of the terminal receiving a position system information block from a network side and analyzing to obtain RTK differential data are specifically as follows: The terminal receives the position system information block, analyzes and restores the compressed field in the position system information block by using a pseudo-range coding formula, and obtains RTK differential data; The position management unit acquires differential messages from the continuously running reference station and packages the differential messages into a position system information block.
7. The indoor high-precision positioning method implemented by reverse thrust after indoor bluetooth beacon coarse positioning according to claim 1, wherein the step of performing differential positioning calculation by using virtual pseudo-range, RTK differential data and summary coarse positioning position further comprises the step of constructing a double-differential observation equation: The terminal takes the virtual pseudo-range as an observation value of the mobile station and takes RTK differential data as an observation value of the reference station; and the terminal uses the summary rough positioning position as an approximate coordinate to construct a double-difference observation equation for describing the relation between the position deviation of the mobile station and the observation residual.
8. The indoor high-precision positioning method implemented by reverse thrust after coarse positioning of an indoor bluetooth beacon according to claim 7, wherein the step of performing differential positioning calculation is specifically as follows: The terminal converts the double-difference observation equation into a linear form by using a linearization equation, wherein the linearization equation comprises a structural matrix defined by a structural matrix formula, a pending parameter vector defined by a parameter vector formula and an observation residual constant vector defined by a residual calculation formula; and solving the linearization equation by using a least square method by the terminal, and calculating undetermined parameters in a parameter vector formula to obtain the position correction quantity.
9. The indoor high-precision positioning method realized by reverse thrust after indoor bluetooth beacon coarse positioning according to claim 8, wherein the step of outputting indoor positioning coordinates is specifically: and the terminal calculates the indoor positioning coordinates by using the position correction quantity and the rough positioning position and a coordinate updating formula.
10. Indoor bluetooth beacon coarse positioning back pushes away indoor high accuracy positioning system who realizes, its characterized in that includes: A terminal for implementing an indoor high-precision positioning method implemented by reverse pushing after coarse positioning of an indoor bluetooth beacon according to any one of claims 1-9; The Bluetooth beacon system is used for receiving satellite signals of an outdoor global navigation satellite system in real time, analyzing and acquiring navigation auxiliary data from the satellite signals and sending the navigation auxiliary data to the terminal; the high-precision positioning support system at the network side is used for acquiring the differential message generated by the continuously running reference station, packaging the differential message into a position system information block and broadcasting the position system information block to the terminal through the 5G base station.

Description

Indoor high-precision positioning method realized by reverse thrust after indoor Bluetooth beacon rough positioning Technical Field The invention relates to the technical field of communication and navigation positioning, in particular to an indoor high-precision positioning method realized by reverse pushing after coarse positioning of an indoor Bluetooth beacon. Background With the popularization of mobile internet and intelligent terminals, the application demands of indoor location services in scenes such as mall navigation, warehouse logistics management, underground parking navigation, indoor automatic driving and the like are rapidly increasing. In an outdoor open environment, global Navigation Satellite Systems (GNSS) can provide sophisticated and accurate positioning services. However, in an indoor environment, due to the shielding of a building, satellite signals are seriously attenuated and even cannot reach completely, so that a terminal is difficult to realize positioning by receiving satellite signals directly, and the severe requirements of scenes such as modular construction of a large building or indoor automatic driving on high precision cannot be met. Currently, indoor positioning technology typically employs a bluetooth or Wi-Fi positioning scheme based on Received Signal Strength (RSSI). Although the schemes can acquire the rough position coordinates of the terminal through fingerprint matching or triangulation, the existing infrastructures such as indoor Bluetooth beacons and the like are mainly designed for broadcasting identification marks or simple telemetry data, and the acquisition and forwarding capability of complex navigation parameters of an outdoor global navigation satellite system is lacking. This means that although the indoor terminal can obtain a rough position, it cannot obtain key navigation information including ephemeris data, orbit correction data and satellite clock correction data, so that the indoor positioning system and the outdoor high-precision navigation system are in a split state at the data level. Meanwhile, the realization of high-precision positioning is highly dependent on the unification of time references. In an outdoor scene, the terminal can calculate the clock error of the receiver by locking the satellite signal, thereby keeping time synchronization with the satellite system. However, in an indoor environment without satellite signals, the terminal loses a way of directly acquiring the satellite system time reference, and clock deviation of the terminal relative to the global navigation satellite system cannot be calculated independently. The lack of accurate clock error parameters makes it difficult for the terminal to perform subsequent high-precision position calculation, resulting in drift or failure of the positioning result. In addition, the core logic of the outdoor high-precision positioning technology (such as RTK real-time dynamic difference) is that a terminal measures satellite signals to obtain an original pseudo-range or carrier phase observation value, and error correction is carried out by combining differential data issued by a network side. In indoor scenarios, due to the absence of physical signals, the terminal cannot generate the original pseudorange or phase observations by measurement. Even though the 5G communication network can transmit high-precision RTK differential data indoors, due to the fact that the terminal side lacks basic observation data matched with the terminal side, a mature differential positioning algorithm cannot be started, indoor positioning precision is limited to stay at the level of meters, and the indoor positioning precision cannot be further improved to the level of sub-meters or centimeters through a differential technology. The existing indoor positioning technology mainly has the problem that a high-precision differential algorithm cannot be applied because an indoor infrastructure cannot transmit satellite navigation parameters, a terminal lacks a unified time reference with a satellite system and a pseudo-range observation value for differential calculation cannot be constructed in a signal-free environment. Disclosure of Invention Aiming at the defects of the prior art, the invention provides an indoor high-precision positioning method realized by reverse thrust after coarse positioning of an indoor Bluetooth beacon, which solves the problems that a special hardware scheme with high construction cost is difficult to popularize, and a low-cost scheme cannot apply a differential algorithm due to lack of pseudo-range observation data, so that the positioning precision and stability are insufficient in the prior art. The invention provides an indoor high-precision positioning method realized by reverse pushing after coarse positioning of an indoor Bluetooth beacon, which mainly comprises the following steps: navigation auxiliary data sent by a Bluetooth beacon system are obtained, and the rough