阅读说明：本技术 一种基于4g基站与卫星的双重定位方法及系统 (Dual positioning method and system based on 4G base station and satellite ) 是由 羊箭锋 吴彬彬 周怡 严荣慧 于 2021-07-07 设计创作，主要内容包括：本发明公开了一种基于4G基站与卫星的双重定位系统,该方法包括以下步骤：A、通过双重定位模块从卫星获取信息；B、通过控制器从双重定位模块获取的信息中提取卫星定位数据；C、通过4G模块收集周围基站的基站定位数据；D、TCP服务器通过卡尔曼滤波技术将所述卫星定位数据和基站定位数据进行融合,通过抵消不同定位数据的定位误差来定位当前位置。本发明基于4G基站与卫星的双重定位系统解决了现有技术中定位在室内等城市建筑覆盖复杂地区卫星信号丢失问题,实现了复杂环境的定位功能,提高了定位终端的可靠性和实用性,可实现高精度定位。(The invention discloses a dual-positioning system based on a 4G base station and a satellite, which comprises the following steps: A. obtaining information from a satellite through a dual positioning module; B. extracting satellite positioning data from the information acquired by the dual positioning module through the controller; C. collecting base station positioning data of surrounding base stations through a 4G module; D. and the TCP server fuses the satellite positioning data and the base station positioning data through a Kalman filtering technology, and positions the current position by offsetting positioning errors of different positioning data. The dual-positioning system based on the 4G base station and the satellite solves the problem of satellite signal loss in the prior art when the positioning is carried out in the areas covered by complex buildings such as indoor buildings, realizes the positioning function in the complex environment, improves the reliability and the practicability of the positioning terminal, and can realize high-precision positioning.)

1. A dual positioning method based on a 4G base station and a satellite is characterized by comprising the following steps:

A. obtaining information from a satellite through a dual positioning module;

B. extracting satellite positioning data from the information acquired by the dual positioning module through the controller;

C. collecting base station positioning data of surrounding base stations through a 4G module;

D. and the TCP server fuses the satellite positioning data and the base station positioning data through a Kalman filtering technology, and positions the current position by offsetting positioning errors of different positioning data.

2. The dual positioning method based on the 4G base station and the satellite according to claim 1, wherein the step D specifically comprises: the TCP server assigns different weight values to each data according to the error precision of different data, then performs fitting, performs characteristic value analysis on the cross overlapping part after fitting of different data, and positions the current position by combining a historical track.

3. The dual positioning method based on the 4G base station and the satellite according to claim 1, wherein the step C specifically comprises: and collecting base station positioning data of a plurality of surrounding base stations through the 4G module.

4. The dual positioning method based on 4G bs and satellite according to claim 1, wherein the step a further comprises the steps of:

and S, the controller controls the 4G module to establish a TCP transparent transmission relation with the TCP server by using the AT instruction so as to realize remote communication between the TCP server and the controller.

5. The utility model provides a dual positioning system based on 4G basic station and satellite, its characterized in that, includes dual positioning module, controller, 4G module and TCP server, dual positioning module is used for obtaining information from the satellite, the controller is arranged in drawing the satellite positioning data from the information that dual positioning module obtained, the basic station location data that is used for surrounding basic station is collected to the 4G module, TCP server be used for with satellite positioning data and basic station location data fuse, fixes a position the current position through offsetting the positioning error of different location data.

6. The dual 4G base station and satellite based positioning system of claim 5, wherein the 4G module collects base station positioning data of a plurality of surrounding base stations.

7. The dual-positioning system based on 4G bs and satellite according to claim 5, wherein the controller is further configured to control the 4G module to establish a TCP transparent transmission relationship with a TCP server by using AT commands to realize remote communication between the TCP server and the controller.

8. The dual 4G base station and satellite based positioning system of claim 5, wherein the dual positioning module communicates with the controller and the controller communicates with the 4G module via serial ports.

9. The dual positioning system based on 4G bs and satellite according to claim 5, wherein the controller is a single chip microcomputer.

10. The dual 4G base station and satellite based positioning system of claim 5, wherein the satellite positioning data comprises Beidou positioning data and GPS positioning data.

Technical Field

The invention relates to the technical field of positioning, in particular to a dual-positioning method and a dual-positioning system based on a 4G base station and a satellite.

Background

The Beidou satellite navigation system is a global satellite navigation system independently researched and developed in China and consists of a space section, a ground section and a user section. Compared with other navigation systems such as a GPS (global positioning system) and the like, the Beidou system can provide all-weather high-precision positioning, navigation and time-receiving service for various users in a global range, meanwhile, the television is subjected to the unique function of short message communication, the positioning precision of a general Beidou module is generally within 10 meters, and the Beidou module and GPS based dual-mode positioning system has higher precision which can reach 2.5 meters at most. However, in complex areas such as indoor, basement or urban building coverage, satellite signal attenuation areas or blind areas exist, which leads to inaccurate positioning or lost positioning of the satellite-based Beidou and GPS positioning systems.

The existing terminal positioning module basically adopts satellite-based positioning modes such as Beidou and GPS, but in complex areas such as indoor, basement or urban building coverage, a satellite signal attenuation area or a blind area exists, so that the satellite-based Beidou and GPS positioning system is inaccurate in positioning or lost in positioning.

The mainstream of the current positioning in the market is also serial port communication positioning, such as mobile phone positioning or automobile GPS positioning and navigation. And generally do not have 4G wireless communication function, make the positioning system heavier, not flexible enough.

Some positioning terminals with remote data transmission are in a one-way data transmission mode, only allow the positioning module to send data to a designated server, but the server cannot send data such as instructions to the positioning terminals, and in order to realize positioning and two-way communication functions, communication terminals are often required to be configured independently, so that the practicability of the positioning terminals is greatly reduced.

Disclosure of Invention

The invention aims to provide a dual-positioning system based on a 4G base station and a satellite, which has high positioning accuracy and strong reliability.

In order to solve the above problems, the present invention provides a dual positioning system based on a 4G base station and a satellite, which comprises the following steps:

A. obtaining information from a satellite through a dual positioning module;

B. extracting satellite positioning data from the information acquired by the dual positioning module through the controller;

C. collecting base station positioning data of surrounding base stations through a 4G module;

D. and the TCP server fuses the satellite positioning data and the base station positioning data through a Kalman filtering technology, and positions the current position by offsetting positioning errors of different positioning data.

As a further improvement of the present invention, step D specifically includes: the TCP server assigns different weight values to each data according to the error precision of different data, then performs fitting, performs characteristic value analysis on the cross overlapping part after fitting of different data, and positions the current position by combining a historical track.

As a further improvement of the present invention, the step C specifically includes: and collecting base station positioning data of a plurality of surrounding base stations through the 4G module.

As a further improvement of the present invention, the step a is preceded by the steps of:

and S, the controller controls the 4G module to establish a TCP transparent transmission relation with the TCP server by using the AT instruction so as to realize remote communication between the TCP server and the controller.

The invention also provides a dual-positioning system based on the 4G base station and the satellite, which comprises a dual-positioning module, a controller, a 4G module and a TCP server, wherein the dual-positioning module is used for acquiring information from the satellite, the controller is used for extracting satellite positioning data from the information acquired by the dual-positioning module, the 4G module is used for collecting base station positioning data used for surrounding base stations, and the TCP server is used for fusing the satellite positioning data and the base station positioning data and positioning the current position by offsetting positioning errors of different positioning data.

As a further improvement of the invention, the 4G module collects the base station positioning data of a plurality of surrounding base stations.

As a further improvement of the present invention, the controller is further configured to control the 4G module to establish a TCP transparent transmission relationship with the TCP server by using an AT instruction, so as to implement remote communication between the TCP server and the controller.

As a further improvement of the invention, the dual-positioning module and the controller, and the controller and the 4G module are in serial port communication.

As a further improvement of the invention, the controller is a single chip microcomputer.

As a further improvement of the invention, the satellite positioning data comprises Beidou positioning data and GPS positioning data.

The invention has the beneficial effects that:

the dual-positioning system based on the 4G base station and the satellite solves the problem of satellite signal loss in the prior art when the positioning is carried out in the areas covered by complex buildings such as indoor buildings, realizes the positioning function in the complex environment, improves the reliability and the practicability of the positioning terminal, and can realize high-precision positioning.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.

Drawings

FIG. 1 is a diagram of a dual-positioning system based on 4G base stations and satellites according to a preferred embodiment of the invention;

fig. 2 is a schematic diagram of data fusion by kalman filtering in the preferred embodiment of the present invention.

Detailed Description

The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.

The preferred embodiment of the invention discloses a dual-positioning method based on a 4G base station and a satellite, which comprises the following steps:

A. obtaining information from a satellite through a dual positioning module;

B. extracting satellite positioning data from the information acquired by the dual positioning module through the controller;

C. collecting base station positioning data of surrounding base stations through a 4G module;

D. and the TCP server fuses the satellite positioning data and the base station positioning data through a Kalman filtering technology, and positions the current position by offsetting positioning errors of different positioning data. Refer to fig. 2.

Optionally, step D specifically includes: the TCP server assigns different weight values to each data according to the error precision of different data, then performs fitting, performs characteristic value analysis on the cross overlapping part after fitting of different data, and positions the current position by combining a historical track.

Optionally, step C specifically includes: and collecting base station positioning data of a plurality of surrounding base stations through the 4G module. The positioning precision is improved.

In this embodiment, before the step a, the method further includes the steps of:

and S, the controller controls the 4G module to establish a TCP transparent transmission relation with the TCP server by using the AT instruction so as to realize remote communication between the TCP server and the controller.

The invention also discloses a dual-positioning system based on the 4G base station and the satellite, which comprises a dual-positioning module, a controller, a 4G module and a TCP server, wherein the dual-positioning module is used for acquiring information from the satellite, the controller is used for extracting satellite positioning data from the information acquired by the dual-positioning module, the 4G module is used for collecting base station positioning data used for surrounding base stations, and the TCP server is used for fusing the satellite positioning data and the base station positioning data and positioning the current position by offsetting positioning errors of different positioning data.

In this embodiment, the controller is further configured to control the 4G module to establish a TCP transparent transmission relationship with the TCP server by using an AT instruction, so as to implement remote communication between the TCP server and the controller.

In this embodiment, serial port communication is performed between the dual-positioning module and the controller, and between the controller and the 4G module.

Optionally, the controller is a single chip microcomputer, and specifically may be an STM32 single chip microcomputer.

In this embodiment, the satellite positioning data includes Beidou positioning data and GPS positioning data.

In a specific embodiment, the dual-mode positioning module first obtains data from each satellite, and transmits information sent by the satellite to the STM32 single chip microcomputer through the positioning system, the received data is basically a message of the NMEA-0183 protocol, and most common GNSS receivers, GNSS data processing software and navigation software follow or are at least compatible with the protocol. The NMEA-0183 protocol uses ASCII codes to convey GPS location information, which we call frames, in the format: "$ AABBB, CCC, …, CCC × dd (cr) (lf)," $ "is the frame command start bit; "AABBB" is an address field, also called a message header, the first two digits are identifiers (AA), and the last two digits are sentence names (BBB); "CCC, …, CCC" is data; "+" is checksum prefix (also can be used as the mark of statement data end); "DD" is the checksum, the checksum of all the ASCII characters between $and × (after xor operation is performed on each byte, the checksum is converted into ASCII characters in 16-ary format); (CR) (LF) is the detection of the end of the carriage return and line feed character. The transmitted message header identifier represents three different data types GP, BD and GN, which are respectively a GPS positioning mode, a Beidou positioning mode and a dual-mode positioning mode. The message header names represent different information, wherein the $ XXGGA message is related information about time, longitude and latitude positions, resolving states, satellite particles and the like; the $ XXGSA displays the current satellite information; the information of visible satellites is displayed by XXGSV; $ XXVTG represents satellite ground speed information; $ XXGLL contains basic geographical location information; the $ XXRMC comprises simplest positioning information such as position, speed, time and the like; and $ XXZDA represents the current time information. And searching related NMEA-0183 protocols according to different message headers so as to obtain information such as related satellite positioning and the like. Generally, positioning does not require so much information, for example, only information related to GNRMC messages is needed to obtain the location information desired by the module.

The base station positioning refers to the positioning which can be performed only by inquiring the base station information through the AT instruction. The basic principle of base station location is that the mobile phone measures the downlink pilot signals of different base stations to obtain the TOA (Time of Arrival) or TDOA (Time Difference of Arrival) of the downlink pilot signals of different base stations, and the location of the mobile phone can be calculated by combining the measurement result with the coordinates of the base stations and generally adopting a trigonometric formula estimation algorithm. The actual position estimation algorithm needs to consider the case of multi-base station (3 or more than 3) positioning, so the algorithm is much more complex. Generally speaking, the more base stations the mobile station measures, the higher the measurement accuracy, and the more obvious the improvement of the positioning performance. Since the mobile communication network is composed of a plurality of base stations (large towers) arranged according to a certain rule, each base station covers a regular hexagonal area, each regular hexagonal area is called a cell, each cell (base station) has a fixed ID (number), the formed network is similar to a cell, the main characteristic of the formed network is mobility of the terminal, and the formed network has functions of handover and automatic roaming across local networks. As long as the SIM card is not in the offline mode, the ID of the cell where the SIM card is currently located can be queried through AT-related instructions. The national security department knows the approximate position of a person by the cell ID, and the base station positioning software performs positioning by detecting the communication ID in the SIM card (a base station position database and map data must be matched). The positioning accuracy depends on the radius of a cell where the mobile phone is located and the number of surrounding base stations, generally, the positioning accuracy of the base stations in the urban environment is about 10m, and the requirement on the accuracy of terminal positioning and tracking in remote actual monitoring is met.

The general base station information includes: three parameters, MNC, LAC, CID (Cell), mcc (mobile Country code), mobile Country code (460 in china); mnc (mobile Network code), mobile Network number (china mobile 00, china unicom 01); lac (locationarea code), location area code; cid (cell identity), base station number, is 16 bits of data (range 0 to 65535). The position information can be tracked through the base station database by the base stations nearby by acquiring the three parameters, and the current position information is directly displayed on the base station database. Generally, the positioning accuracy of multiple base stations is higher than that of a single base station, so that the information of a plurality of surrounding base stations can be collected by using a 4G module, and the overall positioning accuracy of the base stations is improved.

The STM32 minimum system performs the processing of the received positioning information and sends it to the 4G module. Serial port communication is carried out between bimodulus location end and the STM32 minimum system and between STM32 minimum system and the 4G module for receive the data that bimodulus location module transmitted back, utilize STM32 microprocessor, the locating information that receives serial ports 3 sends to serial ports 1 buffer, then serial ports 1 buffer sends data to the 4G module, the AT instruction of relevant 4G module is exported through STM32 this moment, thereby transmit the relevant position information of serial ports for TCP server. Regarding the 4G module, the connection with the TCP server is established first, that is, the STM32 issues a relevant AT instruction to initialize the 4G module first, and then the 4G module is controlled to be connected to the TCP server port, and when the TCP server issues a relevant instruction to control the STM32 to transmit the positioning information to the server platform.

By integrating the base station positioning technology, the Beidou positioning technology and the GPS positioning technology, the problem of satellite signal loss in the prior art when the positioning is carried out in the complex area covered by urban buildings such as indoor buildings is solved, the positioning function of the complex environment is realized, and the reliability and the practicability of the positioning terminal are improved.

The invention fuses the repositioning data from a plurality of positioning sensors through the Kalman filtering technology, eliminates the positioning error of each positioning sensor, obtains accurate positioning data, and realizes the high-precision positioning function.

According to the invention, through the 4G data remote transmission function, the problems that a positioning module in the prior art can only perform near-field positioning, cannot perform remote wireless positioning and has a narrow application range are solved, and technical support is provided for later large-scale positioning system integration.

The invention solves the problems that the existing positioning terminal can only transmit data in one direction and can not transmit data and instructions in two directions, and provides a reliable instruction transmission channel for application scenes such as emergency rescue, remote control and the like. The bidirectional data transmission establishes TCP transparent transmission with a TCP server port through the 4G module, thereby ensuring the safety of data transmission.

The above embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.